Receiving module, detection apparatus, lidar, and terminal

Abstract

A receiving module (1), a detection apparatus (100), a LiDAR (200), and a terminal, which are applied in the technical field of detection. The receiving module (1) comprises first light receivers (11, 16), second light receivers (12, 17) and a light splitting apparatus (13), wherein the light splitting apparatus (13) is configured to split a light beam from a detection region into a first light beam and a second light beam, the first light beam being propagated to the first light receivers (11, 16), and the second light beam being propagated to the second light receivers (12, 17). The two groups of light receivers (11, 12, 16, 17) respectively receive two light beams split from the light beam from the detection region, such that two groups of detection data with overlapping fields of view can be obtained, thereby significantly improving the detection precision and ensuring the detection efficiency, without significantly affecting the overall volume of a detection apparatus and increasing the heat dissipation pressure.

Description

Receiving module, detection device, laser radar and terminal

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on December 25, 2023, with application number 202311818014.X and application name “Receiving module, detection device, laser radar and terminal”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of detection technology, and in particular to a receiving module, a detection device, a laser radar and a terminal. Background Art

[0003] Lidar is a sensor that combines laser technology with photoelectric conversion. 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 the device quickly identify and make decisions about surrounding objects, and is widely used in fields such as smart cars, intelligent transportation, and surveying and mapping.

[0004] With the continuous advancement of intelligent devices, demands for LiDAR detection accuracy are increasing. This has led to the increasing size of the detector chips on the LiDAR receiver side. As the optical Ragh invariant indicates, a larger image size at the receiver side increases the volume of the receiving optical system, significantly impacting the overall size of the LiDAR and hindering its miniaturization. Furthermore, the large size of the detector chips significantly increases thermal loads, significantly reducing LiDAR detection accuracy during extended periods of operation or in high-temperature conditions. Summary of the Invention

[0005] This application provides a receiving module, a detection device, a laser radar and a terminal, which can improve the detection accuracy of the detection device without significantly increasing the overall volume of the detection device.

[0006] In a first aspect, the present application provides a receiving module comprising a first array detector, a second array detector, and a spectrometer. The spectrometer is configured to split a light beam from a detection area into a first light beam and a second light beam. The first light beam forms a first light spot on the first array detector, and the second light beam forms a second light spot on the second array detector. The relative position of the first light spot on the first array detector is different from the relative position of the second light spot on the second array detector.

[0007] In the present application, the first light beam and the second light beam are obtained by splitting the same receiving light beam, so the detection areas corresponding to the two light beams are the same. Using two sets of array detectors to receive the first light beam and the second light beam respectively is equivalent to obtaining two sets of detection data with the same field of view in one reception. These two sets of detection data can reflect the detection results of the same detection area, so that the detection device performs two detections on a detection area at the same time, which can significantly improve the detection accuracy and ensure the detection efficiency. Furthermore, the two sets of detection data are used for fusion to obtain the detection results of the detection area. Since the two sets of detection data have no parallax, the computational complexity of the fusion process can be greatly reduced, and the accuracy of the detection results obtained by fusion can be improved. Moreover, since the array detector is located at the end of the optical path of the return light beam, the light spot of the light beam is relatively small, and adding array detectors will not lead to a proportional increase in the receiving optical system, so it will not significantly affect the overall volume of the detection device.

[0008] By setting the positions of the two light spots on the array detector to different levels, the acquisition areas of the light spot energy by the first array detector and the second array detector are staggered, so that the detection results obtained by the two are intertwined, effectively improving the point cloud density and fusion effect, and improving the detection accuracy of the detection area.

[0009] In a possible implementation of the first aspect, in the first direction, there is a first offset between a relative position of the first light spot on the first array detector and a relative position of the second light spot on the second array detector.

[0010] By offsetting the positions of the two light spots on the array detector, the acquisition areas of the light spot energy of the first array detector and the second array detector are misaligned, so that the detection results obtained by the two are intertwined, effectively improving the point cloud density and fusion effect, and improving the detection accuracy of the detection area.

[0011] In another possible implementation of the first aspect, the photosensitive surface of the first array detector and the photosensitive surface of the second array detector are of the same size. The same photosensitive surface makes it easier to design the offset distance. Furthermore, the same photosensitive surface minimizes (or even eliminates) the difference in field of view and amount of detection data between the two array detectors, thereby reducing the complexity of registration and facilitating fusion.

[0012] Optionally, the pixel size of the first array detector is the same as the pixel size of the second array detector. In this way, pixel-level registration is easily achieved, the complexity of registration is reduced, fusion is facilitated, and the resolution of the fused detection result can be improved.

[0013] Furthermore, the number and arrangement of pixels of the two are also the same.

[0014] In another possible implementation of the first aspect, in the first direction, a first offset exists between the relative position of the first array detector and the center of the spectrometer and the relative position of the second array detector and the center of the spectrometer. In this implementation, the difference in receiving positions of the light spots is achieved by offsetting the relative positions of the array detectors and the center of the spectrometer. This misaligns the areas where the first and second array detectors acquire light spot energy, interweaving their detection results. This effectively increases point cloud density and fusion effects, thereby improving detection accuracy within the detection area.

[0015] In yet another possible implementation of the first aspect, the first detector array and the second detector array each include M pixels, the M pixels are arranged in K rows, M is an integer and M ≥ 2, K is a positive number and M ≥ K ≥ 2. The first offset has a length of (N+0.5) pixels, N is an integer less than K and N ≥ 0.

[0016] When the offset between the two light spots exceeds the number of rows, the distance between the receiving positions of the two light spots is relatively large, making it difficult to form an overlapping area. In the above embodiment, the offset is performed in the first direction and the offset distance does not exceed the number of rows. On the one hand, the relative positions of the first and second light spots can overlap, achieving the effect of increasing the point cloud density in the overlapping area.

[0017] In another possible implementation of the first aspect, the first offset is 0.5 pixels long, and the relative position of the first light spot on the first array detector overlaps the relative position of the second light spot on the second array detector. In this implementation, by offsetting the first light spot by half a pixel, the energy captured from the first and second light spots overlaps significantly, significantly improving the accuracy of the detection results.

[0018] In another possible embodiment of the first aspect, the relative position of the first light spot on the first array detector and the relative position of the second light spot on the second array detector overlap in an area, and the overlapping area is a region of interest (ROI). By offsetting the first light spot by more than half a pixel, the energy captured from the first and second light spots overlaps, and the overlapping area is the middle area of ​​the light spots, which is equivalent to repeated detection of the middle area of ​​the field of view. In addition, by designing the size of the first offset, the overlapping area can be controlled so that the overlapping area of ​​the light spots covers the ROI, thereby precisely improving the detection accuracy of the detection results within the ROI.

[0019] In another possible implementation of the first aspect, a pixel includes A rows and B columns of detection units, where A is an integer and A ≥ 1, and B is a positive number and B ≥ 1. In some cases, the outputs of the detection units in row A and column B are sampled as a pixel, which facilitates the design of pixel sizes and increases the design flexibility of the detection device.

[0020] In another possible implementation of the first aspect, the first direction is a column direction of the first array detector and the second array detector. In the above implementation, the relative positions of the first light spot and the second light spot can be offset in the column direction, so that the overlapping area is in the middle area in the column direction, which facilitates the adjustment of the field of view angle in the vertical direction (i.e., the column direction) and improves the adaptation of the ROI by making the overlapping area in the middle area in the vertical direction.

[0021] Optionally, the aforementioned rows and columns can be replaced with each other.

[0022] In another possible implementation of the first aspect, the first detector array includes a plurality of first pixels, and the second detector array includes a plurality of second pixels, where the first pixels and the second pixels are of different sizes. Due to the different pixel sizes, the energy acquisition areas of the first and second detector arrays can be intertwined, so that light falling between the pixel gaps of one detector can be received by the other detector, thereby effectively increasing the density of the point cloud.

[0023] In another possible implementation of the first aspect, the first and second detector arrays have the same viewpoint relative to the detection area. Thus, the first and second detector arrays can see the same field of view and have the same physical proportions of the detection area. Therefore, the detection data obtained by the two detector arrays is aligned at the pixel level, making it easier to fuse the data, thereby effectively improving the accuracy of the detection results.

[0024] In another possible implementation of the first aspect, the spectrometer is an amplitude spectrometer. In this manner, the signal-to-noise ratios of the first and second light beams are the same as, or similar to, the signal-to-noise ratio of the received light beam, minimizing the difference in range-finding capabilities between the first and second array detectors, thereby improving detection accuracy and fusion effects.

[0025] In another possible implementation of the first aspect, the spectroscopic device is a wavelength spectroscopic device. In some embodiments, the transmitting module can emit light beams in two wavelength ranges, and the two array detectors can each receive more light beams in the wavelength range that matches their respective response, thereby increasing the energy of the light signals received by the array detectors, improving detection efficiency, and enhancing detection accuracy.

[0026] In another possible implementation of the first aspect, the first array detector and the second array detector are single-photon avalanche diode (SPAD) array detectors.

[0027] In another possible implementation of the first aspect, the receiving module further includes an imaging lens, through which the light beam from the detection area is transmitted to the spectrometer. In this manner, the first and second array receivers share a common imaging lens, achieving a common viewpoint and reducing the overall size of the detection device, thereby improving the detection device's integration.

