Detection assembly and apparatus, and terminal device

Abstract

A detection assembly, a detection apparatus (1300) and a terminal device, used for improving the detection precision of the detection apparatus. The detection assembly comprises N in-phase / quadrature (IQ) detection channels and M first detection channels, the M first detection channels including a single-tube coherent detection channel and / or a balanced detection channel; the N IQ detection channels are respectively configured to perform beat frequency processing on N first echo signals and a local oscillator optical signal to form N first beat frequency signals and N second beat frequency signals, and the first beat frequency signals and the second beat frequency signals are orthogonal; one of the N first echo signals corresponds to one of the N first beat frequency signals and one of the N second beat frequency signals; and the M first detection channels are respectively configured to perform beat frequency processing on M second echo signals and the local oscillator optical signal to form M third beat frequency signals, wherein one of the M second echo signals corresponds to one third beat frequency signal among the M first beat frequency signals.

Description

Detection component, device, and terminal equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on December 25, 2023, with application number 202311797183.X and application name "A detection component, device, and terminal equipment", all contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of detection technology, and in particular to a detection component, device, and terminal equipment. Background Art

[0004] With the development and advancement of sensor technology, intelligent vehicle detection sensors have become a research hotspot in the field of assisted driving. Intelligent vehicles (smart vehicles) can provide a more convenient and safer driving experience. For example, smart vehicles can be equipped with radar sensors to obtain environmental information around the vehicle at all times of the day and night, especially from a distance, enabling assisted driving and even advanced autonomous driving.

[0005] Among many radar sensors, frequency modulated continuous wave (FMCW) laser radar (light detection and ranging, LiDAR) performs detection based on the principle of continuous wave coherent detection. FMCW LiDAR emits a frequency modulated laser, which generates an echo signal after irradiating the target. After the FMCW LiDAR receives the echo light signal, the echo light signal beats with the local oscillator light signal to form a beat signal. The beat signal contains the target delay information, and the target distance can be inverted based on the target delay information. At the same time, if the target has a velocity in the direction of the laser pointing (i.e., radial velocity), the beat signal also contains Doppler frequency information. However, the frequency introduced by the target's distance and velocity will be superimposed and reflected in the spectrum of the beat signal, resulting in the inability to distinguish the positive and negative frequencies of the beat signal, which may cause the FMCW LiDAR to miscalculate the target's distance and velocity, thereby reducing the detection accuracy of the FMCW LiDAR.

[0006] Therefore, how to improve the detection accuracy of the detection device is a technical problem that needs to be solved urgently. Summary of the Invention

[0007] The present application provides a detection component, an apparatus, and a terminal device for improving the detection accuracy of the detection device.

[0008] In a first aspect, the present application provides a detection component, comprising N in-phase / orthogonal IQ detection channels and M first detection channels, wherein the M first detection channels include single-tube coherent detection channels and / or balanced detection channels; N and M are positive integers; the N IQ detection channels are respectively used to beat N first echo signals with local oscillation light signals to form N first beat signals and N second beat signals, wherein the first beat signal and the second beat signal are orthogonal; wherein a first echo signal among the N first echo signals corresponds to a first beat signal among the N first beat signals, and a first echo signal among the N first echo signals corresponds to a second beat signal among the N second beat signals; the M first detection channels are respectively used to beat M second echo signals with the local oscillation light signal to form M third beat signals; wherein a second echo signal among the M second echo signals corresponds to a third beat signal among the M first beat signals.

[0009] In the above scheme, by setting an IQ detection channel and a first detection channel (for example, a single-tube coherent detection channel and / or a balanced detection channel) in the detection component, the detection device can correct the detection data of the coherent detection channel and / or the balanced detection channel based on the detection data of the IQ detection channel, thereby effectively eliminating the detection error caused by the inability to distinguish the positive and negative frequencies of the intermediate frequency signal of the echo signal obtained by the coherent detection channel and / or the balanced detection channel, thereby effectively improving the accuracy of the detection device.

[0010] In one possible design, N is equal to M, and the N IQ detection channels are interleaved with the M first detection channels. In this design, by interleaving the IQ detection channels with the first detection channels, each first detection channel can correct its own detection data based on the detection data of its adjacent IQ detection channels, thereby improving the detection accuracy of the first detection channels.

[0011] In one possible design, N is greater than M, and the adjacent detection channel of each of the M first detection channels is an IQ detection channel. In this design, by setting the adjacent detection channel of the first detection channel as an IQ detection channel, the first detection channel can correct its own detection data based on the detection data of the adjacent IQ detection channel, thereby improving the detection accuracy of the first detection channel.

[0012] In one possible design, the N IQ sounding channels include a first IQ sounding channel, a second IQ sounding channel, and a third IQ sounding channel. G of the M first sounding channels are disposed between the first and second IQ sounding channels, and (MG) of the M first sounding channels are disposed between the second and third IQ sounding channels. G is a positive integer. In this design, disposing the first sounding channel between the IQ sounding channels allows the first sounding channel to correct its data based on the detection data of the IQ sounding channels on either side, thereby improving the detection accuracy of the first sounding channel.

[0013] In one possible design, the IQ detection channel includes a coupler, a phase shifter, and / or a photodetector.

[0014] In one possible design, the first detection channel includes a photodetector.

[0015] In a second aspect, an embodiment of the present application provides a detection device, which includes a control module and N+M receiving ports, the N+M receiving ports corresponding to N IQ detection channels and M first detection channels, the M first detection channels including single-tube coherent detection channels and / or balanced detection channels; N and M are positive integers; the N IQ detection channels are respectively used to beat the N first echo signals and the local oscillation light signals to form N first beat signals and N second beat signals, the first beat signal and the second beat signal being orthogonal; wherein one of the N first echo signals is a first echo signal. The wave signal corresponds to one first beat signal among the N first beat signals, and one first echo signal among the N first echo signals corresponds to one second beat signal among the N second beat signals; the M first detection channels are respectively used to beat the M second echo signals with the local oscillation light signal to form M third beat signals; wherein one second echo signal among the M second echo signals corresponds to one third beat signal among the M first beat signals; and the control module is used to determine point cloud information based on the N first beat signals, the N second beat signals, and the M third beat signals. The point cloud information includes distance information and / or speed information of the target.

[0016] In the embodiments of the present application, the detection device is provided with an IQ detection channel and a first detection channel, enabling the control module in the detection device to determine the target's point cloud information based on the beat frequency signals corresponding to the IQ detection channel and the first detection channel. This eliminates detection errors in the single-tube coherent detection channel and / or the balanced detection channel, thereby improving the detection accuracy of the detection device.

