Laser detection assembly, laser radar receiving system, and laser radar system

Abstract

A laser detection assembly (21), a laser radar receiving system, and a laser radar system. The laser detection assembly (21) comprises a plurality of detector arrays and optical array structures, wherein the plurality of detector arrays have one-to-one correspondence to the optical array structures. The optical array structures comprise a plurality of light-transmissive units, wherein each light-transmissive unit corresponds to one detector array, each detector array corresponds to one detection channel, and each detection channel is used for receiving an echo optical signal of a sub-field of view. Every two adjacent light-transmissive units are separated by a light-shielding unit, and when the echo optical signal of one sub-field of view is incident to a detector array through a corresponding light-transmissive unit, the light-shielding unit can absorb part of an optical signal reflected by the detector array, so as to block such part of optical signal from re-entering other detection channels from a receiving lens, thereby reducing the optical signal crosstalk between the detection channels, and improving the detection precision of a laser radar.

Description

Laser detection assembly, lidar receiving system and lidar system

[0001] This application claims priority to the Chinese patent application No. 202410481925.6, filed on April 19, 2024, entitled “Laser detection assembly, lidar receiving system and lidar system”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of detection, more particularly, to a laser detection assembly, a lidar receiving system and a lidar system. BACKGROUND

[0003] Lidar is a device composed of a transmitting optical system and a receiving system. The transmitting optical system is used to emit laser to the space where the target to be detected is located, so that the target to be detected can be illuminated by laser of a specific wavelength; the receiving system converges the light reflected by the target to be detected (hereinafter referred to as return light signal) to a detector, forming a primary target detection.

[0004] At present, one technical route of lidar is to use a detector array composed of multiple single photon avalanche diodes (SPADs) to realize the detection of the light signal reflected by the target to be detected. The detector array has high integration and dense arrangement, and the spacing between each detection element is very small, so it is easy to cause crosstalk between the return light signals corresponding to each sub-field of view, which makes the generated point cloud image abnormal and affects the detection accuracy of the lidar. SUMMARY

[0005] The present application provides a laser detection assembly, a lidar receiving system and a lidar system, which can reduce the crosstalk between the return light signals of each sub-field of view, thereby improving the detection accuracy of the lidar.

[0006] In a first aspect, a laser detection assembly is provided, which comprises a plurality of detector arrays and an optical array structure; wherein the plurality of detector arrays correspond one-to-one to the optical array structure; the optical array structure comprises at least one light-transmitting unit and a light-blocking unit arranged between adjacent light-transmitting units, each of the at least one light-transmitting unit corresponds to one of the plurality of detector arrays, and one detector array corresponds to one detection channel.

[0007] Based on the technical solution, the optical array structure can form isolation between the receiving lens and the detector array of the laser radar, wherein the light shielding unit can absorb the light signal reflected by the detector array, avoid the light signal from being reflected by the receiving lens and then incident on the detector array again, and thus the light signal crosstalk between the detection channels can be reduced. In addition, the light transmission unit of the optical array structure corresponds to the detector array of one detection channel, which can avoid weakening of the intensity of the return light signal caused by the optical array structure blocking the light cone of the return light signal, so as to ensure the intensity of the return light signal under the premise of reducing the light signal crosstalk, thereby improving the detection accuracy of the laser radar and increasing the measurement distance of the laser radar.

[0008] In some implementations, the light shielding unit is arranged between the plurality of detector arrays. For example, the light shielding unit can form a grid structure, and the middle part of the grid structure is the light transmission unit, each light transmission unit corresponds to the detector array of one detection channel, that is, the plurality of detection channels are separated by the light shielding unit to reduce the crosstalk between the return light signals of each detection channel.

[0009] In combination with the first aspect, in some implementations of the first aspect, one detection channel corresponds to one sub-field-of-view region.

[0010] For example, one sub-field-of-view region is used to receive the return light signal of one sub-field-of-view.

[0011] In combination with the first aspect, in some implementations of the first aspect, the height of the light shielding unit is determined according to the light cone angle of the incident light.