[0028] In another possible implementation of the first aspect, the receiving module further includes a filtering module, and the light beam from the detection area is transmitted to the spectrometer through the filtering module. After filtering by the filtering module, the optical signal received by the array detector is highly effective, thereby helping to improve the detection accuracy of the detection device.

[0029] In a second aspect, the present application provides a receiving module comprising a spectrometer, an array detector, and an image sensor. The spectrometer is configured to split a light beam from a detection area into a first light beam and a second light beam, the array detector is configured to receive the first light beam, and the image sensor is configured to form an image using the second light beam. The array detector and the image detector have the same viewpoint on the detection area, and the photosensitive surface of the array detector is perpendicular to the photosensitive surface of the image sensor.

[0030] In some implementations, the image sensor's image is more easily able to identify the target's outline and color, while the detection data from the array detector can determine the distance and point cloud of the target within the detection area. When the two are fused, the accuracy of target recognition can be improved. In the embodiments of the present application, the light beams received by the array detector and the image sensor are separated from the same light beam, allowing the fields of view of the array detector and the image sensor to overlap, allowing the detection data from the array detector to be aligned with the data from the image sensor, reducing the complexity of registration and calibration during the fusion process.

[0031] Furthermore, the array detector and the image detector have the same viewpoint on the detection area, which enables the first array detector and the second array detector to see the same field of view area and the physical proportions of the detection area seen are the same. The detection data obtained by the two can achieve pixel-level alignment, which is easy to fuse and can effectively improve the accuracy of the detection results.

[0032] In a possible implementation of the second aspect, the array detector is a SPAD array detector, and the image sensor is a complementary metal oxide semiconductor (CMOS) image sensor, such as an RGB sensor or a mono sensor.

[0033] In a possible implementation of the second aspect, the spectroscopic device is a wavelength spectroscopic device.

[0034] In a possible implementation of the second aspect, the spectroscopic device is an amplitude spectroscopic device.

[0035] In a possible implementation of the second aspect, the receiving module further includes an imaging lens, and the light beam from the detection area is transmitted to the spectroscopic device through the imaging lens.

[0036] In a possible implementation of the second aspect, the receiving module further includes a filtering module, and the filtering module is disposed between the optical splitting device and the array receiver.

[0037] In a third aspect, the present application provides a detection device comprising a transmitting module and a receiving module, wherein the receiving module is the receiving module described in any one of the first aspect, or the transmitting module is the receiving module described in any one of the second aspect. The transmitting module is configured to transmit a light beam to a detection area, and the receiving module is configured to receive a light beam from the detection area, wherein the light beam from the detection area includes an echo of the transmitted light beam.

[0038] In a possible implementation of the third aspect, the transmitting module and the receiving module are arranged off-axis.

[0039] In a possible implementation of the third aspect, the transmitting module and the receiving module are coaxially arranged.

[0040] In a possible implementation manner of the third aspect, the detection device includes a reflector, the reflector being configured to reflect a transmission light beam from the transmission module, wherein the transmission light beam passing through the reflector is coaxial with the reception light beam propagating toward the reception module.

[0041] In a possible implementation of the third aspect, the detection device further includes a scanning module, the emission light beam propagates to the detection area through the scanning module, and the light beam from the detection area propagates to the receiving module through the scanning module.

[0042] In one possible implementation of the third aspect, the detection device further includes a bottom shell, the bottom shell including a bottom inner surface, and the transmitting module and the receiving module are arranged in a direction parallel to the bottom inner surface of the bottom shell, or the transmitting module and the receiving module are arranged in a direction parallel to the bottom inner surface of the bottom shell.

[0043] In a possible implementation of the third aspect, the transmitting module and the receiving module are arranged in a direction parallel to the ground, or the transmitting module and the receiving module are arranged in a direction perpendicular to the ground.

[0044] In a fourth aspect, the present application provides a laser radar, comprising the detection device described in the third aspect.

[0045] In a fifth aspect, the present application provides a terminal comprising the receiving module described in any one of the first aspect or the second aspect, or the detection device described in the third aspect, or the lidar described in the fourth aspect. Optionally, the terminal comprises an intelligent terminal or vehicle such as a vehicle, a robot, an unmanned aerial vehicle, or a ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The following is a brief introduction to the drawings required for describing the embodiments.

[0047] FIG1 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0048] FIG2 is a schematic structural diagram of a receiving module provided in an embodiment of the present application;

[0049] FIG3 is a schematic diagram of the relative positions of a light spot and an array detector provided in an embodiment of the present application;

[0050] FIG4 is a schematic diagram of the position of a point cloud provided in an embodiment of the present application;

[0051] FIG5 is a schematic diagram of five light spot shapes;

[0052] FIG6 is a schematic diagram of the relative positions of an array detector and a spectrometer provided in an embodiment of the present application;

[0053] FIG7 is a schematic diagram of the relative positions of another light spot and an array detector provided in an embodiment of the present application;

[0054] FIG8 is a schematic diagram of the relative positions of another light spot and an array detector provided in an embodiment of the present application;

[0055] FIG9 is a schematic diagram of a field of view provided in an embodiment of the present application;

[0056] FIG10 is a schematic diagram of an ROI provided in an embodiment of the present application;

[0057] FIG11 is a schematic diagram of the relative positions of another light spot and an array detector provided in an embodiment of the present application;

[0058] FIG12 is a schematic diagram of another point cloud position provided in an embodiment of the present application;

[0059] FIG13 is a schematic diagram of the relative positions of another light spot and an array detector provided in an embodiment of the present application;

[0060] FIG14 is a schematic diagram of another point cloud position provided in an embodiment of the present application;

[0061] FIG15 is a schematic diagram showing the transmittance of another dichroic mirror for light beams of different wavelengths provided in an embodiment of the present application;

[0062] FIG16 is a schematic structural diagram of another receiving module provided in an embodiment of the present application;

[0063] FIG17 is a schematic structural diagram of a laser radar provided in an embodiment of the present application;

[0064] FIG18 is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application;

[0065] FIG19 is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application;

[0066] FIG20 is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application;

[0067] FIG21 is a schematic diagram of an optical path of the laser radar shown in FIG20 . DETAILED DESCRIPTION

[0068] 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 are not intended to limit the scope of protection claimed in this application.

[0069] The Lagrange-Helmholtz Invariant, also known as the Lagrange Invariant, refers to the fact that when an optical system forms an image in the paraxial range, the product of the refractive index, image height (or object height) and on-axis aperture angle in any space is an invariant.

[0070] A region of interest (ROI) is an area in a detection area that needs to be processed or focused on, represented by a box, circle, ellipse, or irregular polygon. The ROI generally includes the detection target.

[0071] A light spot refers to a bright spot formed by a light beam, and also refers to the energy density (or intensity, power) distribution of a light beam. In the embodiments of the present application, a light spot can be regarded as a projection of a light beam on a surface.

[0072] Viewpoint (or point of gaze) refers to the relative position of the observer to the observed object, that is, the position where the observer is looking. In the field of detection technology, viewpoint refers to the relative position of the receiving module and the detection area, or the relative position of the photosensitive surface of the light receiver and the measured plane of the detection area. The viewpoint is the factor that determines the relative proportions of the objects in the imaging picture. When the viewpoint remains unchanged, the use of lenses with different focal lengths can only make the picture proportionally enlarged or contracted, but the perspective remains unchanged (that is, the perspective point), that is, the relative proportions of the objects in the picture remain unchanged. In some schemes, for a single lens, the viewpoint is the entrance pupil position. For a scanning detection device, the viewpoint can be the intersection of the main optical axes of different wave positions in the scanning direction.

[0073] A point cloud is an aggregation or collection of points. These points (also called target points or data points) are typically used to indicate characteristics of an object. For example, a point indicates one or more of the following: position (e.g., one-dimensional, two-dimensional, or three-dimensional coordinates), distance, angle, reflection intensity, color information, etc.

[0074] The above explanations of terms may be applied hereinafter.

[0075] The detection device uses signals as the detection medium. By transmitting signals to the detection area (i.e., the object space) and receiving the echo of the signals, it can detect the detection area, for example, to measure distance, speed, or azimuth. The detection device is provided with a transmitter and a receiver. The transmitter is used to transmit signals, and the receiver is used to receive signals. The signals here include light, such as laser. When light is used for detection, an optical module is provided in the detection device to process the light beam. The processing here includes one or more of splitting, filtering, converging, diverging, refraction, filtering, reflection, or scanning.

[0076] With the advancement of intelligent devices, the demand for detection accuracy from detection devices is increasing. Some solutions improve detection accuracy by increasing the size of the detector chip at the receiving end. Larger detector chips can receive a larger imaging spot, resulting in more refined detection results based on the imaging spot, thereby improving detection accuracy. However, according to the Lagrange invariant, the size of the optical module used for imaging must also be proportionally increased, which in turn increases the overall size of the detection device. This hinders the miniaturization of lidar and limits its installability and flexibility. For example, detection devices are typically installed within terminals. For example, in vehicles, the large number of components within a vehicle severely limits the installation location of large lidars. This makes it difficult for automakers to strike a balance between the vehicle's exterior design, cockpit comfort, and the detection device's field of view. Furthermore, the larger the size of the detection chip, the greater the thermal load and the higher the heat dissipation requirements. This not only increases the difficulty of chip packaging but also leads to greater reliability risks for the detection device and the terminal in which it is installed.