[0017] In one possible design, the control module determines point cloud information based on N first beat signals, N second beat signals, and M third beat signals, including: correcting the frequency data corresponding to the M third beat signals based on the N first beat signals and the N second beat signals to obtain M fourth beat signals; and determining the point cloud information based on the N first beat signals, the N second beat signals, and the M fourth beat signals. In this design, using the beat signal of the IQ detection channel to correct the frequency data corresponding to the beat signal of the single-tube coherent detection channel and / or the balanced detection channel can effectively eliminate calculation errors caused by the inability to distinguish between positive and negative frequency signals in the beat signal of the single-tube coherent detection channel and / or the balanced detection channel.

[0018] In one possible design, the control module determines point cloud information based on the first beat signal and the second beat signal, including: determining a first point cloud based on N first beat signals and N second beat signals; determining a second point cloud based on M third beat signals; correcting the second point cloud based on the first point cloud to obtain a third point cloud; and determining point cloud information based on the first and third point clouds. In this design, using the point cloud corresponding to the IQ detection channel to correct the point cloud of the single-tube coherent detection channel and / or balanced detection channel can effectively eliminate calculation errors caused by the inability to distinguish between positive and negative frequency signals in the beat signal of the single-tube coherent detection channel and / or balanced detection channel, thereby making the final point cloud data more accurate.

[0019] In one possible design, the N IQ detection channels are also used to detect targets whose distance from the detection device is less than or equal to a first distance threshold. "Targets whose distance from the detection device is less than or equal to the first distance threshold" can be understood as close-range targets. In this design, the detection device can use the IQ detection channels to detect close-range targets, thereby effectively improving the detection accuracy of the detection device for close-range targets.

[0020] In one possible design, the N IQ detection channels and the M first detection channels are also used to detect targets whose distance from the detection device is greater than a first distance threshold. "Targets whose distance from the detection device is greater than the first distance threshold" can be understood as distant targets. In this design, the detection device can use both the IQ detection channels and the first detection channels to detect distant targets, effectively improving the detection device's angular resolution for distant target detection.

[0021] In one possible design, the N IQ detection channels are further used to detect the distance between the target and the detection device. In this design, the IQ detection channels can also detect the distance between the target and the detection device, so that the detection device can adopt a detection scheme adapted to the distance.

[0022] In one possible design, the analog-to-digital converter (ADC) of the IQ detection channel has a larger quantization bit count than the ADC of the first detection channel. In this design, using an ADC with a higher quantization bit count for analog-to-digital conversion in the IQ detection channel effectively improves the accuracy of the detection data from the IQ detection channel; while using an ADC with a lower quantization bit count for analog-to-digital conversion in the first detection channel reduces the power consumption of the detection device. Therefore, when using the IQ detection channel and the first detection channel to detect targets, the detection accuracy of the detection device can be improved while reducing the power consumption, cost, and power consumption of the detection device.

[0023] In a third aspect, an embodiment of the present application provides a detection method, which can be applied to the detection device of the second aspect, the detection device comprising a control module and N+M receiving ports, the N+M receiving ports corresponding to N in-phase / orthogonal IQ detection channels and M first detection channels, the M first detection channels including single-tube coherent detection channels and / or balanced detection channels; N and M are positive integers; the method comprising: beating N first echo signals and local oscillation light signals through the N IQ detection channels to form N first beat signals and N second beat signals, the first beat signals and the second beat signals being orthogonal; wherein, One first echo signal among the N first echo signals corresponds to one first beat signal among the N first beat signals, and one first echo signal among the N first echo signals corresponds to one second beat signal among the N second beat signals; the M second echo signals and the local oscillation light signal are beat with each other through the M first detection channels to form M third beat signals; wherein, one second echo signal among the M second echo signals corresponds to one third beat signal among the M first beat signals; the control module can determine the point cloud information based on the N first beat signals, the N second beat signals, and the M third beat signals.

[0024] In the embodiments of the present application, the detection device is provided with an IQ detection channel and a first detection channel. The control module in the detection device can determine the target's point cloud information based on the beat frequency signals obtained by the IQ detection channel and the first detection channel. This eliminates detection errors in the single-tube coherent detection channel and / or the balanced detection channel, thereby improving the detection accuracy of the detection device.

[0025] In one possible design, the control module determines point cloud information based on N first beat signals, N second beat signals, and M third beat signals, including: correcting the frequency data corresponding to the M third beat signals based on the N first beat signals and the N second beat signals to obtain M fourth beat signals; and determining the point cloud information based on the N first beat signals, N second beat signals, and M fourth beat signals.

[0026] In one possible design, the control module determines point cloud information based on the first beat signal and the second beat signal, including: determining the first point cloud based on N first beat signals and N second beat signals; determining the second point cloud based on M third beat signals; correcting the second point cloud based on the first point cloud to obtain the third point cloud; and determining point cloud information based on the first point cloud and the third point cloud.

[0027] In one possible design, the N IQ detection channels are further used to detect targets whose distance from the detection device is less than or equal to a first distance threshold. Targets whose distance from the detection device is less than or equal to the first distance threshold may be understood as close-range targets.

[0028] In one possible design, the N IQ detection channels and the M first detection channels are further used to detect targets whose distance from the detection device is greater than a first distance threshold. "Targets whose distance from the detection device is greater than the first distance threshold" may be understood as long-range targets.

[0029] In a possible design, the N IQ detection channels are further used to detect the distance between the target and the detection device.

[0030] In one possible design, the number of quantization bits of an analog-to-digital converter (ADC) of the IQ detection channel is greater than the number of quantization bits of the ADC of the first detection channel.

[0031] In a fourth aspect, an embodiment of the present application provides a terminal device, comprising the detection device according to any one of the second aspects and the second aspect. The terminal device may be, for example, a smartphone, a smart home appliance, smart manufacturing equipment, a robot, a drone, or an intelligent transportation device (such as an automated guided vehicle (AGV) or an unmanned transport vehicle).

[0032] In a fifth aspect, the present application provides a chip comprising at least one processor and an interface circuit. Further, optionally, the chip may also include a memory, and the processor is used to execute computer programs or instructions stored in the memory, so that the chip executes the method in the above-mentioned third aspect or any possible implementation of the third aspect.

[0033] In the sixth aspect, the present application provides a computer-readable storage medium, which stores a computer program or instructions. When the computer program or instructions are executed by a detection device, the detection device executes the method in the above-mentioned third aspect or any possible implementation of the third aspect.

[0034] In the seventh aspect, the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a detection device, the detection device executes the method in the above-mentioned third aspect or any possible implementation of the third aspect.

