Optical module, detection apparatus and terminal device

Abstract

An optical module, a detection apparatus and a terminal device, which relate to the technical field of detection and are used for realizing an inclined field of view without affecting the height of the detection apparatus. The optical module comprises a reflection assembly, a transmission assembly and / or a reception assembly, wherein an included angle between the horizontal axis direction of a coordinate system of the transmission assembly and / or the horizontal axis direction of a coordinate system of the reception assembly and a placement surface for the optical module, as well as an included angle between the horizontal axis direction of a coordinate system of the reflection assembly and the placement surface for the optical module are all α, where 0<α<90°. The optical module realizes an inclined field of view by means of rotation of the reflection assembly, the transmission assembly and / or the reception assembly. The optical module can be placed in parallel in the detection apparatus, and the detection apparatus can be placed in parallel in an intelligent terminal. In this way, the optical module can realize an inclined field of view without affecting the height of the detection apparatus, thereby facilitating the miniaturized design of the intelligent terminal.

Description

Optical module, detection device and terminal device

[0001] Cross-reference to related applications

[0002] This application claims priority to the Chinese Patent Application No. 202410813186.6, filed on June 21, 2024, and entitled "Optical module, detection device and terminal device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of detection technology, and in particular, to an optical module, a detection device and a terminal device. BACKGROUND

[0004] With the development of science and technology, intelligent transportation devices, smart home devices, industrial devices, robots, vehicles and other intelligent terminals are gradually entering people's daily life. Since the detection device can perceive the surrounding environment and can identify and track moving targets based on the perceived environment, it can further plan a path in combination with a navigator and map data, etc., therefore, the detection device is gradually applied to intelligent terminals and plays an increasingly important role.

[0005] In actual applications, due to different application scenarios, the detection device also has different field of view requirements. For example, a vehicle-mounted detection device usually has a requirement for an inclined field of view, which means that the receiving and transmitting field of view of the vehicle-mounted detection device is asymmetric with the driving direction of the vehicle. In order to achieve an inclined field of view, the current mainstream solution is usually to tilt the detection device and install it on the vehicle, as shown in FIG. 1a. Alternatively, as shown in FIG. 1b, the detection device is installed parallel to the vehicle, but the receiving and transmitting module in the detection device is tilted and installed inside the detection device. The former solution will increase the overall installation height of the detection device, and the latter solution will increase the height of the detection device itself. Therefore, both solutions will increase the overall assembly height of the vehicle, which is not conducive to the design concept of miniaturization of the vehicle.

[0006] In summary, how to achieve an inclined field of view while reducing the impact on the height of the detection device is a technical problem that needs to be solved in the field of detection. SUMMARY

[0007] The present application provides an optical module, a detection device and a terminal device, which are used to achieve an inclined field of view of the optical module without affecting the height of the detection device to which the optical module is applied.

[0008] In a first aspect, the present application provides an optical module, comprising a reflection component, a transmitting component and / or a receiving component, the transmitting component is configured to transmit a first light beam, the reflection component is configured to reflect the first light beam from the transmitting component or a second light beam returned, and the receiving component is configured to receive the second light beam from the reflection component. Wherein, an included angle between a horizontal direction of a coordinate system of the transmitting component and / or a horizontal direction of a coordinate system of the receiving component and a placement surface of the optical module is α, and an included angle between a horizontal direction of a coordinate system of the reflection component and the placement surface of the optical module is also α, 0 < α < 90°, the horizontal direction of the coordinate system of the transmitting component is a horizontal direction of a transmitting surface of the transmitting component, the horizontal direction of the coordinate system of the receiving component is a horizontal direction of a receiving surface of the receiving component, and the horizontal direction of the coordinate system of the reflection component is a horizontal direction of a reflecting surface of the reflection component.

[0009] In the above optical module, since the included angle between the horizontal direction of the reflecting surface of the reflection component and the placement surface of the optical module is α, the reflection component can reflect the incident light beam by an angle of α towards the direction close to or away from the placement surface of the optical module, that is, the light beam emitted by the reflection component is tilted relative to the incident light beam in the direction close to or away from the placement surface of the optical module, and thus the reflection component can generate a tilted field of view. In addition, the current pose of the reflection component also causes the reflected light beam to rotate (i.e., rotate relative to the transmitting surface of the transmitting component and / or the receiving surface of the receiving component), and by keeping the included angle between the horizontal direction of the transmitting surface of the transmitting component and / or the receiving surface of the receiving component and the placement surface of the optical module as α, the transmitting surface of the transmitting component and / or the receiving surface of the receiving component can have the same pose as the light beam with the rotation, so as to reduce or offset the rotation caused by the current pose of the reflection component, and improve the light beam transmitting quality and / or the light beam receiving quality of the optical module.