[0077] In view of this, the embodiments of the present application provide some receiving modules, detection devices, laser radars and terminals, which can improve the detection accuracy without significantly increasing the volume of the entire machine.

[0078] The following first introduces the detection device provided by the embodiment of the present application. The detection device includes a transmitting module and a receiving module, wherein:

[0079] The emission module is used to emit a light beam, which can also be called a probe light. Exemplarily, the emission module 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).

[0080] In one possible implementation, the emission module includes a laser emission chip, which includes one or more of the aforementioned light sources. In one possible scenario, the emission module includes a VCSEL chip. In another possible scenario, the emission module includes a laser emission chip formed by splicing multiple VCSEL chips. On the one hand, by splicing 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, in the case of the same light-emitting area, splicing multiple VCSEL chips has less stress than directly using a whole VCSEL chip of similar size. In addition, multi-chip splicing also has higher heat dissipation efficiency and can reduce crosstalk.

[0081] The receiving module is used to receive a light beam, which includes the return light of the transmitted light beam. The receiving module may include a light splitting device and multiple groups of light receivers. The light splitting device is used to split the light beam into multiple sub-beams, and each group of detectors is used to receive one sub-beam.

[0082] The following first introduces the optical splitting device in the receiving module. In this application, the basis for the optical splitting device to split light can be amplitude, wavelength, etc. The following are introduced separately:

[0083] In one possible embodiment, the spectroscopic device is an amplitude spectroscopic device, such as a semi-transparent, semi-reflective spectroscope. The semi-transparent, semi-reflective spectroscope can split a beam of light into two beams of light with approximately the same spectral components. In some schemes, the semi-transparent, semi-reflective spectroscope has the same transmittance and reflectance for light of each wavelength within a certain wavelength range, such as a wavelength range of 300 nanometers (nm) to 100 micrometers (μm). It should be understood that the same here does not necessarily mean completely the same, for example, the difference between the two is about 10%. Generally speaking, spectroscopes in which the transmitted light and reflected light each account for 50% are commonly used. However, the present application is also applicable to spectroscopes with other transmittance ratios (reflection ratios), such as a spectroscope with 40% transmittance and 60% reflection.

[0084] In another possible embodiment, the spectroscopic device is a wavelength spectroscopic device, such as a dichroic mirror. A dichroic mirror is an optical device that has different reflectivity and transmittance properties for light of different wavelengths, and may also be called a dichroic beamsplitter, dichroic filters, or a dichroic beam splitter. For example, a dichroic mirror has a lower reflectivity in a wavelength range less than 750 nm and a higher reflectivity in a wavelength range greater than 800 nm. That is, most of the light signals with a wavelength less than 750 nm are transmitted when passing through the dichroic mirror, and most of the light signals with a wavelength greater than 800 nm are reflected when passing through the dichroic mirror.

[0085] Optionally, the light splitting device includes one or more of a prism (ie, a light splitting prism), an optical plate (ie, a light splitting plate), or a super lens.

[0086] In one possible implementation, the spectroscopic device is a spectroscopic prism. On the one hand, the spectroscopic prism has low requirements for the back focus of the imaging lens, that is, the back focus of the imaging lens can be designed to be relatively short, thereby saving space and contributing to the miniaturization of the detection device. On the other hand, when a spectroscopic prism is used for spectrometry, the requirements for the incident angle of the light beam on the spectroscopic surface of the prism are relatively low, which reduces the difficulty of optical path design. In addition, when a spectroscopic prism is used, the optical paths of the two sub-beams obtained are the same, which can improve the alignment effect.

[0087] In another possible implementation, the spectroscopic device is a spectroscopic flat plate. The cost of the spectroscopic flat plate is relatively low, which helps to reduce the overall cost of the detection device.

[0088] The following describes the optical receivers in the receiving module. These optical receivers include photoelectric conversion units (also called photodetectors), which receive optical signals and output electrical signals. The photoelectric conversion units in multiple groups of optical receivers can be of the same or different types. Alternatively, if there are more than three optical receivers, some may have the same type of photoelectric conversion units.

[0089] As a possible example, multiple groups of optical receivers include one or more detectors for obtaining point clouds (or time-of-flight information, depth information, or ranging information), hereinafter referred to as detectors, and in some embodiments also referred to as radar detectors, ranging detectors, etc. The photoelectric conversion unit in the detector is referred to herein as a detection unit, and the detector includes one or more of the following detection units: a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a multi-pixel photon counter (MPPC), a semiconductor avalanche photodiode (APD), or a "positive-intrinsic-negative" (PIN) diode (or a P-type semiconductor-impurity-N-type semiconductor diode). When the detector includes multiple detection units, the multiple detection units can be arranged in an array to form an array detector. For example, the receiving module includes a SPAD array detector.

[0090] In some schemes, in addition to the returned light, the received light beam also includes background light. The background light is formed by the objects in the detection area (including living objects) reflecting the light of other light sources (i.e., light sources other than the transmitted light beam), such as the sun, lamps (such as street lights, car lights, etc.), etc.

[0091] In one possible implementation, the multiple groups of light receivers include an image sensor. In this application, the photoelectric conversion unit in the image sensor is referred to as a photosensitive unit. The photosensitive unit includes one or more of the following units: a complementary metal oxide semiconductor (CMOS), a charge-coupled device (CCD), a Live MOS, etc. For example, the image sensor includes a CMOS image sensor (CIS), which is used to convert optical images into electronic signals.

[0092] In conjunction with Figure 1, the following is an example of the structure of the detection device, taking the receiving module including two optical receivers as an example. As shown in Figure 1, the detection device 100 includes a receiving module 1 and a transmitting module 2. The transmitting module 2 is used to generate a transmission light beam, which is transmitted to the detection area. The receiving module 1 is used to receive the light beam, and the return light beam includes the light beam from the detection area. The receiving module 1 includes a spectrometer 13. The spectrometer 13 splits the received light beam into two sub-beams and provides them to the first optical receiver 11 and the second optical receiver 12 respectively. The first optical receiver 11 and the second optical receiver 12 respectively receive one of the sub-beams. Since the two sub-beams are obtained by splitting the same received light beam, the detection areas corresponding to the two beams are the same. Using two groups of optical receivers to receive the two sub-beams respectively is equivalent to obtaining two sets of detection data with the same or overlapping fields of view in one reception. The two sets of detection data can reflect the detection results of the same detection area, so that the detection device performs two detections on the detection area at the same time, which can significantly improve the detection accuracy and ensure the detection efficiency. Furthermore, the two sets of detection data are used to fuse to obtain the detection results of the detection area. Since the two sets of detection data have no parallax, the computational complexity of the fusion process can be greatly reduced, and the accuracy of the fused detection results can be improved.

[0093] Furthermore, because the optical receiver is located at the end of the return beam's optical path, the beam's spot size is relatively small. Therefore, adding a single optical receiver does not result in a proportional increase in the receiving optical system, and thus does not significantly impact the overall volume of the detection device. Since the size of the optical system does not need to be increased, this application can also reduce the cost of the detection device's optical components. Furthermore, the thermal load of the two discrete optical receivers does not significantly increase, reducing the heat dissipation pressure on the detection device and the equipment on which it is mounted.

[0094] In some possible embodiments, the transmitting module 2 and the receiving module 1 are designed to be off-axis. The off-axis architecture refers to an optical path architecture in which the main optical axis of the light beam emitted by the transmitting module 2 does not coincide with the main optical axis of the receiving module 1. In the present application, the off-axis design prevents the transmitting light beam from passing through the optical elements in the receiving module 1, and there is no need to set up optical elements in the detection device 100 to achieve coaxial transmission and reception, thereby improving the integration of the receiving module 1, helping to reduce the cost of the detection device and reducing the overall volume of the detection device. In addition, compared with the coaxial architecture, the isolation between the transmitting light path and the receiving light path in the off-axis architecture is high, which can avoid stray interference to a certain extent and improve the effectiveness of the received signal.

[0095] In some possible embodiments, the transmitting module 2 and the receiving module 1 are coaxially designed. A coaxial design refers to an optical path architecture in which the main optical axis of the light beam emitted by the transmitting module 2 coincides with the main optical axis of the receiving module 1. Optionally, the detection device further includes a coaxial module, which is used to achieve the coincidence of the transmitting optical path of the transmitting module 2 and the receiving optical path of the receiving module 1. For example, the coaxial module includes a reflector, or the coaxial module includes a polarization beam splitter, a wave plate, a semi-transparent and semi-reflective beam splitter, or other beam splitters with different light splitting ratios.

[0096] Optionally, the transmitting module 2 and the receiving module 1 are arranged in a direction perpendicular to the ground, or in a direction parallel to the ground. The aforementioned ground can be replaced by a bottom shell.

[0097] In some possible implementations, the receiving module further includes an imaging lens, and the return light beam passes through the imaging lens before reaching the receiving module. Referring to FIG1 , the two optical receivers share the imaging lens 15 , which not only helps achieve a common viewpoint for the two optical receivers but also reduces the overall size of the detection device 100 , thereby improving the integration of the detection device 100 .

[0098] Optionally, no optical element capable of changing the optical focal length is provided on the optical path from the spectrometer 13 to the first optical receiver 11 and on the optical path from the spectrometer 13 to the second optical receiver, that is, the two optical receivers share an imaging lens and have the same imaging ratio, which can increase the registration complexity between the detection data obtained by the first optical receiver and the detection data obtained by the second optical receiver, and significantly improve the detection accuracy.