[0035] The beneficial effects of any design in the third to seventh aspects mentioned above can refer to the beneficial effects that can be achieved by the corresponding design in the second aspect mentioned above, and this application will not repeat them one by one. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 exemplarily shows a schematic diagram of a chirp signal;

[0037] FIG2 exemplarily shows a schematic diagram of a curve showing how the frequencies of a laser signal and an echo light signal vary with time;

[0038] FIG3 exemplarily shows a schematic diagram of positive and negative frequency aliasing in a beat frequency signal of positive and negative chirps;

[0039] FIG4 exemplarily shows a spectrum diagram of positive and negative frequencies corresponding to a beat signal of a positive and negative chirp;

[0040] FIG5 exemplarily shows a structural diagram of a conventional single-tube coherent detection channel;

[0041] FIG6 exemplarily shows a structural diagram of a traditional balanced detection channel;

[0042] FIG7 exemplarily shows a schematic diagram of a Fourier transform spectrum;

[0043] FIG8 exemplarily shows a schematic structural diagram of an IQ detection channel;

[0044] FIG9 exemplarily shows a schematic structural diagram of a detection device provided by the present application;

[0045] FIG10 exemplarily shows a schematic structural diagram of a control module provided by the present application;

[0046] FIG11A exemplarily shows one of the structural schematic diagrams of a detection assembly provided by the present application;

[0047] FIG11B exemplarily shows a second structural diagram of a detection assembly provided by the present application;

[0048] FIG11C exemplarily shows a third structural diagram of a detection assembly provided by the present application;

[0049] FIG11D exemplarily shows a fourth structural diagram of a detection assembly provided by the present application;

[0050] FIG12 exemplarily shows a flow chart of a detection method provided by the present application;

[0051] FIG13 exemplarily shows a possible structural diagram of a detection device provided in the present application. DETAILED DESCRIPTION

[0052] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0053] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the purpose of facilitating understanding by those skilled in the art and do not limit the scope of protection claimed in this application.

[0054] 1. Chirp Signal

[0055] A chirp signal, also known as a linear frequency modulation (LFM) signal, is a signal whose carrier frequency increases linearly over the pulse duration. The frequency of a chirp signal can vary from low to high (up-chirp) or from high to low (down-chirp). Figure 1 shows a schematic diagram of a chirp signal. Chirp signals are encountered in many applications, including radar, sonar, spread spectrum, optical communications, image processing, the Doppler effect, pendulum motion, and gravitational waves.

[0056] Chirp signals are primarily caused by the dynamic changes in the medium's refractive index due to dynamic electrical signal modulation, which in turn causes the phase of the optical signal propagating through the medium to change. This phase change is directly reflected in the dynamic changes in the output optical signal frequency. Chirp signals are characterized by a frequency variation over time, which can be categorized as positive chirp and negative chirp. Positive chirp occurs when the frequency increases over time, meaning the laser output is initially low-frequency and then high-frequency. For example, the rising leading edge of a pulse is low-frequency, while the falling trailing edge is high-frequency. Negative chirp is the opposite. For example, in normal dispersion, high-frequency waves have a larger refractive index and propagate slowly, while low-frequency waves propagate quickly, resulting in positive chirp.

[0057] 2. Doppler shift

[0058] Doppler shift refers to the change in phase and frequency caused by the difference in propagation distance when the target is radially displaced relative to the detector during the detection time.

[0059] 3. Beat frequency signal

[0060] The beat frequency of the local oscillator light signal in the detection device and the received echo light signal will form a beat frequency signal. In some technical solutions, triangle wave frequency modulation is used as the output laser signal, and through the positive and negative chirp pairs, the following range velocity inversion equations can be constructed: R∝(f bup +f bdown ); v∝(f bup -f bdown );

[0061] Where R is the distance to the target, v is the speed of the target, and f bup is the beat frequency of the positive chirp, f bdown is the beat frequency of the negative chirp; the distance and speed information of the target can be solved through the above equations.

[0062] As shown in Figure 2, a triangle wave frequency modulation signal is used as the outgoing laser signal. The solid line is the curve of the frequency of the outgoing laser signal changing with time, and the dotted line is the curve of the frequency of the echo light signal changing with time. The echo light signal and the laser signal beat each other to form a beat frequency signal. The translation of the echo light signal relative to the outgoing laser signal on the time axis can represent the distance information of the target. The Doppler frequency introduced by the target's speed will cause the echo light signal to translate up and down on the frequency axis relative to the outgoing laser signal, and its direction is determined by the direction of the target's speed. However, in some specific cases, errors in the distance and speed calculation may occur. For example, when the Doppler frequency shift is greater than the frequency shift introduced by the speed delay, the beat frequency signal of the echo light signal may have a "negative frequency". As shown in Figure 3, f1 and f2 represent the positive frequency and negative frequency identified in the beat frequency signal of the positive and negative chirps, respectively. When the Doppler frequency shift f d >0, and there is |f d |>|f R |,f R Indicates the frequency introduced by the target delay. f1 and f2 satisfy the following formula: f1=f R -f d <0; f2=f R +f d >0;

[0063] A schematic diagram of the aliasing of positive and negative frequencies in the beat signal of the positive and negative chirps is shown in FIG3 , and a spectrum corresponding to the positive and negative frequencies in the beat signal of the positive and negative chirps is shown in FIG4 .

[0064] FIG5 shows a schematic structural diagram of a traditional single-tube coherent detection channel, which includes a photodetector. After the echo light signal S and the local oscillator light signal R are received by the photodetector, the echo light signal S and the local oscillator light signal R beat each other to form a beat signal I0. FIG6 shows a schematic structural diagram of a balanced coherent detection channel, which includes a photodetector 1 and a photodetector 2. After the echo light signal S and the local oscillator light signal R are received by the photodetector 1, the echo light signal S and the local oscillator light signal R beat each other to form a beat signal I1; after the echo light signal S and the local oscillator light signal R are received by the photodetector 2, the echo light signal S and the local oscillator light signal R beat each other to form a beat signal I2; wherein, the beat signal I1 minus the beat signal I2 can eliminate common mode noise and improve the signal-to-noise ratio of detection. After normalization, the beat signal I0, the beat signal I1, and the beat signal I2 satisfy the following formula: I(t)=cos(2πf beat t+ξ0)

[0065] Among them, f beat is the frequency of the beat signal, ξ0 is the initial phase.

[0066] The Fourier transform spectrum corresponding to I(t) is: FT(I(t))=π[δ(f+f beat )+δ(ff beat )];

[0067] From the above formula, we can see that the above spectrum is a symmetrical double-sideband spectrum, which is shown in Figure 7. It is impossible to distinguish f beat The positive and negative frequencies will be detected, and the error of frequency discrimination will occur. If we continue to solve the distance and speed of the target according to the above equations, we will get the wrong result.