[0012] In some implementations, the height of the light shielding unit can be determined according to the focal plane of the incident light (i.e., the return light signal) and the light cone angle of the incident light. When the focal plane of the incident light is located on the surface of the detector array, the height of the light shielding unit is less than or equal to d / 2tanθ, wherein d is the length of the light transmission unit when the light transmission unit is a square, and θ is the light cone angle of the incident light.

[0013] In the above technical solution, the height of the light shielding unit is controlled to be less than or equal to a preset threshold, which helps to reduce the shielding of the return light signal of a certain sub-field-of-view by the optical array unit, thereby reducing the energy loss of the return light signal during incidence on the detector array, and helps to improve the detection accuracy and long-distance performance of the laser radar.

[0014] In combination with the first aspect, in some implementations of the first aspect, one detector array includes n detectors, n is determined according to a pixel merging mode of one detector array, and n is a positive integer.

[0015] In the technical solution, the multiple detectors are arranged for one detection channel, which helps to improve the capability of the detection channel to receive the echo light signal, reduce the energy loss of the echo light signal, and thus improve the detection precision and the far measurement performance of the laser radar.

[0016] In combination with the first aspect, in some implementations of the first aspect, the light-transmitting unit includes a light-transmitting film, and the upper and lower surfaces of the light-transmitting film are respectively coated with an anti-reflection film and / or a light filter film.

[0017] In the technical solution, the anti-reflection film is arranged in the light-transmitting unit, which helps to reduce the influence of the optical array structure on the energy of the echo light signal, and the light filter film is arranged in the light-transmitting unit, which helps to filter out the background light in the echo light signal, thereby improving the detection precision.

[0018] In combination with the first aspect, in some implementations of the first aspect, the surface of each of the multiple detector arrays is provided with a microlens corresponding to the position of the light-transmitting unit.

[0019] In the technical solution, the microlens is arranged at the light-transmitting unit, and the microlens is surrounded by the light-shielding unit, so that the microlens has a secondary converging effect on the echo light signal in one detection channel, while reducing the crosstalk to the adjacent detection channels.

[0020] In combination with the first aspect, in some implementations of the first aspect, the surface of each of the multiple detector arrays is provided with a microlens array, and each microlens in the microlens array corresponds to one detector in each of the detector arrays.

[0021] The second aspect provides a laser radar receiving system, which includes the laser detection assembly in any possible implementation of the first aspect, and a receiving lens group; the receiving lens group is used to focus the incident light including at least one sub-field of view reflected by a detection target, so that the incident light of the at least one sub-field of view is incident to the detector array of the laser detection assembly via the light-transmitting unit of the optical array structure of the laser detection assembly.

[0022] The third aspect provides a laser radar system, which includes the laser detection assembly in any possible implementation of the first aspect and an optical emission system, or the laser radar receiving system in any implementation of the second aspect and the optical emission system; wherein the laser emitted by the optical emission system is incident to the laser detection assembly or the laser radar receiving system after being reflected by a detection target.

[0023] The fourth aspect provides a terminal device, which includes the laser radar in any possible implementation of the third aspect.

[0024] With reference to the fourth aspect, in some implementations of the fourth aspect, the terminal device is a vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0025] FIG. 1 is a schematic diagram of a laser radar system architecture according to an embodiment of the present application;

[0026] FIG. 2 is a schematic diagram of a laser radar detection process and corresponding field of view distribution of a receiving system according to an embodiment of the present application;

[0027] FIG. 3 is another schematic diagram of a laser radar detection process according to an embodiment of the present application;

[0028] FIG. 4 is another schematic diagram of a field of view distribution of a receiving system of a laser radar according to an embodiment of the present application;

[0029] FIG. 5 is a schematic diagram of a principle of crosstalk between sub- fields of view according to an embodiment of the present application;

[0030] FIG. 6 is a schematic diagram of a laser detection assembly according to an embodiment of the present application;

[0031] FIG. 7 is a schematic side view of a laser detection assembly according to an embodiment of the present application;