[0099] In some possible embodiments, the detection device further includes a filter module, which is used to filter the light beam from the detection area in order to improve the effectiveness of the signal received by the optical receiver. Exemplarily, the filter module may include a bandpass filter, such as a narrowband filter. The bandpass filter allows light signals to pass through in a specific band and blocks light signals that deviate from this band. The passband of the narrowband filter is relatively narrower, and the bandwidth is generally less than 5% of the center wavelength value. Exemplarily, narrowband refers to a bandwidth less than or equal to 40 nanometers (nm), such as 22nm, 21nm or 20nm. For example, when the wavelength of the light emitted by the emission module is 1550nm, the wavelength range that can be passed by the narrowband filter is a wavelength range including 1550nm, and the bandwidth of the passable wavelength range is no more than 20nm. This can greatly reduce the interference of background light, improve the effectiveness of the received light beam, and improve the detection accuracy.

[0100] Optionally, a filter module can be provided at the entrance of the spectrometer, so that the received light beam propagates to the spectrometer after passing through the filter module. Referring to FIG1 , in a detection device 100 including an imaging lens 15 , the filter module 14 is provided on the optical path between the imaging lens 15 and the spectrometer 13 . Since the light beam is typically small after passing through the imaging lens 15 , the size of the filter module 14 can be designed to be relatively small. Furthermore, the two optical receivers can share the filter module 14, further reducing the overall size of the detection device 100 .

[0101] Optionally, the position of the filter module shown in FIG1 is merely an example. In some embodiments, the filter module may also be positioned between the optical receiver and the optical splitter. For example, the detection device 100 includes a filter module 14 positioned between the optical splitter 13 and the first optical receiver 11. For another example, the detection device 100 includes two filter modules, with the filter module 14 positioned between the optical splitter 13 and the second optical receiver 11.

[0102] The embodiment shown in FIG1 above includes a variety of possible designs. The receiving module provided by the present application is described below in conjunction with FIG2 to FIG15. Optionally, the receiving module described below can be applied to the aforementioned detection device 100. It should be understood that the various embodiments of the present application can be combined with each other. For example, the embodiments described below can be combined with the aforementioned embodiments of the detection device, and the embodiments described below can also be combined with each other.

[0103] In one possible design, the receiving module includes multiple detectors. As shown in Figure 2, the receiving module 1 includes a spectrometer 13, a first array detector 16 (which can be regarded as a first light receiver 11) and a second array detector 17 (which can be regarded as a second light receiver 12). The spectrometer 13 is used to split the received light beam into a first light beam and a second light beam, the first light beam forms a first light spot on the first array detector 16, and the second light beam forms a first light spot on the second detector. The received light beam includes a light beam from the detection area. Based on the acquired light beam energy, the first array detector 16 and the second array detector 17 can obtain information about the detection area, including time of flight (TOF) information, one or more information such as the distance, position, angle, reflectivity, or color of the target in the detection area.

[0104] Furthermore, the first array detector 16 acquires the energy of the first light beam to generate first detection data, and the second array detector 17 acquires the energy of the second light beam to generate second detection data. The first and second detection data are fused to generate a point cloud of the detection area. Optionally, the positions of the first array detector 16 and the second array detector 17 can be interchanged.

[0105] In some possible embodiments, the relative position of the first light spot on the first detector array 16 is different from the relative position of the second light spot on the second detector array 17. Relative position refers to the position of a point on the light spot relative to the same or corresponding point on the two detector arrays, for example, the relative position of the center of the light spot relative to the center of the detector array, or the relative position of the vertical center of the light spot relative to the vertical center of the detector array.

[0106] Exemplarily, there is an offset between the relative position of the first light spot on the first array detector 16 and the relative position of the second light spot on the second array detector 17, which is referred to as the first offset for ease of distinction. Please refer to Figure 3, Figure 3 (a) is a schematic diagram of the relative position of the first light spot on the first array detector 16. Along the first direction (such as the Y direction), the center of the first light spot is point P, and point P coincides with the center of the first array detector 16 along the first direction. Figure 3 (b) is a schematic diagram of the relative position of the second light spot on the second array detector 17. Along the first direction, the center of the second light spot is point Q, and point Q does not coincide with the center of the second array detector 17 along the first direction. In Figure 3, the position of the first light spot on the first array detector is shown in the dotted area of ​​Figure 3 (b). The position of the second light spot is offset relative to the position of the first light spot. The offset in the first direction can be expressed as d1.

[0107] By offsetting the positions of the two light spots on the array detector, the distribution areas of the beam energy acquired by the first array detector 16 and the second array detector 17 are misaligned, so that the positions of the target points in the detection results obtained by the two can be intertwined, effectively improving the point cloud density and fusion effect, and improving the detection accuracy of the detection area. For example, in Figure 3 (a), part of the light in the first light spot falls into the gap between pixels, while in Figure 3 (b), this part of the light in the second light spot can fall into the pixel after being offset, improving the comprehensiveness of the light spot energy acquisition, improving the detection accuracy of the detection device, and significantly improving the density of the point cloud.

[0108] Consider a possible scenario where the center of the light reflected from a target A in the detection area falls into a pixel gap. This may cause some or all of the energy of the light reflected from target A to be lost. Even if only some of the energy is lost, the remaining energy may be dispersed across multiple pixels, and the energy dispersed in a single pixel may not reach the detection threshold of a single pixel, which may result in the target A not being successfully detected. However, through the staggered design of the two array detectors of the present application, when the light reflected from target A falls into the gap between the pixels of the first array detector, it can fall into the pixel on the second array detector, thereby greatly increasing the possibility of sensing target A and improving the point cloud density and detection accuracy.

[0109] In conjunction with Figure 4, for the sake of ease of description, the distribution area of ​​the beam energy obtained on the array detector is represented here in the form of the position of the point cloud. In the case of one reception, the present application uses the first offset d1 to make the position of the point cloud of the first array detector 16 and the position of the point cloud of the second array detector 17 intertwine with each other, so that the two complement each other's point cloud position gaps, and can form two sets of nested point clouds, thereby effectively improving the density of the point cloud. Of course, the present application can also achieve the effect of improving the point cloud density and detection accuracy for the case where a detection result of a complete field of view is obtained by multiple detections (for example, W times, W is a positive number and W≥2) (at this time, one detection can detect one wave position in the field of view).

[0110] In this article, pixel refers to the basic unit of image (including point cloud and image), and is also used to indicate a sampling. In the field of computer vision, the information of a pixel is usually obtained by the output of one or more photoelectric conversion units, so the pixel is also used to represent the photoelectric conversion unit or photoelectric conversion unit group in the light receiver. In this field, pixels are commonly used to refer to one or more photoelectric conversion units (or simply referred to as cells). Furthermore, in the case of including multiple units, the multiple units within a pixel can be arranged in an array. Exemplarily, in an array detector, a pixel includes A rows and B columns of detection units, A is an integer and A≥1, and B is a positive number and B≥1. As shown in Figure 3, a pixel includes 3 rows and 3 columns (expressed as 3*3) of detection units.

[0111] It should be noted that the shape of the received light beam in the example of the present application can be linear or planar. Similarly, the first light beam and the second light beam are linear or planar respectively. In conjunction with (a) (b) (c) (d) (e) of Figure 5, when the received light beam is a linear light beam, the length of the received light beam along the first direction is greater than the length along the second direction. Optionally, the linear light beam can be a line, as shown in (a) of Figure 5, or the linear light beam can also be a linear light beam obtained by splicing multiple light beams, such as (b) (c) (d) (e) of Figure 5. Further, when the received light beam includes multiple light beams, the emission module correspondingly includes multiple light sources to form multiple light beams. In some schemes, the emission power of the multiple light sources is the same, and in some other schemes, the emission power of the multiple light sources is different. In some schemes, the wavelength of light emitted by the multiple light sources is the same, and in some other schemes, the wavelength of the multiple light sources is different.

[0112] In some possible embodiments, the photosensitive surface of the first array detector 16 and the photosensitive surface of the second array detector 17 are the same size, where the photosensitive surface can also be called a target surface, which is used to indicate the area of ​​the photosensitive region that can receive light signals (or the peripheral area of ​​multiple photoelectric conversion units).

[0113] In some possible embodiments, the pixel size of the first array detector 16 is the same as the pixel size of the second array detector 17. Furthermore, the number and arrangement of pixels of the two are also the same. As shown in Figure 3, in the first array detector 16 and the second array detector 17, one pixel includes 2*2 detection units, and the number and arrangement of pixels of the two are the same. Of course, the present application is also applicable to the case where the photosensitive surfaces of the two are different, for example, the pixel sizes of the two are the same, but the number is different. For example, the first array detector is 256*256 pixels, and the second array detector is 200*200 pixels. Optionally, in this case, the relative position of the light spot is the position relative to the center of the array detector (for example, the center along a certain direction, or the center in multiple directions).

[0114] In a possible example, the photosensitive surface of the first array detector is the same as the photosensitive surface of the second array detector, where the same includes the same size of the photosensitive surface and the same size, number and arrangement of pixels in the two array detectors.