[0068] In-phase / Quadrature (IQ) detection, also known as phase diversity coherent detection, is a method that can distinguish positive and negative frequencies. Figure 8 shows a schematic diagram of the IQ detection channel, which includes a coupler, a phase shifter, photodetectors 1, 2, 3, and 4. Each of photodetectors 1-4 can be, for example, a photodiode, and the phase shifter can be, for example, a 90° optical mixer. Among them, after the echo light signal S and the local oscillator light signal R are received by the photodetector 1, the echo light signal S and the local oscillator light signal R beat each other to form a beat signal I1; after the echo light signal S and the local oscillator light signal R are received by the photodetector 2, the echo light signal S and the local oscillator light signal R beat each other to form a beat signal I2; after the echo light signal S and the local oscillator light signal R are received by the photodetector 3, the echo light signal S and the local oscillator light signal R after the phase shifter beat each other to form a beat signal Q1; after the echo light signal S and the local oscillator light signal R after the phase shifter are received by the photodetector 4, the echo light signal S and the local oscillator light signal R beat each other to form a beat signal Q2; wherein, the beat signal I1-beat signal I2 forms the in-phase signal I I , the beat signal Q1-beat signal Q2 forms an orthogonal signal I Q , I I , I Q Satisfies the following formula: I I =cos(2πf beat t+ξ0); I Q =sin(2πf beat t+ξ0);

[0069] And, the in-phase signal I I and the orthogonal signal I Q The following complex signal can be constructed: I complex (t) = cos(2πf beat t+ξ0)+isin(2πf beat t+ξ0);

[0070] The Fourier transform spectrum of the complex signal is: FT(I complex (t))=π[δ(ff beat )];

[0071] The Fourier transform spectrum above is a single-sideband spectrum, so it can directly distinguish between positive and negative frequencies. Therefore, the beat frequency signal in the IQ detection channel does not have the problem of being unable to distinguish between positive and negative frequencies, resulting in higher detection accuracy of the IQ detection channel.

[0072] In some technical solutions, to avoid precision errors caused by the inability to discriminate the positive and negative frequencies of the beat signal detected by a single-tube coherent detection channel and / or a balanced detection channel, all detection channels in the detection device are set as IQ detection channels. However, the large number of components included in the IQ detection channel (for example, the number of couplers and photodetectors) will result in excessively high hardware costs for the detection device. In addition, the use of IQ detection channels for all channels will increase the detection device's data acquisition and storage, and digital signal processing requirements (for example, computing power requirements).

[0073] In view of this, the present application provides a detection component for improving the detection accuracy of the detection device and reducing the cost of the detection device. In an embodiment of the present application, by setting an IQ detection channel and a first detection channel (for example, a single-tube coherent detection channel and / or a balanced detection channel) in the detection component, the detection data of the coherent detection channel and / or the balanced detection channel can be corrected based on the detection data of the IQ detection channel, thereby effectively eliminating the detection error caused by the inability to distinguish the positive and negative frequencies of the intermediate frequency signal of the echo signal obtained by the coherent detection channel and / or the balanced detection channel, thereby effectively improving the accuracy of the detection device. At the same time, compared with the solution of setting an IQ detection channel for all detection channels in the detection component, the cost of the detection device can be reduced.

[0074] The detection component provided in the embodiment of the present application can be set in the detection device, and the detection device can be set in any terminal device that needs to detect the target. The terminal device can be, for example, a smart phone, a smart home device, an intelligent manufacturing device, a robot, a drone or an intelligent transportation device (such as an automated guided vehicle (AGV) or an unmanned transport vehicle, etc.). In one possible implementation, the terminal device takes a vehicle as an example, and the detection device takes a laser radar as an example. It can be installed in any direction or multiple directions of the front, rear, left, right, top and bottom of the vehicle, such as around the headlights, around the rearview mirror, near the door, at the rear bumper, behind the windshield or on the roof, etc., to capture the vehicle's surrounding environment information.

[0075] It should be noted that the application scenarios described in this application can be applied to fields such as unmanned driving, automatic driving, assisted driving, intelligent driving, connected cars, security monitoring, biomedicine or surveying and mapping (such as three-dimensional mapping).

[0076] The detection device provided in this application is introduced below with reference to specific drawings.

[0077] FIG9 is a schematic diagram of a possible architecture of a detection device provided by the present application, which may include a control module, a transmitting component and a detecting component, and includes N+M transmitting ports TX1-TX N+Mand N+M receiving ports RX1-RX N+M ; The transmitting component can be connected through the transmitting port TX1-TX N+M The optical signal is transmitted to the target, and the detection component can receive the signal through the receiving port RX1-RX N+M The echo light signal reflected by the target is received, and the echo light signal beats with the local oscillator light signal in the detection component to form a beat signal. The control module can determine the point cloud based on the beat signal.

[0078] Optionally, as shown in FIG9 , the detection device may further include a light source, a spectrometer, and an optical collimation and scanning device, wherein the light source may generate a laser signal, the spectrometer may split the laser signal to form an emission light signal and a local oscillator light signal, the emission light signal is input into the emission component, and the local oscillator light signal is input into the detection component; the emission light signal may be emitted into free space by the optical collimation and scanning device for target detection. The light source may be, for example, a single-wavelength triangular wave frequency modulation, a dual-light source triangular wave frequency modulation, a single-frequency laser, or a dual-wavelength laser light source, and the embodiments of the present application do not impose specific limitations thereon.

[0079] Optionally, the detection device may further include an optical power amplification component, which is arranged between the light source and the spectrometer (not shown in the figure); the optical power amplification component can amplify the power of the laser signal generated by the light source to obtain an amplified laser signal; the spectrometer performs spectroscopic processing on the amplified laser signal to obtain a local oscillator light signal and N detection signals.

[0080] The following is an introduction to some components of the detection device.

[0081] (1) Control module

[0082] As shown in Figure 10, in one possible implementation, the control module may include a low-pass filter, an analog-to-digital converter (ADC), and a digital signal processor (DSP). The beat signal generated in the detection component can be input into the low-pass filter. The low-pass filter filters the beat signal to obtain a filtered beat signal, which is then input into the ADC. The ADC converts the beat signal into a digital signal, which is then input into the DSP. The DSP processes the digital signal to obtain point cloud information. The number of ADCs is related to the type and number of detection channels in the detection device. One IQ detection channel in the detection device corresponds to two ADCs, and one single-tube coherent detection channel or balanced detection channel in the detection device corresponds to one ADC.

[0083] It should be noted that the various components included in the control module are merely exemplary. The control module may include more or fewer components than shown in the figure. The components shown or not shown may be combined or divided in any manner, and any component may be replaced by another component with equivalent functions. For example, in one example, the control module may also include one or more of a microcontroller unit (MCU), a low noise amplifier (LNA), a power amplifier (PA), an upconverter, a detector, and a voltage-controlled oscillator. For another example, in another example, the DSP may be replaced by other components with signal processing capabilities, and this application does not specifically limit this.

[0084] (2) Transmitter

[0085] The transmitting component may include multiple transmitting antennas or transmitters. The transmitting component may include N+M transmitting channels, and the N+M transmitting channels and the N+M transmitting ports TX1-TX in the detection device N+M The transmitting component is used to transmit a detection signal to the target, so that the target generates an echo light signal.

[0086] (3) Detection components

[0087] The detection component may include N IQ detection channels and M first detection channels, and the M first detection channels may include single-tube coherent detection channels and / or balanced detection channels. The N IQ detection channels and the N receiving ports RX1-RX N One-to-one correspondence, M first detection channels and N receiving ports RX in the detection device N -RX N+M One to one correspondence.