[0032] FIG. 8 is a schematic top view of a laser detection assembly according to an embodiment of the present application;

[0033] FIG. 9 is another schematic side view of a laser detection assembly according to an embodiment of the present application;

[0034] FIG. 10 is another schematic top view of a laser detection assembly according to an embodiment of the present application;

[0035] FIG. 11 is another schematic diagram of a laser radar system architecture according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0037] FIG. 1 shows a schematic diagram of a laser radar according to an embodiment of the present application. The laser radar can include a detection device 101 for laser emission and light signal reception. Optionally, the laser radar can also include a processing device 102 for computation or data processing, etc., to obtain point cloud data of a detection region. More specifically, the detection device 101 can include a transmitting system and a receiving system.

[0038] The transmitting system can include a laser transmitting unit 1031 for transmitting light signals and a transmitting lens group 1032 for shaping the transmitted light signals. The receiving system can include a laser detecting array 1041 which can include one or more detecting units, wherein a detecting unit can be a detector array composed of SPADs. Further, in the case that the detector includes multiple detecting units, the multiple detecting units can be arranged in an array. For example, the array can be of a size of 1x2, 2x3, or 3x3, etc. The present application does not limit the number of rows and columns of the array. Alternatively, when the laser detecting array 1041 includes multiple detecting units, when the laser detecting array 1041 is in operation, it can be the case that only some of the detecting units are in an active state, while the rest of the detecting units are in an inactive state (e.g. a reserved state). The receiving lens group 1042 is used for shaping the laser light incident on the laser detecting array 1041.

[0039] The light signals transmitted by the laser transmitting unit 1031 are incident on the detection region, and the target objects in the detection region can reflect the light signals, thereby obtaining the echo light signals of the transmitted signals. The detector 104 receives the light signals from the detection region, which include the echo light signals of the transmitted signals, and can also include some background light signals. The detection device can determine the distance information of the target objects in the detection region by the time interval between the transmitted signals and the echo light signals, and form one or more points. Further, by the energy intensity information of the echo light signals, etc., the reflection intensity information of the target objects in the detection region can also be obtained.

[0040] When the detection device 101 is detecting, the light signals transmitted by the laser transmitting system are incident on the detection region 105, and the detection targets in the detection region 105 can reflect the light signals, thereby obtaining the return signals (hereinafter referred to as echo light signals) of the transmitted light signals. The receiving system 104 receives the echo light signals from the detection region. The detection device 101 can determine the distance information of the target objects in the detection region by the time interval between the transmitted light signals and the echo light signals, and form one or more points. Further, by the energy intensity information of the echo light signals, etc., the reflection intensity information of the detection objects in the detection region can also be obtained.

[0041] The probe device 101 can include different designs such as array unit emitting laser and emitting laser via scanning mechanism. In an example, as shown in (a) of FIG. 2, the light signal emitted by the laser emitting unit 1031 is irradiated into the probe area 105 via the emission lens group 1032. In another example, as shown in FIG. 3 and FIG. 4, the emission lens group 1032' includes a scanning mechanism a (such as one or more of a rotating mirror, a micro-mirror, or a swing mirror) and a lens group b (such as a collimation device or a light path shaping device) for shaping, the light signal emitted by the laser emitting unit 1031 is irradiated onto the scanning mechanism a via the lens group b, and by adjusting the angle of the scanning mechanism a, the emitted light signal can be irradiated onto a sub-area in the probe area 105. The scanning form of the scanning mechanism a can include point scanning or line scanning, and the scanning order can be from top to bottom, from bottom to top, or from left to right. FIG. 3 only takes the line scanning and the scanning order from top to bottom as an example, and the present application does not make specific limitations on the scanning order of the scanning mechanism.