[0010] The above optical module realizes the tilted field of view by tilting the reflection component, the transmitting component and / or the receiving component, wherein the reflection component is located outside the transceiver module, and the transmitting component and / or the receiving component are located inside the transceiver module. Based on this, when the above optical module is applied to a detection device, the transceiver module can be placed in parallel in the detection device, and the detection device can be placed in parallel in a smart terminal, for example, placed in parallel on a vehicle. In this way, by using the structure design of the above optical module, the tilted field of view is realized while the height of the detection device is not affected, which is helpful to realize the miniaturization design of the smart terminal.

[0011] In a second aspect, the present application provides an optical module, which comprises a reflection component, an emission component and / or a receiving component. The emission component is configured to emit a first light beam, and the optical axis of the first light beam is parallel to the placement surface of the optical module. The reflection component is configured to reflect the first light beam, and the optical axis of the reflected first light beam is inclined to the placement surface of the optical module or is inclined to the direction away from the placement surface of the optical module. The reflection component is also configured to reflect a returned second light beam, and the optical axis of the returned second light beam is inclined to the placement surface of the optical module or is inclined to the direction away from the placement surface of the optical module, and the optical axis of the reflected second light beam is parallel to the placement surface of the optical module. The receiving component is configured to receive the reflected second light beam.

[0012] In the above optical module, the reflection component can reflect the incident light beam to the direction close to or away from the placement surface of the optical module, so that the light beam emitted by the reflection component is inclined to the direction of the placement surface of the optical module relative to the incident light beam. Based on this, if it is applied to the emission side, the reflection component can generate an inclined emission field of view, and if it is applied to the receiving side, the reflection component can convert the originally inclined receiving field of view into a symmetrical field of view, so that the reflection component can generate an inclined field of view.

[0013] Based on the above first aspect and the second aspect, some possible designs adapted to the first aspect and the second aspect are further introduced below.

[0014] In a possible design, the emission surface of the emission component and / or the receiving surface of the receiving component is perpendicular to the placement surface of the optical module, and the reflection surface of the reflection component is not perpendicular to the placement surface of the optical module.

[0015] Through the above design, since the emission component and / or the receiving component are located in a plane perpendicular to the placement surface of the optical module, the height occupied by the emission component and / or the receiving component in a plane parallel to the placement surface of the optical module is minimized, and the current pose of the emission component and / or the receiving component will not affect the height of the emission module and / or the receiving module itself. In addition, since the reflection component is located in a plane not perpendicular to the placement surface of the optical module, the light beam reflected by the reflection component will be inclined to the direction close to or away from the placement surface of the optical module, so as to generate an inclined field of view.

[0016] In a possible design, the first light beam is parallel to the longitudinal axis direction of the emission component coordinate system, and the reflected second light beam is parallel to the longitudinal axis direction of the receiving component coordinate system, wherein the longitudinal axis direction of the emission component coordinate system is the vertical direction of the emission surface of the emission component, and the longitudinal axis direction of the receiving component coordinate system is the vertical direction of the receiving surface of the receiving component.

[0017] By the above design, the first light beam emitted by the emitting component has an image rotation, which can be used to offset or eliminate the image rotation introduced by the tilted reflecting component, thereby reducing or eliminating the image rotation of the first light beam after being reflected by the reflecting component, and improving the quality of the outgoing light beam. Similarly, the second light beam after being reflected by the reflecting component has an image rotation, which is the same as the tilt direction of the receiving component itself, so that the tilted receiving component can offset the image rotation of the second light beam after being reflected, thereby improving the quality of the received light beam.

[0018] In a possible design, the placement surface of the optical module is a horizontal surface, and the tilt angle of the central direction of the vertical field of view of the optical module relative to the horizontal surface is α, or the placement surface of the optical module is a vertical surface, and the tilt angle of the central direction of the horizontal field of view of the optical module relative to the vertical surface is α.

[0019] By the above design, the tilted vertical field of view or the tilted horizontal field of view can be implemented. Moreover, since the tilt angle of the vertical field of view or the horizontal field of view is equal to the included angle between the emitting component and / or the receiving component, the reflecting component and the placement surface, the tilt angle of the vertical field of view or the horizontal field of view can be flexibly controlled by adjusting the included angle between the emitting component and / or the receiving component, the reflecting component and the placement surface.

[0020] In a possible design, the current pose of the emitting component is rotated clockwise or counterclockwise by an angle of α around the optical axis direction of the first light beam relative to the first pose of the emitting component, the current pose of the receiving component is rotated clockwise or counterclockwise by an angle of α around the optical axis direction of the second light beam after being reflected relative to the second pose of the receiving component, and the current pose of the reflecting component is rotated clockwise or counterclockwise by an angle of α around the optical axis direction of the first light beam, or the optical axis direction of the first light beam after being reflected, or the optical axis direction of the second light beam, or the optical axis direction of the second light beam after being reflected relative to the third pose of the reflecting component. The first pose of the emitting component is a pose in which the horizontal direction of the emitting surface of the emitting component is parallel to the placement surface of the optical module, and the vertical direction of the emitting surface of the emitting component is perpendicular to the placement surface of the optical module, the second pose of the receiving component is a pose in which the horizontal direction of the receiving surface of the receiving component is parallel to the placement surface of the optical module, and the vertical direction of the receiving surface of the receiving component is perpendicular to the placement surface of the optical module, and the third pose of the reflecting component is a pose in which the horizontal direction of the reflecting surface of the reflecting component is parallel to the placement surface of the optical module, and the vertical direction of the reflecting surface of the reflecting component is perpendicular to the placement surface of the optical module.