[0115] As mentioned above, there is an offset between the relative position of the first light spot on the first array detector 16 and the relative position of the second light spot on the second array detector 17. To facilitate understanding, two ways of implementing the offset are described below:

[0116] Implementation method one: the positions of the first array detector 16 and the second array detector 17 relative to the center of the spectrometer 13 are offset. As shown in FIG6 (a), in the first direction (the Y direction shown in FIG6), the center of the spectrometer is represented as point O, the midpoint of the first array detector 16 is point K, and the positions of point O and point K are the same in the first direction. As shown in FIG6 (b), in the first direction (the Y direction shown in FIG6), the center of the spectrometer is represented as point O, the center of the second array detector 17 is point L, and the positions of point O and point L in the first direction are offset by a first offset d1. Since the main optical axis of the light beam passes through the center of the spectrometer to reach the array detector, the position offset of the array detector causes the relative position of the first light spot on the first array detector 16 and the relative position of the second light spot on the second array detector 17 to be offset by a first offset d1 in the first direction.

[0117] In a second implementation, optical elements are used to offset the relative position of the first light spot on the first array detector 16 and the relative position of the second light spot on the second array detector 17. For example, optical elements such as a reflector or a prism are used to offset the light spot of the first light beam in the first direction so that the light spot falls at a different relative position from the second light spot.

[0118] The above two implementation methods can be combined.

[0119] In some possible embodiments, the first detector array 16 and the second detector array 17 include at least K rows of pixels, where K is a positive number and K ≥ 2. The first offset is a length of (N + 0.5) pixels, where N is an integer less than K and N ≥ 0. Furthermore, the first offset is an offset along a first direction, which is the column direction of the first detector array 16 and the second detector array 17. With reference to FIG3 , the first detector array and the second detector array include 12 rows of pixels. In the first direction, the first offset is d1, where 0.5y1 < d1 < (11 + 0.5)y1, where y1 is the width of a pixel.

[0120] In some embodiments, the number of pixels in the first array detector 16 and the number of pixels in the second array detector 17 are the same, for example, both include M pixels, where M is a positive number and M ≥ K. When the number of pixels in the first and second array detectors is the same, the detection data obtained from the two arrays is easier to align, resulting in a fused point cloud with high resolution and improved detection accuracy.

[0121] Alternatively, the aforementioned pixels may be replaced with detection units. That is, the first array detector and the second array detector include at least H rows of detection units, where H is a positive number and H ≥ 2. The first offset is a length of (N + 0.5) detection units, where N is an integer less than H and N ≥ 0.

[0122] In some possible embodiments, the light spot of the first light beam falling into the receivable area of ​​the first array detector overlaps with the light spot of the second light beam falling into the receivable area of ​​the second array detector. In this case, the overlapping area is equivalent to performing two energy acquisitions, thereby significantly improving the detection accuracy. For example, in FIG3 , the light spots of the first light beam all fall into the receivable area of ​​the first array detector 16, and the light spots of the second light beam all fall into the receivable area of ​​the second array detector. At this time, the first light spot completely overlaps with the second light spot. For the two light beams split from the same receiving light beam, the first array detector and the second array detector each perform one energy acquisition, which can double the number of lines, thereby improving the detection accuracy.

[0123] Optionally, within the receivable area of ​​the array detector, the detection units are turned on (or in operation) and can capture the energy of the light spot. The reason why the portion outside the receivable area fails to capture energy may be because it exceeds the array detector and / or the detection units at the corresponding positions within the array detector are not turned on.

[0124] In some possible implementations, the relative position of the first light spot on the first detector array 16 overlaps with the relative position of the second light spot on the second detector array 17. When only a portion of the first light spot falls on the first detector array 16 and / or only a portion of the second light spot falls on the second detector array 17, the overlapping area is equivalent to performing two energy acquisitions, thereby significantly improving detection accuracy.

[0125] Two possible spot distributions are further listed below:

[0126] In Example 1, the first offset is half a pixel in width, and the relative position of the first light spot on the first array detector overlaps with the relative position of the second light spot on the second array detector. Please refer to Figure 7. Figure 7 (a) shows the distribution of the first light spot on the first array detector 16. Part of the first light spot (i.e., the light spot of the first light beam) falls into the receivable area of ​​the first array detector 16 (i.e., the area where the light spot energy can be obtained), while part of the light spot does not fall into the receivable area of ​​the first array detector 16. Combined with Figure 7 (c), it can be seen that in the first light spot, the part that obtains energy is represented by black, while the part that fails to obtain energy is represented by white. Similarly, combined with Figure 7 (b) and (d), part of the second light spot falls into the receivable area of ​​the second array detector 17, while part of the light spot does not fall into the receivable area of ​​the second array detector 17.

[0127] In conjunction with (a) and (b) of FIG7 , along the first direction (ie, the y direction), the first offset (ie, d1 shown in FIG7 ) is the width of one pixel along the y direction. As can be seen from FIG7(e), by shifting the width of half a pixel, the energy captured in the first light spot and the second light spot overlaps to a large extent, which greatly improves the accuracy of the detection result.

[0128] In Example 2, the first offset is greater than half a pixel width. There is an overlapping area between the relative position of the first light spot on the first detector array 16 and the relative position of the second light spot on the second detector array 17. This overlapping area is the ROI. Please refer to Figure 8 , (a) and (c) for the distribution of the first light spot on the first detector array 16. Part of the first light spot falls within the receivable area of ​​the first detector array 16, while part does not. Similarly, in Figure 8 (b) and (d), part of the second light spot falls within the receivable area of ​​the second detector array 17, while part does not.

[0129] 8 (a) and (b), in the first direction (ie, the y direction), the first offset d1 is greater than the width of one pixel in the y direction. For example, the first offset is Where N≥1. For example, N can be the number of rows of pixels in the array detector. or Etc. As shown in Figure 8(e), by shifting the light by more than half a pixel, the energy captured from the first and second light spots overlaps. The overlapping area is equivalent to performing two detections, doubling the point cloud density and significantly improving the accuracy of the detection results.

[0130] In conjunction with the aforementioned solution, in some scenarios, the area where the relative positions of the first and second light spots overlap is the ROI. Specifically, when the two array detectors are misaligned, the overlapping area is the middle area between the first and second light spots, which is equivalent to repeatedly detecting the middle area of ​​the field of view. By adjusting the size of the first offset, it is possible to control the overlapping area and adjust the field of view angle so that the overlapping area of ​​the light spots covers the ROI, thereby precisely improving the detection accuracy of the detection results within the ROI.

[0131] Please refer to Figure 9, which is a schematic diagram of the fields of view corresponding to a first array detector and a second array detector provided in the present application. The first light beam obtained by the received light beam is the same as the field of view of the received light beam. Since the first array detector obtains a part of the first light spot corresponding to the first light beam, the field of view of the first array detector is part of the field of view of the received light beam. Similarly, the field of view of the second array detector is also another part of the received light beam, and there is an offset and overlap with the field of view of the first array detector. In combination with Figures 7, 8 and 9, the overlapping part of the field of view of the first array detector and the field of view of the second array detector is the ROI. In this way, by adjusting the first offset, the corresponding field of view angle of the receiving module can be adjusted, thereby improving the design flexibility of the detection device. When the first offset is designed to be larger, the detection device has a larger field of view angle, and can also achieve coverage of the ROI, thereby improving the detection performance.

[0132] In some cases, the value of the detection results in the middle area of ​​the field of view is higher than the value of the detection results in the edge area of ​​the field of view. For example, taking the vehicle perception scene as an example, in combination with Figures 9 and 10, in the vertical direction, the central area of ​​the field of view is the space where the vehicle is most likely to drive to. Obstacles, vehicles in front, lane lines and other targets in the central area of ​​the field of view will affect the driving of the vehicle. The detection results in this area are of greater value to driving decisions and safety assurance decisions. Therefore, the central area of ​​the field of view is usually the ROI. However, the present application designs a first offset and makes the relative positions of the first light spot and the second light spot overlap, so that multiple detections of the ROI can be achieved in one lighting, thereby improving the detection accuracy of the ROI and ensuring the efficiency of detection, which helps to improve the driving safety of the vehicle. In particular, for intelligent driving systems, the higher the detection accuracy of the ROI and the higher the efficiency, the more conducive it is to the calculation and decision-making of the intelligent driving system, thereby improving the safety and comfort of the intelligent driving system. Of course, this is only an example of vehicle perception. The present application is also applicable to scenarios such as surveying and mapping or robot perception.

[0133] The above description uses the example of an offset in a first direction between the position of the first light spot on the first detector array and the position of the second light spot on the second detector array. In one possible implementation, the position of the first light spot on the first detector array and the position of the second light spot on the second detector array are also offset in a second direction, which is referred to as a second offset for ease of distinction. The first direction is different from the second direction; for example, the second direction is perpendicular to the first direction.

[0134] In conjunction with Figure 11, along a first direction (e.g., the Y direction), there is a first offset d1 between the relative position of the first light spot on the first array detector and the relative position of the second light spot on the second array detector. In a second direction (e.g., the Y direction of the first array detector or the X direction of the second array detector), there is a second offset d2 between the relative position of the first light spot on the first array detector and the relative position of the second light spot on the second array detector. Referring to Figure 11, Figure 11(a) is a schematic diagram of the relative position of the first light spot on the first array detector 16, with the center of the first light spot being point P, which coincides with the center of the first array detector along the first direction. Figure 11(b) is a schematic diagram of the relative position of the second light spot on the second array detector 17, with the center of the second light spot being point Q, which does not coincide with the center of the first array detector along the first direction. Furthermore, there is a first offset d1 between points P and Q in the Y direction and a second offset d2 in the Z direction. Please refer to Figure 12. By designing the area where the light spot is received to be offset in two directions, the positions of the point cloud are intertwined and nested in two directions, and the gaps between the positions of the point cloud are further reduced, thereby effectively improving the density of the point cloud. Of course, this application can also achieve the effect of improving the point cloud density and detection accuracy when multiple (for example, W) detections are performed to obtain a detection result for a complete field of view.