[0042] As described above, the light signal reflected by the probe target includes echo light signals of multiple sub-views, and after the echo light signals are focused via the receiving lens group 1042, they are focused on different detection units on the surface of the detector, that is, each detection unit in the working state corresponds to a receiving channel, which is used to receive the echo light signals of a sub-view. In an example, when the laser emitting unit 1031 emits light signals through the array unit, the laser detection array 1041 can include multiple detection units, as shown in (b) of FIG. 2, the laser detection array 1041 can include 3*3 detection units, each of which is used to receive the echo light signals of a sub-view. In another example, when the laser emitting unit 1031 emits light signals via the scanning mechanism, the sub-area of the probe area 105 irradiated by the emitted light signal can correspond to a sub-area of the laser detection array 1041, as shown in FIG. 4, the sub-area of the laser detection array 1041 can include multiple detection units (such as detection units 1-6), each of which is used to receive the echo light signals of a sub-view.

[0043] When the echo light signal is incident on the surface of the detector in the laser detection array 1041, part of the light signal will be reflected by the detector surface, and this part of the reflected light signal can be reflected again via the lens surface of the receiving lens, thereby being incident on the adjacent detection unit. For example, taking line scanning detection as an example, as shown in FIG. 5, the echo light signal received by the detection unit corresponding to the sub-view 2 is reflected via the detector surface and the lens surface, and is incident on the detection unit corresponding to the sub-view 1 and / or the sub-view 3, thereby affecting the accuracy of the detection result of the detection unit corresponding to the sub-view 1 and the sub-view 3.

[0044] It should be noted that the detection units corresponding to the sub-visual field 1, the sub-visual field 2 and the sub-visual field 3 shown in FIG. 5 can be any three adjacent or non-adjacent detection units in the detection units 1-6 shown in the left part of the figure. For example, the detection unit corresponding to the sub-visual field 1 can be the detection unit 1 or 2, the detection unit corresponding to the sub-visual field 2 can be the detection unit 3 or 4, and the detection unit corresponding to the sub-visual field 3 can be the detection unit 5 or 6.

[0045] In order to reduce the crosstalk between the echo light signals of the incident sub-visual fields, the embodiment of the present application provides a laser detection assembly, which comprises a plurality of detector arrays and an optical array structure. Wherein, the plurality of detector arrays and the optical array structure correspond one by one, the optical array structure comprises at least one light-transmitting unit and a light-blocking unit arranged between adjacent light-transmitting units, each of the at least one light-transmitting unit corresponds to one of the plurality of detector arrays, and one detector array corresponds to one detection channel.

[0046] Referring to FIG. 6, taking the laser detection assembly arranged in a 3x3 array as an example, FIG. 6 shows a side view and a top view of the laser detection assembly 21 provided by the embodiment of the present application, one optical array structure corresponds to nine detection arrays (such as the detector arrays a-i), the optical array structure comprises nine light-transmitting units, and a light-blocking unit is arranged between adjacent light-transmitting units. It should be understood that one detector array corresponds to one detection channel, and the echo light signal of the sub-visual field corresponding to the detection channel is incident on the detector array through the light-transmitting unit. As can be seen from FIG. 6, after the optical array structure is arranged, the light-blocking unit can block part of the reflected light, for example, to avoid the light reflected by the detector array 1 from being incident on the detector array 2, thereby reducing the crosstalk. It should be noted that the detector arrays 1 and 2 can be any two adjacent detector arrays in the detector arrays a-i.

[0047] In some implementations, in order to reduce the energy loss of the echo light signal caused by the light shielding unit while ensuring the anti-crosstalk ability of the light shielding unit, the height of the light shielding unit of the optical array structure can be determined according to the angle of the incident light cone. More specifically, the height of the light shielding unit of the optical array structure can be determined according to the angle of the incident light cone and the position of the focal plane of the incident light cone. Taking the case that the focal plane is located on the surface of the detector array and the optical array structure is a grid structure, and specifically, taking the case that the optical array structure is a square grid structure, the height of the light shielding unit can satisfy the formula: H≤d / 2tanθ, where H is the grid height, d is the inner edge length of the grid unit, and θ is the angle of the incident light cone. For example, taking the case that the inner edge length d of the grid unit is 20um and θ is 30°, the height H of the light shielding unit can be less than or equal to 40um. In some examples, if the shape of the light-transmitting unit is circular, d can be the diameter of the circle; if the shape of the light-transmitting unit is elliptical, d can be the length of the short axis of the ellipse. In other examples, when the focal plane of the incident light cone is not the surface of the detector array, the distance between the focal plane and the highest point of the light shielding unit can be H. Through the above design, the light shielding unit around the light-transmitting unit can reduce the shielding of the light cone of the echo light signal incident on the light-transmitting unit, thereby reducing the energy loss of the echo light signal and helping to improve the ranging ability of the laser radar.