[0088] In an embodiment of the present application, the IQ detection channel may include a coupler, a phase shifter, and / or a photodetector; and the first detection channel includes a photodetector.

[0089] The above-mentioned N and M are both positive integers; N can be greater than M, or N can be less than M, or N can be equal to M, and the embodiments of the present application do not impose specific limitations.

[0090] In Example 1, as shown in FIG11A , N is greater than M, N=3, and M=2. That is, the detection assembly in the detection device includes three IQ detection channels and two first detection channels. The detection assembly includes IQ detection channel 1, IQ detection channel 2, IQ detection channel 3, first detection channel 1, and first detection channel 2. First detection channel 1 is arranged between IQ detection channel 1 and IQ detection channel 2, and first detection channel 2 is arranged between IQ detection channel 2 and IQ detection channel 3. Thus, by setting the adjacent detection channels of the first detection channel as IQ detection channels, the first detection channel can correct its own detection data based on the detection data of the adjacent IQ detection channels, thereby improving the detection accuracy of the first detection channel.

[0091] Example 2, as shown in FIG11B , where N=M, N=3, and M=3, the detection assembly includes IQ detection channel 1, IQ detection channel 2, IQ detection channel 3, first detection channel 1, first detection channel 2, and first detection channel 3; first detection channel 1 is disposed between IQ detection channel 1 and IQ detection channel 2, first detection channel 2 is disposed between IQ detection channel 2 and IQ detection channel 3, and first detection channel 3 is disposed adjacent to IQ detection channel 3. Thus, by interleaving the IQ detection channels with the first detection channels, each first detection channel can correct its own detection data based on the detection data of its adjacent IQ detection channels, thereby improving the detection accuracy of the first detection channels.

[0092] Example 3, as shown in Figure 11C, N<M, N=3, M=4, that is, the detection component includes IQ detection channel 1, IQ detection channel 2, IQ detection channel 3, first detection channel 1, first detection channel 2, first detection channel 3, and first detection channel 4; the first detection channel 1 and the first detection channel 2 are arranged between IQ detection channel 1 and IQ detection channel 2, and the first detection channel 3 and the first detection channel 4 are arranged between IQ detection channel 2 and IQ detection channel 3.

[0093] Example 4, as shown in Figure 11D, N<M, N=3, M=6, that is, the detection component includes IQ detection channel 1, IQ detection channel 2, IQ detection channel 3, first detection channel 1, first detection channel 2, first detection channel 3, first detection channel 4, first detection channel 5, and first detection channel 6; first detection channel 1, first detection channel 2 and first detection channel 3 are arranged between IQ detection channel 1 and IQ detection channel 2, and first detection channel 4, first detection channel 5 and first detection channel 6 are arranged between IQ detection channel 2 and IQ detection channel 3.

[0094] In Examples 3 and 4, by providing the first detection channel between the IQ detection channels, the first detection channel can correct its data according to the detection data of the IQ detection channels on both sides thereof.

[0095] Based on the above detection device, the embodiment of the present application provides a detection method, which is applied to the detection device. As shown in Figure 12, the method includes the following steps:

[0096] In step 1201, N first echo signals and a local oscillator optical signal are beat using N IQ detection channels to generate N first beat signals and N second beat signals, where each first beat signal and each second beat signal are orthogonal. A first echo signal among the N first echo signals corresponds to a first beat signal among the N first beat signals, and a first echo signal among the N first echo signals corresponds to a second beat signal among the N second beat signals.

[0097] In the embodiment of the present application, the N first echo signals can be transmitted by the transmitting component in the detection device through the transmitting ports TX1-TX N The N IQ detection channels can receive the N first echo signals generated by transmitting the light signal to the target. In addition, the optical splitter in the detection device performs optical splitting processing on the light signal generated by the light source to obtain the local oscillator light signal, which can be input into each IQ detection channel.

[0098] In step 1202 , the M second echo signals and the local oscillation light signal are respectively beat by the M first detection channels to form M third beat signals; wherein one second echo signal among the M second echo signals corresponds to one third beat signal among the M first beat signals.

[0099] In the embodiment of the present application, the M second echo signals can be the transmission component in the detection device through the transmission port TX N+1 -TX M The M first detection channels can receive the M second echo signals generated by transmitting the light signal to the target. In addition, the optical splitter in the detection device performs optical splitting processing on the light signal generated by the light source to obtain the local oscillation light signal, which can be input into each first detection channel.

[0100] In step 1203 , the control module determines point cloud information according to the N first beat frequency signals, the N second beat frequency signals, and the M third beat frequency signals.

[0101] When step 1203 is specifically implemented, the control module determines point cloud information based on the N first beat frequency signals, the N second beat frequency signals, and the M third beat frequency signals, including but not limited to the following situations:

[0102] In case 1, the control module corrects the frequency data corresponding to the M third beat signals based on the N first beat signals and the N second beat signals to obtain M fourth beat signals. Point cloud information is then determined based on the N first beat signals, the N second beat signals, and the M fourth beat signals. In this way, using the beat signals of the IQ detection channel to correct the frequency data corresponding to the beat signals of the single-tube coherent detection channel and / or the balanced detection channel can effectively eliminate calculation errors caused by the inability to distinguish between positive and negative frequency signals in the beat signals of the single-tube coherent detection channel and / or the balanced detection channel.

[0103] Among them, one first beat signal among the N first beat signals corresponds to one second beat signal among the N second beat signals, that is, a first beat signal and a second beat signal formed by an IQ detection channel are orthogonal, so the control module can obtain the frequency data of the first beat signal and the second beat signal (for example, the first Fourier transform spectrum) according to the first beat signal and the second beat signal of the IQ detection channel; the control module can obtain the frequency data of the third beat signal (for example, the second Fourier transform spectrum) according to the third beat signal of the first detection channel adjacent to the IQ detection channel; wherein, the frequency data of the first beat signal and the second beat signal can distinguish between positive and negative frequencies, and the frequency data of the third beat signal cannot distinguish between positive and negative frequencies, and the control module can correct the frequency data of the third beat signal based on the frequency data of the first beat signal and the second beat signal.