[0135] It should be noted that the first array detector and the second array detector are set in the same absolute XYZ coordinate system, so that the second direction is the Y direction from the perspective of the first array detector and the X direction from the perspective of the second array detector. However, in fact, in conjunction with Figure 2, it can be seen that the Y direction from the perspective of the first array detector and the X direction from the perspective of the second array detector are the same direction relative to the light spot of the light beam, and the Y direction from the perspective of the first array detector and the X direction from the perspective of the second array detector are both the row directions of the array detectors. It should be understood that the aforementioned row direction, column direction, X direction, Y direction, Z direction, etc. are only illustrative for the purpose of facilitating the understanding of this application. In specific implementations, rows and columns can be replaced with each other, and the X direction, Y direction, Z direction, etc. can have other designs.

[0136] In the preceding figures, the pixel sizes of the first and second detector arrays are identical. In some possible implementations, the pixel sizes of the first and second detector arrays are different. Specifically, the first detector array includes a plurality of first pixels, and the second detector array includes a plurality of second pixels, and the first and second pixels are different in size.

[0137] Optionally, the number of detection units included in the first pixel and the second pixel may be different. Furthermore, the size of the light-transmitting surface of each detection unit is the same or different. Or optionally, the first pixel and the second pixel include the same number of detection units, but the size of the light-transmitting surface of the detection units included in each is different. For example, referring to Figure 13 (a), the first pixel of the first array detector 16 includes 9 detection units of 3*3, while the second array detector 17 includes 16 detection units of 4*4. Due to the different pixels, the area where the first array detector 16 receives the energy of the first light spot is different from the area where the second array detector 17 receives the energy of the second light spot. As shown in Figure 13 (b), the midpoint P of the first light spot along the first direction (such as the y direction) falls into the gap between the pixels of the first array detector 16, while the midpoint P of the second light spot along the first direction falls into the pixel of the second array detector 17. In conjunction with Figure 14, taking the area where the equivalent receiving point reflects the received energy as an example, due to the different pixel size designs, the light falling into the pixel gap of one of the detectors can be received by the other detector, so that the positions of the point clouds of the first array detector 16 and the second array detector 17 are intertwined, so that the gap between the positions of the points is reduced, thereby effectively improving the density of the point cloud.

[0138] The various embodiments of the present application can be combined. As a possible implementation method, when the pixel sizes of the first array detector 16 and the second array detector 17 are different, the relative positions of the light spots received by the two can also be offset, for example, there is a first offset in the first direction, and / or there is a second offset in the second direction. Further, the first offset can be the width of (N+0.5) first pixels in the first direction, or the width of (N+0.5) second pixels in the first direction. Similarly, the second offset can be the width of (N+0.5) first pixels in the second direction, or the width of (N+0.5) second pixels in the second direction.

[0139] As a possible embodiment, the first and second array detectors 16, 17 have the same viewpoint, where the viewpoint is relative to the detection area. That is, the first and second array detectors 16, 17 have the same imaging ratio for the detection area. This allows the first and second array detectors 16, 17 to see the same field of view and the same physical ratio of the detection area. Therefore, the detection data obtained by the two detectors is aligned at the pixel level, making it easy to fuse and effectively improving the accuracy of the detection results. Of course, the phrase "the first and second array detectors can see the same field of view" described here includes both situations where the fields of view of the two detectors completely overlap, and where the fields of view of the two detectors partially overlap.

[0140] In one possible implementation, in combination with Figure 2, no optical element that changes the optical focal length is set on the optical path between the spectrometer 13 and the first array detector 16 and on the optical path from the spectrometer 13 to the second array detector 17, so that the corresponding imaging characteristics of the first light beam and the second light beam remain consistent on the optical path from the spectrometer 13 to the first array detector 16 and the second array detector 17 respectively, and the viewpoints of the first array detector 16 and the second array detector 17 are the same.

[0141] Alternatively, in another possible implementation, two optical elements with the same optical properties are respectively arranged on the optical path between the spectrometer 13 and the first array detector 16 and on the optical path from the spectrometer 13 to the second array detector 17 to achieve the same viewpoint for the first array detector and the second array detector 17.

[0142] In one possible implementation, referring to Figure 2 , the photosensitive surface of the first array detector 16 is perpendicular to the photosensitive surface of the second array detector 17. Referring to Figure 2 , the photosensitive surface of the first array detector 16 is parallel to the XY plane, while the photosensitive surface of the second array detector 17 is parallel to the YZ plane. By designing these two photosensitive surfaces perpendicular to each other, there is no need to install an optical element after the spectrometer 13 to deflect the light beam. This allows the first array detector 16, the second array detector 17, and the spectrometer 13 to be more centrally located, reducing the difficulty of optical path design and making it easier to implement a dual-array detector solution.

[0143] As a possible embodiment, referring to FIG2 , the spectrometer 13 is an amplitude spectrometer, or a wavelength spectrometer. Alternatively, the spectrometer 13 may be a spectrometer prism or a spectrometer plate. Furthermore, in some embodiments, the spectrometer 13 may be a metalens. The spectrometer function can be achieved by designing the shape and arrangement of the nanounits within the metalens.

[0144] For example, taking the spectrometer 13 as a semi-transparent, semi-reflective spectrometer, the received light beam is split by the spectrometer 13 into a first light beam and a second light beam. The first light beam and the second light beam each carry half the energy of the received light beam. The signal-to-noise ratio of the first light beam and the second light beam is the same or similar to that of the received light beam, so that the distance measurement capability of the first array detector 16 is slightly different from that of the second array detector 17, thereby improving detection accuracy and enhancing the fusion effect. The signal-to-noise ratio here refers to the ratio of the echo (or signal light) of the emitted light beam to the background light. The energy ratio and spectral width of the first and second light beams obtained by the spectrometer 13 can be adjusted.

[0145] As another example, the spectroscopic device can be a dichroic spectrometer that has high transmittance for light in a first wavelength range and high reflectance for light in a second wavelength range, where the first wavelength range is different from the second wavelength range. Optionally, the difference can include being completely different and partially overlapping. In this case, the first array detector 16 includes detection units that respond to light in the first wavelength range, and the second array detector 17 includes detection units that respond to light in the second wavelength range. For example, the emission module 2 can emit light with a wavelength of 600nm and light with a wavelength of 950nm. The second array detector 17 responds to light with a wavelength of 600nm, and the first array detector 16 responds to light with a wavelength of 950nm. With reference to Figure 15, the dichroic mirror has high reflectance for light with a wavelength of 600nm and high transmittance for light with a wavelength of 950nm. In this way, the two array detectors each receive more light beams that match their respective response wavelength ranges, thereby increasing the energy of the optical signals received by the array detectors, improving detection efficiency, and improving detection accuracy. In some embodiments, the emission module may include two light sources, for example, a first light source and a second light source, wherein the first light source may be used to emit light with a wavelength belonging to a first wavelength range, and the second light source may emit light with a wavelength belonging to a second wavelength range.

[0146] As another example, a dichroic beamsplitter has a certain ratio of transmission and reflectivity for a light beam within a certain wavelength range. In this case, the dichroic beamsplitter can transmit and reflect the light beam within this wavelength range in a certain ratio. With reference to Figure 15 , transmitting module 2 can emit a 700nm transmission beam, and both array receivers can respond to light around 700nm. The dichroic beamsplitter has a transmittance of approximately 50% for light beams around 700nm (e.g., 700nm±20nm), allowing both array receivers to receive the echo of the transmission beam.

[0147] As a possible implementation, the receiving module further includes an imaging lens. Referring to FIG. 2 , the received light beam (including the light beam from the detection area) is transmitted to the light splitting device 13 through the imaging lens 15 .

[0148] As a possible embodiment, the receiving module further includes a filtering module. Referring to FIG2 , the filtering module 14 is disposed on the optical path between the imaging lens 15 and the spectrometer 13 . The received light beam (including the light beam from the detection area) is transmitted through the filtering module 14 to the spectrometer 13 .

[0149] Optionally, the filter module may include multiple filters, and the multiple filters may be respectively arranged on the optical path between the spectrometer 13 and the array detector. With reference to the example of FIG15 , when the first array detector 16 includes detection units that respond to light in a first wavelength range, and the second array detector 17 includes detection units that respond to light in a second wavelength range, the filter module includes a first lens and a second lens, wherein the first lens is arranged between the spectrometer 13 and the first array detector 16 so as to allow light in the first wavelength range to pass through while light of other wavelengths is blocked, and the second lens is arranged between the spectrometer 13 and the second array detector 17 so as to allow light in the second wavelength range to pass through while light of other wavelengths is blocked.