[0048] Optionally, one of the laser detection assemblies 21 can include a plurality of detector arrays. In specific implementation, the number of detectors included in one detector array can be matched with the image readout mode of the detector. For example, taking the case that the image readout mode is a binning mode and the detector is a SPAD, if the binning mode is to combine 3x3 pixels into 1 pixel, one detector array can include 3n*3n SPADs, where n is a positive integer.

[0049] In actual implementation, the area of the laser detection array 1041 that can actually receive the echo light signal is related to the far-field distribution of the light signal emitted by the laser emission unit 1031, and the area corresponding to the far-field distribution of the emitted light signal on the laser detection array 1041 is the area where the optical array structure needs to be deployed. Therefore, the multiple sub-views corresponding to the echo light signal can be determined according to the far-field distribution of the light signal emitted by the detection device, and then the positions in the laser detection assembly corresponding to the multiple sub-views are determined, and then the light shielding unit is arranged at a position that does not block the incident light cone of each sub-view according to the position corresponding to the sub-view in the laser detection assembly. That is, the light-transmitting part of the optical array structure can be the position where the light signal emitted by the detection device is reflected by the detection target and then irradiated on the laser detection array, and the size of the light-transmitting unit can be determined according to the size of the light spot irradiated on the laser detection array, for example, the area of the light-transmitting part is greater than or equal to the size of the light spot irradiated on the laser detection array. The method of designing the optical array structure according to the light signal emitted by the emission system on the receiving system described above does not need to arrange the optical array structure on the entire surface of the detector array of the receiving system, but can only arrange the optical array structure on part of the detector array, for example, taking the laser detection array shown in FIG. 5 as an example, the optical array structure can be arranged only in the area 1 part of the region in the dashed box, and no optical array structure is arranged in the remaining part. In this way, on the one hand, the detection accuracy of part of the detector array can be selectively improved; on the other hand, since only part of the optical array structure is arranged, compared with arranging the optical array structure on the entire surface of the detector array, the overall cost of the laser radar can be reduced.

[0050] Some possible structural designs of the laser detection assembly 21 provided by the embodiments of the present application will be described below in combination with FIGS. 7-10.

[0051] FIGS. 7 and 8 respectively show a side view and a top view of one structure of the laser detection assembly 21 provided by the embodiments of the present application. As shown in FIG. 7, the light-transmitting unit of the optical array structure includes a light-transmitting film, and the upper and lower surfaces of the light-transmitting film can be respectively coated with an anti-reflection film to reduce the influence of the optical array structure on the energy of the echo light signal; the upper and lower surfaces of the light-transmitting film can also be respectively coated with a filter film to filter out the background light in the incident light cone and eliminate the influence of the background light on the detection result. Further, the light shielding material can be arranged at the corresponding positions of the upper and lower surfaces of the light-transmitting film to form a light shielding unit.

[0052] For the optical isolation structure shown in FIGS. 7 and 8, the height H of the light shielding unit can be the sum of the thickness of the light shielding material arranged on the upper and lower surfaces of the light-transmitting film and the thickness of the light-transmitting film (which can be coated with a filter film and / or an anti-reflection film).

[0053] In some implementations, a micro-lens array (MLA) can be further arranged between the detector array and the optical array structure to improve the convergence of the optical signal incident on the detector array, each micro-lens in the MLA corresponding to one detector in the detector array.