[0104] For example, please continue to refer to Figure 11A, N=3, M=2, that is, the detection component in the detection device includes 3 IQ detection channels and 2 first detection channels, and the detection component includes IQ detection channel 1, IQ detection channel 2, IQ detection channel 3, first detection channel 1, and first detection channel 2; wherein, IQ detection channel 1 can receive echo light signal 1, and the echo light signal 1 beats with the local oscillator light signal in the IQ detection channel 1 to form a first beat signal A1 and a second beat signal B1, and the first beat signal A1 and the second beat signal B1 are orthogonal. The control module determines the frequency data 1 corresponding to the IQ detection channel 1 according to the first beat signal A1 and the second beat signal B1; the IQ detection channel 2 can receive echo light signal 2, and the echo light signal 2 beats with the local oscillator light signal in the IQ detection channel 2 to form a first beat signal A2 and a second beat signal B2, and the first beat signal A2 and the second beat signal B2 are orthogonal to each other, and the control module The group determines the frequency data 2 corresponding to the IQ detection channel 2 according to the first beat signal A2 and the second beat signal B2; the IQ detection channel 3 can receive the echo light signal 3, and the echo light signal 3 beats with the local oscillation light signal in the IQ detection channel 3 to form the first beat signal A3 and the second beat signal B3, and the first beat signal A3 and the second beat signal B3 are orthogonal to each other. The control module determines the frequency data 3 corresponding to the IQ detection channel 3 according to the first beat signal A3 and the second beat signal B3; the first detection channel 1 can receive the echo light signal 4, and the echo light signal 4 beats with the local oscillation light signal in the first detection channel 1 to form the third beat signal C1, and the control module determines the frequency data 4 according to the third beat signal C1; the first detection channel 2 can receive the echo light signal 5, and the echo light signal 5 beats with the local oscillation light signal in the first detection channel 2 to form the third beat signal C2, and the control module determines the frequency data 5 according to the third beat signal C2. Among them, the positive and negative frequencies in frequency data 1 to frequency data 3 can be distinguished, but the positive and negative frequencies in frequency data 4 to frequency data 5 cannot be distinguished.

[0105] Since IQ detection channel 1 and IQ detection channel 2 are adjacent channels of first detection channel 1, the control module can correct the frequency data 4 of first detection channel 1 based on frequency data 1 and / or frequency data 2 to form a fourth beat signal D1. Then, the control module can determine the point cloud information of the first detection channel 1 based on the fourth beat signal D1. For example, the positive and negative frequencies in frequency data 1 are used as the positive and negative frequencies of frequency data 4; for another example, the positive and negative frequencies in frequency data 2 are used as the positive and negative frequencies of frequency data 4; for another example, the average of the positive frequencies in frequency data 1 and the positive frequencies in frequency data 2 is used as the positive frequency of frequency data 4, and the average of the negative frequencies in frequency data 1 and the negative frequencies in frequency data 2 is used as the negative frequency of frequency data 4.

[0106] Similarly, since IQ detection channel 2 and IQ detection channel 3 are adjacent channels of the first detection channel 2, the control module can correct the frequency data 5 of the first detection channel 2 based on the frequency data 2 and / or the frequency data 3 to form a fourth beat signal D2, and then the control module can determine the point cloud information of the first detection channel 2 based on the fourth beat signal D2. For example, the positive and negative frequencies in the frequency data 2 are used as the positive and negative frequencies of the frequency data 5; for another example, the positive and negative frequencies in the frequency data 3 are used as the positive and negative frequencies of the frequency data 5; for another example, the average of the positive frequencies in the frequency data 2 and the positive frequencies in the frequency data 3 is used as the positive frequency of the frequency data 5, and the average of the negative frequencies in the frequency data 2 and the negative frequencies in the frequency data 3 is used as the negative frequency of the frequency data 5.

[0107] In case 2, the control module determines a first point cloud based on N first beat frequency signals and N second beat frequency signals; determines a second point cloud based on M third beat frequency signals; corrects the second point cloud based on the first point cloud to obtain a third point cloud; and determines point cloud information based on the first and third point clouds. The first point cloud is the point cloud obtained by the IQ detection channel, and the first point cloud has a lower resolution; the third point cloud is the point cloud corrected by the first detection channel, and the third point cloud has a higher resolution; the first and third point clouds are point clouds of the same scene obtained at the same time. In this way, using the point cloud corresponding to the IQ detection channel to correct the point cloud of the single-tube coherent detection channel and / or the balanced detection channel can effectively eliminate the computational error caused by the inability to distinguish between positive and negative frequency signals in the beat frequency signals of the single-tube coherent detection channel and / or the balanced detection channel, thereby ensuring that the corrected point cloud (i.e., the third point cloud) has a higher accuracy. Furthermore, the final point cloud information determined by the control module based on the first and third point clouds can achieve both higher resolution and accuracy.

[0108] Among them, the point cloud includes the speed information and / or distance information of the target, so the control module corrects the second point cloud based on the first point cloud, that is, the control module can correct the speed information and / or distance information of the target detected by the first detection channel based on the speed information and / or distance information of the target detected by the IQ detection channel.

[0109] For example, please continue to refer to Figure 11A, N=3, M=2, that is, the detection component in the detection device includes 3 IQ detection channels and 2 first detection channels, and the detection component includes IQ detection channel 1, IQ detection channel 2, IQ detection channel 3, first detection channel 1, and first detection channel 2; wherein, the IQ detection channel 1 can receive the echo light signal 1, and the echo light signal 1 beats with the local oscillator light signal in the IQ detection channel 1 to form a first beat signal A1 and a second beat signal B1, and the first beat signal A1 and the second beat signal B1 are orthogonal to each other. The control module determines the speed 1 and the distance 1 of the target detected by the IQ detection channel 1 according to the first beat signal A1 and the second beat signal B1; the IQ detection channel 2 can receive the echo light signal 2, and the echo light signal 2 beats with the local oscillator light signal in the IQ detection channel 2 to form a first beat signal A2 and a second beat signal B2, and the first beat signal A2 and the second beat signal B2 are orthogonal to each other. The control module determines the speed 1 and the distance 1 of the target detected by the IQ detection channel 1 according to the first beat signal A1 and the second beat signal B1. Signal B2, determine the speed 2 and distance 2 of the target detected by the IQ detection channel 2; the IQ detection channel 3 can receive the echo light signal 3, the echo light signal 3 beats with the local oscillator light signal in the IQ detection channel 3 to form a first beat signal A3 and a second beat signal B3, the first beat signal A3 and the second beat signal B3 are orthogonal to each other, and the control module determines the speed 3 and the distance 3 of the target detected by the IQ detection channel 3 according to the first beat signal A3 and the second beat signal B3; the first detection channel 1 can receive the echo light signal 4, the echo light signal 4 beats with the local oscillator light signal in the first detection channel 1 to form a third beat signal C1, and the control module determines the speed 4 and the distance 4 of the target detected by the first detection channel 1 according to the third beat signal C1; the first detection channel 2 can receive the echo light signal 5, the echo light signal 5 beats with the local oscillator light signal in the first detection channel 2 to form a third beat signal C2, and the control module determines the speed 5 and the distance 5 of the target detected by the second detection channel 2 according to the third beat signal C2.