[0150] It should be noted that Figures 2 through 15 illustrate the use of two array detectors. In some implementations, the light beam can be split into more paths, and accordingly, the detection device can be equipped with more receivers to receive the signals from the multiple paths. For example, the splitting device can split the received light beam into three paths, with the energy ratios of the signals in each path being the same or different, and three array detectors can be configured to receive the signals from each path.

[0151] The above describes a receiving module including two detectors. The following describes a receiving module including a detector and an image sensor.

[0152] In another possible design, the receiving module includes a detector and an image sensor. Referring to Figure 16, the receiving module 1 includes a spectrometer 13, an array detector 18 (which can be regarded as a first light receiver 11) and an image sensor 19 (which can be regarded as a second light receiver 12). Among them, the spectrometer 13 is used to divide the received light beam into a first light beam and a second light beam, the array detector 18 is used to receive the first light beam, and the image sensor is used to form an image through the second light beam. Furthermore, based on the energy of the acquired light beam, the array detector can obtain information about the detection area, including TOF information, one or more information such as the distance, position, angle, reflectivity, or color of the target in the detection area. The image sensor can obtain an image of the detection area based on the energy of the acquired light beam. Of course, the image can also be regarded as a kind of detection data. Exemplarily, the array detector 18 includes, but is not limited to, a SPAD array detector or an APD array. For related descriptions, see the aforementioned description of the detector. The image sensor 19 is a CIS, for example, including one or more of a color sensor or a monosensor. A color sensor may be, for example, a red, green, and blue (RGB) sensor. The monosensor can achieve imaging in low-light or even dark environments based on the emitted light beam, greatly improving the detection effect of the detection device in low-light conditions and enhancing detection accuracy.

[0153] In some implementations, the image sensor's image is more easily able to identify the target's outline and color, while the detection data obtained by the array detector can determine the target's position, distance, and / or angle within the detection area. When the two are fused, the accuracy of target recognition can be improved. In an embodiment of the present application, the light beams received by the array detector and the image sensor are separated from the same beam, so that the fields of view of the array detector and the image sensor overlap. The detection data obtained by the array detector and the image sensor can be aligned, reducing the complexity of registration and calibration during the fusion process.

[0154] In the embodiment of the present application, the photosensitive surface of the array detector 18 and the photosensitive surface of the image sensor are perpendicular. Referring to Figure 16 , the photosensitive surface of the array detector 18 is parallel to the XY plane, while the photosensitive surface of the image sensor 19 is parallel to the YZ plane. By designing these two photosensitive surfaces perpendicular to each other, there is no need to install an optical element after the spectrometer 13 to deflect the light beam. This allows the array detector 18, image sensor, and spectrometer to be more centrally located, reducing the difficulty of optical path design and making it easier to implement a superposition scheme of the array detector and image sensor.

[0155] In one possible implementation, the array detector and the image sensor have the same viewpoint on the detection area. That is, the array detector and the image sensor have the same imaging scale for the detection area. This allows the first and second array detectors to see the same field of view and the same physical scale of the detection area. The resulting detection data can be aligned at the pixel level, making it easier to fuse and effectively improving the accuracy of the detection results.

[0156] As a possible embodiment, the spectrometer 13 is an amplitude spectrometer, or a wavelength spectrometer. Alternatively, the spectrometer 13 may be a spectrometer prism or a spectrometer plate. Furthermore, in some embodiments, the spectrometer 13 may be a metalens. The spectrometer function can be achieved by designing the shape and arrangement of the nanounits in the metalens.

[0157] Exemplarily, the spectroscopic device can be a dichroic spectrometer, which has high transmittance for light in a third wavelength range and high reflectance for light in a fourth wavelength range, and the third wavelength range is different from the fourth wavelength range. Optionally, different can include completely different and partially overlapping. In this case, the array detector 18 includes a detection unit that responds to light in the third wavelength range, and the image sensor 19 includes a detection unit that responds to light in the second wavelength range. For example, the array detector can respond to light with a wavelength of 1550nm, while the image detector can respond to visible light (wavelength range of approximately 780 to 400nm), and the dichroic mirror has high transmittance for light with a wavelength of 905nm and high reflectance for visible light.

[0158] As a possible implementation, the receiving module further includes an imaging lens. Referring to FIG16 , the light beam from the detection area is transmitted through the imaging lens 15 to the light splitting device 13 .

[0159] Furthermore, the size of the photosensitive surface of the image sensor and the array detector, or the scale of the image sensor and the array detector, can be selected based on the requirements for image and point cloud fusion. For example, the photosensitive surface of the image sensor can be larger than the photosensitive surface of the array detector, and the overlapping area of ​​the field of view of the two is the ROI area.

[0160] As a possible implementation, the receiving module further includes a filtering module. Referring to FIG16 , the filtering module 14 is disposed between the light splitting device 13 and the array detector 18 .

[0161] As a possible implementation, the relative position of the light spot of the first light beam on the array detector and the relative position of the light spot of the second light beam on the image sensor are offset, for example, there is a first offset in the first direction and / or a second offset in the second direction. The relevant description can be combined with the description of the embodiments and possible implementations of Figures 2 to 14, and will not be repeated here.

[0162] An embodiment of the present application also provides a laser radar, which includes the aforementioned detection device 100.

[0163] Please refer to Figure 17, which is a schematic diagram of the structure of a laser radar provided in an embodiment of the present application. The laser radar 200 includes a transmitting module 2 and a receiving module 1. For example, in the laser radar shown in Figure 17, the transmitting module 2 and the receiving module 1 are arranged off-axis, and the transmission light beam emitted by the transmitting module 2 does not pass through the optical elements in the receiving module 1.

[0164] In one possible implementation, the transmitting module 2 and the receiving module 1 are arranged (or arranged) in a direction parallel to the ground, as shown in Figure 17. Alternatively, the transmitting module 1 and the receiving module 2 are arranged in a direction perpendicular to the ground.

[0165] In another possible embodiment, the laser radar further includes a bottom housing, which includes a bottom inner surface, where the inner surface refers to the interior surface of the bottom housing. Optionally, it further includes sidewalls, side outer surfaces, and a bottom outer surface. The transmitting module and the receiving module are arranged parallel to the bottom inner surface of the bottom housing, or the transmitting module and the receiving module are arranged parallel to the bottom inner surface of the bottom housing.

[0166] For example, referring to FIG17 , the detection device further includes a housing 4. The housing 4 includes a bottom shell, and the transmitting module 2 and the receiving module 1 are arranged in a direction parallel to the bottom shell of the housing 4, that is, in a direction parallel to the bottom inner surface of the bottom shell of the housing 4. Furthermore, the bottom shell is parallel to the ground (or the bottom inner surface of the bottom shell is parallel to the ground), and in this case, the transmitting module 2 and the receiving module 1 are arranged in a direction parallel to the ground.

[0167] In some possible implementations, the laser radar 200 further includes a structural member 3, which is used to fixedly connect the transmitting module and / or the receiving module to the housing 4. Furthermore, the connection may be a heat-conducting connection.

[0168] Optionally, the laser radar shown in Figure 17 is a flash-type laser radar, that is, the transmitting module and detection device provided in this application can be applied to a flash-type laser radar.

[0169] Please refer to Figure 18, which is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application. The laser radar 200 includes a transmitting module 2 and a receiving module 1. For example, in the laser radar shown in Figure 18, the transmitting module 2 and the receiving module 1 are arranged off-axis, and the light beam emitted by the transmitting module 2 does not pass through the optical elements in the receiving module 1.

[0170] In one possible implementation, the transmitting module 2 and the receiving module 1 are arranged (or arranged) in a direction perpendicular to the ground, as shown in Figure 17. Alternatively, the transmitting module 1 and the receiving module 2 are arranged in a direction perpendicular to the ground.

[0171] In another possible embodiment, the laser radar further includes a bottom housing, which includes a bottom inner surface, where the inner surface refers to the interior surface of the bottom housing. Optionally, it further includes sidewalls, side outer surfaces, and a bottom outer surface. The transmitting module and the receiving module are arranged perpendicular to the bottom inner surface of the bottom housing, or the transmitting module and the receiving module are arranged perpendicular to the bottom inner surface of the bottom housing.

[0172] For example, referring to FIG18 , the detection device further includes a housing 4. The housing 4 includes a bottom shell, and the transmitting module 2 and the receiving module 1 are arranged in a direction perpendicular to the bottom shell of the housing 4, that is, perpendicular to the bottom inner surface of the bottom shell of the housing 4. Furthermore, the bottom shell is parallel to the ground (or the bottom inner surface of the bottom shell is parallel to the ground), and in this case, the transmitting module 2 and the receiving module 1 are arranged in a direction perpendicular to the ground.

[0173] In some possible implementations, the laser radar 200 further includes a structural member 3, which is used to fixedly connect the transmitting module and / or the receiving module to the housing 4. Furthermore, the connection may be a heat-conducting connection.

[0174] Optionally, the laser radar 200 also includes a scanning module 5, which is used to scan the emission light beam to the detection area and provide the light beam from the detection area to the receiving module 1. Furthermore, the scanning module 5 includes one or more of a swing mirror, a rotating mirror (polygon), a micro-electro-mechanical system (MEMS) galvanometer, or a metal galvanometer. In some embodiments, the scanning module may include one or more reflecting surfaces, and the reflecting surface may be mounted on the main body of the scanning module in the form of a patch, or the reflecting surface of the scanning module and the main body of the scanning module may also be integrated. Optionally, the scanning mode of the scanning module 5 may be one-dimensional scanning, two-dimensional scanning, etc.