[0054] In some implementations, the optical array structure shown in FIG. 7 and FIG. 8 can be made by a photolithography method. For example, a photoresist with a predetermined thickness can be spin-coated on the upper and lower surfaces of the transparent film (which can be coated with an anti-reflection film and / or a filter film), the photoresist of the transparent units of the optical array structure can be removed by photolithography exposure, and the photoresist remaining as the light-shielding units. In a specific implementation, the thickness of the photoresist can be adjusted by adjusting the spin-coating speed, thereby adjusting the height of the light-shielding units; or, the thickness of the transparent film can be adjusted, thereby adjusting the height of the light-shielding units.

[0055] FIG. 9 and FIG. 10 respectively show a side view and a top view of another structure of the laser detection assembly 21 provided by the embodiments of the present application. As shown in FIG. 9, the surface of each detector array is provided with a micro-lens at a position corresponding to the transparent unit, and the material of the micro-lens can be silicon dioxide or other transparent materials. The micro-lens can be directly prepared on the surface of the detector by wet etching. It can be understood that one micro-lens can correspond to multiple detectors in the detector array.

[0056] Optionally, the optical array structure shown in FIG. 9 and FIG. 10 can be directly manufactured on the surface of the detector array, or can be separately manufactured and then assembled on the surface of the detector array 210.

[0057] For example, the material of the light-shielding unit in the optical array structure can be a photoresist or a mylar sheet, and the transparent unit corresponding part of the photoresist or the mylar sheet with a predetermined thickness (such as H) can be removed by a femtosecond laser, leaving the light-shielding unit corresponding part, thereby obtaining the optical array structure.

[0058] Optionally, in the laser detection assembly 21 shown in FIG. 9 and FIG. 10, a MLA can be further arranged between the detector array and the optical array structure, each micro-lens in the MLA corresponding to one detector in the detector array.

[0059] It should be noted that the optical array structure shown in FIGS. 7-10 is only illustrative, and in actual implementation, the light-transmitting units of the optical array structure can also be in other patterns other than a grid. For example, the light-transmitting units of the optical array structure can also be circular or elliptical, or can also be in other shapes. In addition, when the application describes the laser detection assembly, it is described by taking the laser detection assembly as a 3x3 array arrangement as an example, and in actual implementation, the laser detection assembly can also be in other arrangements, for example, the laser detection assembly can also be in a 9x9 array arrangement, or a 1x3 array arrangement, or can also be in other arrangements, which are not limited in the application.

[0060] It should also be noted that the laser detection assembly 21 provided by the embodiments of the application can be arranged in one photosensitive region of the laser detection array 1041 in the detection device 101.

[0061] The laser emission unit 1031 shown in FIGS. 1-3 can be understood as including only one emission channel (or light-emitting region), and in actual implementation, the laser emission unit 1031 in the detection device 101 can also include multiple emission channels. In one embodiment, the multiple detection beams emitted by the laser emission unit 1031 at the same time can be generated by multiple lasers. For example, each laser can correspond to one beam emission channel. In another embodiment, a single detection light signal generated by a single laser can be separated into multiple detection light signals by a beam separation device, so that the laser emission unit 1031 can emit multiple detection beams at the same time by a single laser, and each emission channel corresponds to a photosensitive region of the laser detection array 1041, which can include multiple detector arrays and optical array structures provided by the embodiments of the application.

[0062] As shown in FIG. 11, taking the laser emission unit 1031 including two emission channels as an example, in which the black lines represent the light signals of the emission channel 1, and the gray lines represent the light signals of the emission channel 2, the light signals emitted by the emission channel 1 and the emission channel 2 are respectively irradiated to the sub-regions of the detection region 105, and after being reflected by the detection target, the echo light signals are respectively incident on the photosensitive region A corresponding to the emission channel 1 and the photosensitive region B corresponding to the emission channel 2 via the receiving lens group 1042. It can be understood that in the above application scenario, the laser detection assembly 21 provided by the embodiments of the application can be arranged in the photosensitive region A and / or the photosensitive region B, more specifically, can be arranged in part of the photosensitive region A and / or part of the photosensitive region B.