[0110] Because IQ detection channel 1 and IQ detection channel 2 are adjacent channels to first detection channel 1, the control module can correct the speed 4 of the target detected by first detection channel 1 based on the speed 1 of the target detected by IQ detection channel 1 and / or the speed 2 of the target detected by IQ detection channel 2; and / or, the control module can correct the distance 4 of the target detected by first detection channel 1 based on the distance 1 of the target detected by IQ detection channel 1 and / or the distance 2 of the target detected by IQ detection channel 2. For example, the control module can compare the speed 4 of the target detected by first detection channel 1 with the speed 1 of the target detected by IQ detection channel 1, and if the difference between speed 4 and speed 1 is less than a first threshold, correct the speed 4 of the target detected by first detection channel 1 to speed 1. For another example, the control module can compare the speed 4 of the target detected by first detection channel 1 with the speed 2 of the target detected by IQ detection channel 2, and if the difference between speed 4 and speed 2 is less than a first threshold, correct the speed 4 of the target detected by first detection channel 1 to speed 2. For another example, the control module may compare the speed 4 of the target detected by the first detection channel 1 with the speed 1 of the target detected by the IQ detection channel 1 and the speed 2 of the target detected by the first detection channel 2. If the difference between speed 4 and speed 1, and the difference between speed 2 and speed 1, are both less than a first threshold, the speed 4 of the target detected by the first detection channel 1 is corrected to the average of speed 1 and speed 2. For another example, the control module may compare the distance 4 of the target detected by the first detection channel 1 with the distance 1 of the target detected by the IQ detection channel 1. If the difference between distance 4 and distance 1 is less than a first threshold, the distance 4 of the target detected by the first detection channel 1 is corrected to distance 1. For another example, the control module may compare the distance 4 of the target detected by the first detection channel 1 with the distance 2 of the target detected by the IQ detection channel 2. If the difference between distance 4 and distance 2 is less than a first threshold, the distance 4 of the target detected by the first detection channel 1 is corrected to distance 2. For example, the control module can compare the distance 4 of the target detected by the first detection channel 1 with the distance 1 of the target detected by the IQ detection channel 1 and the distance 2 of the target detected by the first detection channel 2. If the difference between distance 4 and distance 1, and the difference between distance 2 and distance 1 are both less than the first threshold, the distance 4 of the target detected by the first detection channel 1 is corrected to the average of distance 1 and distance 2.

[0111] Similarly, since IQ detection channel 2 and IQ detection channel 3 are adjacent channels to first detection channel 2, the control module may correct the speed 5 of the target detected by first detection channel 2 based on the speed 2 of the target detected by IQ detection channel 2 and / or the speed 3 of the target detected by IQ detection channel 3; and / or, the control module may correct the distance 5 of the target detected by first detection channel 2 based on the distance 2 of the target detected by IQ detection channel 2 and / or the distance 3 of the target detected by IQ detection channel 3. For example, the control module may compare the speed 5 of the target detected by first detection channel 2 with the speed 2 of the target detected by IQ detection channel 2, and if the difference between speed 5 and speed 2 is less than a first threshold, correct the speed 5 of the target detected by first detection channel 2 to speed 2. For another example, the control module may compare the speed 5 of the target detected by first detection channel 2 with the speed 3 of the target detected by IQ detection channel 3, and if the difference between speed 5 and speed 3 is less than a first threshold, correct the speed 5 of the target detected by first detection channel 2 to speed 3. For another example, the control module may compare the speed 5 of the target detected by the first detection channel 2 with the speed 2 of the target detected by the IQ detection channel 2 and the speed 3 of the target detected by the first detection channel 3. If the difference between speed 5 and speed 2, and the difference between speed 3 and speed 2, are both less than a first threshold, the speed 5 of the target detected by the first detection channel 2 is corrected to the average of speed 2 and speed 3. For another example, the control module may compare the distance 5 of the target detected by the first detection channel 2 with the distance 2 of the target detected by the IQ detection channel 2. If the difference between distance 5 and distance 2 is less than a first threshold, the distance 5 of the target detected by the first detection channel 2 is corrected to distance 2. For another example, the control module may compare the distance 5 of the target detected by the first detection channel 2 with the distance 3 of the target detected by the IQ detection channel 3. If the difference between distance 5 and distance 3 is less than a first threshold, the distance 5 of the target detected by the first detection channel 2 is corrected to distance 3. For example, the control module can compare the distance 5 of the target detected by the first detection channel 2 with the distance 2 of the target detected by the IQ detection channel 2 and the distance 3 of the target detected by the first detection channel 3. If the difference between distance 5 and distance 2, and the difference between distance 3 and distance 2 are both less than the first threshold, the distance 5 of the target detected by the first detection channel 2 is corrected to the average of distance 2 and distance 3.

[0112] In an embodiment of the present application, different detection schemes can be used for long-range and short-range targets. A short-range target is a target whose distance from the detection device is less than or equal to a first distance threshold, and a long-range target is a target whose distance from the detection device is greater than the first distance threshold. The first distance threshold can be, for example, 5m, 10m, etc., and is not limited in this embodiment of the present application. The detection device can use an IQ detection channel to roughly estimate the distance between the target and the detection device, so that the detection device can adopt a detection scheme adapted to the distance of the target.

[0113] In one possible implementation, the detection device uses only N IQ detection channels to detect close-range targets, thereby effectively improving the detection accuracy of the detection device for close-range targets.

[0114] In another possible implementation, the detection device uses N IQ detection channels and M first detection channels to detect distant targets. Thus, for distant targets, the detection device can use the IQ detection channels and the first detection channels to detect distant targets, effectively improving the angular resolution of distant targets.

[0115] In an embodiment of the present application, different quantization digits can be used for different types of detection channels of the detection device, and the quantization digits can be used to characterize the quantization accuracy used in the analog-to-digital conversion of the detection channel. In one possible implementation, the quantization bit number of the analog-to-digital converter ADC of the IQ detection channel is greater than the quantization bit number of the ADC of the first detection channel. For example, the ADC in the control module performs analog-to-digital conversion on the echo signal detected by the IQ detection channel with 9 bits or 10 bits, and the ADC in the control module performs analog-to-digital conversion on the echo signal detected by the first detection channel with 8 bits. In this way, the ADC with a higher quantization bit is used for analog-to-digital conversion of the IQ detection channel, which can effectively improve the accuracy of the detection data of the IQ detection channel; the ADC with a lower quantization bit is used for analog-to-digital conversion of the first detection channel, which can reduce the power consumption of the detection device. Therefore, when using the IQ detection channel and the first detection channel to detect the target, the detection accuracy of the detection device can be improved, and the power consumption, cost and power consumption of the detection device can be reduced.

[0116] Based on the aforementioned detection method, the present application also provides a detection device. Please refer to Figure 13, which is a possible structural diagram of the detection device provided in the present application. The detection device 1300 can be used to implement the functions of the detection device in the above-mentioned method embodiment, and thus can also achieve the beneficial effects possessed by the above-mentioned method embodiment. As shown in Figure 13, the detection device 1300 includes a processor 1301 and a transceiver 1302. The detection device 1300 is used to implement the functions of the detection device in the method embodiment shown in Figure 12 above. Optionally, the detection device 1300 may also include a memory 1303, which may be coupled to the processor 1301 to store the necessary program instructions and data for the detection device 1300. The transceiver 1302 includes the above-mentioned N IQ detection channels and M first detection channels.