[0175] Optionally, the laser radar shown in Figure 18 is a scanning laser radar, that is, the transmitting module and detection device provided in this application can be applied to a scanning laser radar.

[0176] In some possible implementations, the laser radar's transmitting and receiving modules are designed off-axis. This off-axis design allows for easy isolation of the transmitting and receiving optical paths, reducing interference from stray light on the receiving module and improving the laser radar's detection accuracy.

[0177] The above Figures 17 and 18 illustrate an off-axis laser radar as an example. In some embodiments, the receiving module provided in this application can also be applied to a coaxial laser radar.

[0178] Please refer to Figure 19, which is a schematic diagram of the structure of a laser radar provided in an embodiment of the present application. In particular, the transmitting module 2 and the receiving module 1 in the detection device 100 are coaxially designed. The remaining related components and possible designs can be found in the above description.

[0179] In one possible embodiment, referring to FIG. 19 , the detection device 100 further includes a coaxial module 6, which is used to ensure that the transmitting optical path of the transmitting module 2 and the receiving optical path of the receiving module 1 are coaxial. For example, the coaxial module 6 includes a reflector, or the coaxial module includes a polarization beam splitter, a wave plate, a semi-transparent and semi-reflective beam splitter, or other beam splitters with different light splitting ratios.

[0180] Please refer to Figure 20, which is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application. In particular, the transmitting module 2 and the receiving module 1 in the detection device 100 are coaxially designed. The remaining related components and possible designs can be found in the above description.

[0181] In one possible embodiment, the detection device 100 further includes a coaxial module 6, which is used to achieve coaxiality between the transmitting optical path of the transmitting module 2 and the receiving optical path of the receiving module 1. For example, the coaxial module 6 includes a reflector, or the coaxial module includes a polarization beam splitter, a wave plate, a semi-transparent and semi-reflective beam splitter, or other beam splitters with different light splitting ratios.

[0182] Taking the coaxial module including a reflector as an example, refer to Figure 21, which is a schematic diagram of an optical path of the laser radar shown in Figure 20. The detection device includes a reflector 61, which can be regarded as coaxial module 6 in Figure 20. Reflector 61 is used to reflect the transmission light beam from the transmission module 2. The transmission light beam passing through the reflector 61 is coaxial with the reception light beam propagating to the reception module, that is, the main optical axes of the two are the same.

[0183] An embodiment of the present application also provides a terminal, which includes the aforementioned detection device, or includes the aforementioned receiving module, or includes the aforementioned laser radar.

[0184] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot, or the terminal can also be an industrial device. It should be understood that the terminals involved in this application may include intelligent terminals or transportation tools such as vehicles, robots, drones, ships, and ships. Among them, the vehicle is a vehicle in a broad sense, which can be a transportation tool (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a mower, a harvester, etc.), etc. For example, the robot can be an intelligent handling robot (automated guided vehicle, AGV), a walking conversational robot, a service robot, etc. Industrial equipment such as industrial robots and robotic arms. Leisure and entertainment equipment such as virtual reality (VR) equipment, mixed reality (MR) equipment, or a 4D cinema cabin, etc.

[0185] Optionally, the detection device can be installed in a variety of possible locations, such as on the platform of the vehicle's dashboard, or on the top of the cabin (as shown in Figure 9), or it can also be installed on the head, side, or rear of the vehicle.

[0186] In the description of this application, the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", "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, X 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.

[0187] 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.

[0188] 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.

[0189] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not used to define the order, timing, priority, or importance of multiple objects. For example, the first wavelength range, second wavelength range, third wavelength range, fourth wavelength range, etc. are only used to describe wavelength ranges in a certain implementation and do not indicate differences in the importance of wavelength ranges, their order on the spectrum, etc. In some cases, the first wavelength range and the third wavelength range can be the same wavelength range.

Claims

1. A receiving module, characterized in that, It includes a first array detector, a second array detector, and a beam splitting device, and the beam splitting device is used to split the light beam from the detection area into a first light beam and a second light beam; The first light beam forms a first light spot on the first array detector, The second light beam forms a second light spot on the second array detector, The relative position of the first light spot on the first array detector is different from the relative position of the second light spot on the second array detector.

2. The receiving module according to claim 1, wherein The photosensitive surfaces of the first array detector and the second array detector are of the same size, In a first direction, there is a first offset between the relative position of the first light spot on the first array detector and the relative position of the second light spot on the second array detector.

3. The receiving module according to claim 1 or 2, characterized in that In a first direction, there is a first offset between the relative position of the first array detector and the center of the beam splitting device and the relative position of the second array detector and the center of the beam splitting device.

4. The receiving module according to claim 2 or 3, characterized in that Both the first array detector and the second array detector include M pixels, and the M pixels are arranged in K rows. M is an integer and M≥2, and K is a positive number and M≥K≥2; The first offset is the length of (N + 0.5) pixels, and N is an integer less than K and N≥0.

5. The receiving module according to claim 4, characterized in that The first offset is the length of 0.5 pixels, and there is an overlap between the relative position of the first light spot on the first array detector and the relative position of the second light spot on the second array detector.

6. The receiving module according to any one of claims 1-5, characterized in that, There is an overlapping area between the relative position of the first light spot on the first array detector and the relative position of the second light spot on the second array detector, and the overlapping area is the region of interest ROI.

7. The receiving module according to claim 4 or 5, characterized in that, One pixel includes A rows and B columns of detection units. A is an integer and A≥1, and B is a positive number and B≥1.

8. The receiving module according to any one of claims 2-7, characterized in that, The first direction is the column direction of the first array detector and the second array detector.

9. The receiving module according to claim 1 or 2, characterized in that, The first array detector includes a plurality of first pixels, the second array detector includes a plurality of second pixels, and the sizes of the first pixels and the second pixels are different.

10. The method according to any one of claims 1-9, characterized in that, The first array detector and the second array detector have the same viewing point relative to the detection area.

11. The receiving module according to any one of claims 1-10, characterized in that, The beam splitting device is an amplitude beam splitting device, or the beam splitting device is a wavelength beam splitting device.

12. The receiving module according to any one of claims 1-11, characterized in that, The first array detector and the second array detector belong to single photon avalanche diode SPAD array detectors.

13. The receiving module according to any one of claims 1-12, characterized in that, The receiving module further includes an imaging lens, and the light beam from the detection area propagates through the imaging lens to the beam splitting device.

14. The receiving module according to any one of claims 1-13, characterized in that, The receiving module further includes a filtering module, and the light beam from the detection area propagates through the filtering module to the beam splitting device.

15. A receiving module, characterized in that, The receiving module includes a beam splitting device, an array detector, and an image sensor, The beam splitting device is used to split the light beam from the detection area into a first light beam and a second light beam; The array detector is used to receive the first light beam; The image sensor is used to image through the second light beam, The array detector and the image detector have the same viewing point for the detection area, and the photosensitive surface of the array detector is perpendicular to the photosensitive surface of the image sensor.

16. The receiving module according to claim 15, wherein The array detector is a single-photon avalanche diode (SPAD) array detector, and the image sensor is a complementary metal-oxide-semiconductor (CMOS) image sensor.

17. The receiving module according to claim 15 or 16, wherein The beam splitting device is a wavelength beam splitting device, or the beam splitting device is an amplitude beam splitting device.

18. The receiving module according to any one of claims 15-17, characterized in that, The receiving module further includes an imaging lens, and the light beam from the detection area propagates through the imaging lens to the beam splitting device.

19. The receiving module according to any one of claims 15-18, characterized in that, The receiving module further includes a filtering module, and the filtering module is disposed between the beam splitting device and the array receiver.

20. A detection device, characterized in that, The detection device includes a transmitting module and the receiving module according to any one of claims 1-19. The transmitting module is configured to emit a light beam to the detection area. The receiving module is configured to receive the light beam from the detection area, and the light beam from the detection area includes the echo of the transmitted light beam.

21. The detection device according to claim 20, characterized in that, The transmitting module and the receiving module are arranged off-axis.

22. The detection device according to claim 20, characterized in that, The transmitting module and the receiving module are arranged coaxially.

23. The detection device according to claim 22, characterized in that, The detection device includes a reflector, and the reflector is configured to reflect the transmitted light beam from the transmitting module. The transmitted light beam passing through the reflector is coaxial with the received light beam propagating to the receiving module.

24. The detection device according to any one of claims 20-23, characterized in that, The detection device further includes a scanning module, and the transmitted light beam propagates through the scanning module to the detection area. The light beam from the detection area propagates through the scanning module to the receiving module.

25. The detection device according to any one of claims 20-24, characterized in that, The detection device further includes a bottom case, and the bottom case includes a bottom inner surface. The transmitting module and the receiving module are arranged in a direction parallel to the bottom inner surface of the bottom case. Alternatively, the transmitting module and the receiving module are arranged in a direction parallel to the bottom inner surface of the bottom case.

26. The detection device according to any one of claims 20-24, characterized in that, The transmitting module and the receiving module are arranged in a direction parallel to the ground. Alternatively, the transmitting module and the receiving module are arranged in a direction perpendicular to the ground.

27. A lidar, characterized in that, The lidar includes the detection device according to claim 20.

28. A terminal, characterized in that, The terminal includes the detection device according to claim 20, or includes the lidar according to claim 21.

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