[0063] It should be noted that the focal planes of the light sensing region A and the light sensing region B can be located in the same plane, or can also be located in different planes. For example, when the light sensing region A and the light sensing region B correspond to the same optical axis of the receiving lens group 1042, the focal planes of the light sensing region A and the light sensing region B can be located in the same plane; when the light sensing region A and the light sensing region B correspond to different optical axes of the receiving lens group 1042, the focal planes of the light sensing region A and the light sensing region B can be located in different planes.

[0064] In combination with FIGS. 6-10, the laser detection assembly provided by the embodiments of the present application is described in detail. In addition to the above laser detection assembly, the embodiments of the present application also provide a laser radar receiving system, which can include the above laser detection assembly 21 and a receiving lens group. The receiving lens group is used to focus the echo light signal reflected by the detection target and including at least one sub-field of view, so that the echo light signal of at least one sub-field of view is incident on the detector array of the laser detection assembly via the light transmission unit of the optical array structure.

[0065] The embodiments of the present application also provide a laser radar system, which can include the above laser detection assembly 21 or the laser radar receiving system.

[0066] The embodiments of the present application also provide a terminal device, which can include the above laser radar.

[0067] Optionally, the terminal device can be a vehicle. The vehicle involved in the embodiments of the present application is a vehicle in a broad sense, which can be a traffic tool (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, 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 device (such as a mower, a harvester, etc.), a recreational device, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle.

[0068] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is a description of the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of these items, including any combination of single item (s) or multiple items (s). For example, at least one of a, b, or c, can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0069] The prefix words such as "first", "second" are used in the embodiments of the present application only to distinguish different description objects, and do not have the limited effect on the position, order, priority, quantity or content of the described objects. The use of the prefix words such as ordinal numbers in the embodiments of the present application does not constitute a limitation on the described objects, and the statement of the described objects should refer to the description in the context of the claims or embodiments, and should not constitute an unnecessary limitation because of the use of such prefix words.

[0070] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A laser detection assembly, characterized by, The laser radar system comprises a laser detection assembly and an optical emission system. The optical array structure comprises at least one light-transmitting unit and a light-blocking unit arranged between adjacent light-transmitting units, each of the at least one light-transmitting unit corresponds to one of the plurality of detector arrays, and the one of the plurality of detector arrays corresponds to one detection channel.

2. The laser probing assembly of claim 1, wherein, The one detection channel corresponds to one sub-field-of-view region.

3. Laser detection assembly according to claim 1 or 2, characterized in that The height of the light-blocking unit is determined according to the light cone angle of incident light.

4. The laser probing assembly of any one of claims 1 to 3, wherein, The one detector array comprises n detectors, n is determined according to a pixel binning mode of the one detector array, and n is a positive integer.

5. The laser probing assembly of any one of claims 1 to 4, wherein, The light-transmitting unit comprises a light-transmitting film, and the upper and lower surfaces of the light-transmitting film are respectively coated with an anti-reflection film and / or a light filter film.

6. The laser probing assembly of any one of claims 1 to 4, wherein, The surface of each of the plurality of detector arrays is provided with a microlens at a position corresponding to the light-transmitting unit.

7. The laser probing assembly of any one of claims 1 to 6, wherein, The surface of each of the plurality of detector arrays is provided with a microlens array, and each microlens in the microlens array corresponds to one detector in the each of the plurality of detector arrays.

8. A ladar receiving system, characterized by, The laser radar receiving system comprises the laser detection assembly according to any one of claims 1 to 7 and a receiving lens group. The receiving lens group is used for focusing incident light of at least one sub-field-of-view reflected by a detection target, so that the incident light of the at least one sub-field-of-view is incident on the detector array of the laser detection assembly via the light-transmitting unit of the optical array structure of the laser detection assembly.

9. A lidar system, comprising: The laser radar system comprises the laser detection assembly according to any one of claims 1 to 7 and an optical emission system; or The laser radar system comprises the laser radar receiving system according to claim 8 and an optical emission system. The optical emission system emits laser light which is incident on the laser detection assembly or the laser radar receiving system after being reflected by a detection target.

10. A terminal device, comprising: The laser radar system comprises the laser radar system according to claim 9.

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