[0117] When the detection device 1300 is used to implement the functions of the detection device of the method embodiment shown in FIG12 : the transceiver 1302 sends N+M detection signals and receives N first echo signals and M second echo signals. The N first echo signals are beat with the local oscillator light signal through N IQ detection channels to form N first beat signals and N second beat signals, and one first beat signal and one second beat signal are orthogonal. Wherein, one first echo signal in the N first echo signals corresponds to one first beat signal in the N first beat signals, and one first echo signal in the N first echo signals corresponds to one second beat signal in the N second beat signals. Furthermore, M second echo signals are beat with the local oscillator light signal through M first detection channels to form M third beat signals. Wherein, one second echo signal in the M second echo signals corresponds to one third beat signal in the M first beat signals. The processor 1301 determines point cloud information based on the N first beat signals, the N second beat signals, and the M third beat signals.

[0118] A more detailed description of the processor 1301 and the transceiver 1302 can be directly obtained by referring to the relevant description in the method embodiment shown in FIG12 , and will not be repeated here.

[0119] It should be understood that the processor 1301 in the embodiment of the present application can be implemented by a processor or a processor-related circuit module, and the transceiver 1302 can be implemented by an interface circuit or an interface circuit-related circuit module.

[0120] Based on the aforementioned detection device, the present application also provides a terminal device. The terminal device may include any of the aforementioned detection devices, such as detection device 1300. Furthermore, optionally, the terminal device may also include a memory for storing programs or instructions. Of course, the terminal device may also include other devices, such as a wireless control device.

[0121] Exemplarily, the terminal device can be a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, or a digital vehicle, etc.), a robot, a surveying and mapping device, a drone, a smart home device (such as a television, a sweeping robot, a smart desk lamp, an audio system, a smart lighting system, an electrical control system, home background music, a home theater system, an intercom system, or video surveillance, etc.), an intelligent manufacturing equipment (such as industrial equipment), an intelligent transportation equipment (such as an AGV, an unmanned transport vehicle, or a truck, etc.), or an intelligent terminal (a mobile phone, a computer, a tablet computer, a PDA, a desktop computer, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.), etc.

[0122] An embodiment of the present application provides a chip system, comprising: a processor and an interface circuit, wherein the processor is configured to call and execute instructions from the interface circuit, and when the processor executes the instructions, any of the above-mentioned detection methods is implemented.

[0123] An embodiment of the present application provides a computer-readable storage medium for storing a computer program or instruction, which, when executed, implements any of the above-mentioned methods for adjusting resources. The computer-readable storage medium may be any available medium that a computing device can store or a data storage device such as a data center containing one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

[0124] The present application provides a computer program product comprising instructions, which, when executed on a computer, implements any of the above-mentioned general methods. The computer program product may be software or a program product comprising instructions that can be executed on a computing device or stored in any available medium.

[0125] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. Of course, the processor and the storage medium can also exist in a base station or a terminal as discrete components.

[0126] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0127] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0128] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A detection component, characterized in that, The detection component includes N in-phase / quadrature IQ detection channels and M first detection channels, and the M first detection channels include single-tube coherent detection channels and / or balanced detection channels; N and M are positive integers; The N IQ detection channels are respectively used to beat the N first echo signals and the local oscillator optical signal to form N first beat signals and N second beat signals, and the first beat signals and the second beat signals are orthogonal; wherein, one of the N first echo signals corresponds to one of the N first beat signals, and one of the N first echo signals corresponds to one of the N second beat signals; The M first detection channels are respectively used to beat the M second echo signals and the local oscillator optical signal to form M third beat signals; wherein, one of the M second echo signals corresponds to one of the M third beat signals among the M first beat signals.

2. The detection component according to claim 1, characterized in that N is equal to M, and the N IQ detection channels and the M first detection channels are arranged in an interleaved manner.

3. The detection component according to claim 1, characterized in that N is greater than M, and the adjacent detection channels of each of the M first detection channels are IQ detection channels.

4. The detection component according to claim 1, wherein The N IQ detection channels include a first IQ detection channel, a second IQ detection channel, and a third IQ detection channel; G of the M first detection channels are arranged between the first IQ detection channel and the second IQ detection channel, and (M - G) of the M first detection channels are arranged between the second IQ detection channel and the third IQ detection channel; wherein, G is a positive integer.

5. The detection component according to any one of claims 1-4, characterized in that The IQ detection channel includes a coupler, a phase shifter, and / or a photodetector.

6. The detection component according to any one of claims 1-4, characterized in that The first detection channel includes a photodetector.

7. A detection device, characterized in that, It includes a control module and N + M receiving ports, and the N + M receiving ports correspond to N in-phase / quadrature IQ detection channels and M first detection channels, and the M first detection channels include single-tube coherent detection channels and / or balanced detection channels; N and M are positive integers; The N IQ detection channels are respectively used to beat the N first echo signals and the local oscillator optical signal to form N first beat signals and N second beat signals, and the first beat signals and the second beat signals are orthogonal; wherein, one of the N first echo signals corresponds to one of the N first beat signals, and one of the N first echo signals corresponds to one of the N second beat signals; The M first detection channels are respectively used to beat the M second echo signals and the local oscillator optical signal to form M third beat signals; wherein, one of the M second echo signals corresponds to one of the M third beat signals among the M first beat signals; The control module is used to determine the point cloud information according to the N first beat signals, the N second beat signals, and the M third beat signals.

8. The device according to claim 7, characterized in that, The control module determines point cloud information according to the N first beat frequency signals, the N second beat frequency signals, and the M third beat frequency signals, including: Correcting the frequency data corresponding to the M third beat frequency signals according to the N first beat frequency signals and the N second beat frequency signals to obtain M fourth beat frequency signals; Determining the point cloud information according to the N first beat frequency signals, the N second beat frequency signals, and the M fourth beat frequency signals.

9. The device according to claim 7, characterized in that, The control module determines the point cloud information according to the first beat frequency signal and the second beat frequency signal, including: Determining a first point cloud according to the N first beat frequency signals and the N second beat frequency signals; Determining a second point cloud according to the M third beat frequency signals; Correcting the second point cloud according to the first point cloud to obtain a third point cloud; Determining the point cloud information according to the first point cloud and the third point cloud.

10. The device according to any one of claims 7-9, wherein The N IQ detection channels are further configured to detect a target whose distance from the detection device is less than or equal to a first distance threshold.

11. The device according to any one of claims 7-9, wherein The N IQ detection channels and the M first detection channels are further configured to detect a target whose distance from the detection device is greater than the first distance threshold.

12. The device according to claim 10 or 11, characterized in that, The N IQ detection channels are further configured to: Detect the distance between the target and the detection device.

13. The device according to any one of claims 7 to 12, characterized in that The analog-to-digital converter (ADC) quantization bit number of the IQ detection channel is greater than the ADC quantization bit number of the first detection channel.

14. A terminal device, characterized in that, Comprising the detection device according to any one of claims 7 to 13.

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