[0021] By the above design, the effect of the tilted field of view can be achieved by controlling the rotation of the emitting component and / or the receiving component, the reflecting component around the optical axis of itself in the existing pose state, that is, the above optical module can be adapted to any existing emitting component and / or receiving component, reflecting component, and only a simple rotation operation is needed to increase the effect of the tilted field of view, so the preparation difficulty is low.

[0022] In one example of the above design, the rotation direction of the reflection component around the optical axis is the same as the rotation direction of the emission component and / or the receiving component around the optical axis.

[0023] Through the above example, the image rotation direction introduced by the rotating emission component can be made the same as the image rotation direction introduced by the rotating emission component and / or the receiving component, and the mutual offset of the image rotation can be achieved.

[0024] In one example of the above design, the emission component and the receiving component are arranged on the same side, and the rotation direction of the emission component around the optical axis is opposite to the rotation direction of the receiving component around the optical axis.

[0025] Through the above example, the optical module can be adapted to a transceiving side-by-side detection device, such as a transceiving side-by-side semi-fixed laser radar.

[0026] In a further example, the reflection component includes a first mirror, the rotation direction of the first mirror around the optical axis of the first light beam or the reflected first light beam is the same as the rotation direction of the emission component around the optical axis, and the rotation direction of the first mirror around the optical axis of the second light beam or the reflected second light beam is the same as the rotation direction of the receiving component around the optical axis.

[0027] Through the above example, the transceiving two sides can share one mirror to achieve the reflection operation of the light beams on the transceiving two sides, and the structure of the reflection component is simple and the cost is low.

[0028] In a further example, the emission component rotates counterclockwise around the optical axis from a first pose to a current pose, and the receiving component rotates clockwise around the optical axis from a second pose to the current pose, and the vertical field of view is tilted upward; or, the emission component rotates clockwise around the optical axis from a first pose to a current pose, and the receiving component rotates counterclockwise around the optical axis from a second pose to the current pose, and the vertical field of view is tilted downward.

[0029] Through the above example, the tilt direction of the vertical field of view can be associated with the rotation direction of the emission component and the receiving component, and the rotation direction of the emission component and the receiving component can be set based on the association relationship, so that the different tilt requirements of the vertical field of view in actual application scenarios can be flexibly adapted.

[0030] In a further example, the emission component and the receiving component are coaxial, or are non-coaxial but have parallel optical axes.

[0031] Through the above example, the emission component and the receiving component can have various positional relationships, such as parallel arrangement, staggered arrangement, emission component in front and receiving component behind, or emission component behind and receiving component in front, and so on, so that the adaptability of the emission component and the receiving component to various detection scenarios can be improved.

[0032] In one example of the above design, the transmitting component is disposed opposite the receiving component, and the rotating direction of the transmitting component around the optical axis is the same as the rotating direction of the receiving component around the optical axis.

[0033] With the above example, the optical module can be adapted to a transceiving-aside detection device, such as a transceiving-aside solid-state laser radar.

[0034] In a further example, the transmitting component rotates counterclockwise around the optical axis from the first pose to the current pose, and the receiving component rotates counterclockwise around the optical axis from the second pose to the current pose, and the vertical field of view is tilted upward; or, the transmitting component rotates clockwise around the optical axis from the first pose to the current pose, and the receiving component rotates clockwise around the optical axis from the second pose to the current pose, and the vertical field of view is tilted downward.

[0035] In a further example, the reflecting component includes a second mirror and a third mirror, the second mirror is configured to reflect the first light beam, and the third mirror is configured to reflect the second light beam, the rotating direction of the second mirror around the optical axis is the same as the rotating direction of the transmitting component around the optical axis, and the rotating direction of the third mirror around the optical axis is the same as the rotating direction of the receiving component around the optical axis.

[0036] With the above example, a separate mirror can be provided on each of the transmitting side and the receiving side to achieve the effect of transceiving separation.

[0037] In one possible design, the reflecting component includes one or more mirrors, and when the reflecting component includes multiple mirrors, the sum of the angles between the horizontal directions of the multiple mirror coordinate systems and the placement surface of the optical module is α.

[0038] With the above design, the number of mirrors included in the reflecting component can be flexibly designed, so that the tilted field of view can be achieved in different reflecting component scenarios, and the versatility of the optical module is improved.

[0039] In one possible design, the mirror is a planar mirror, a curved mirror, a beam splitter, a beam splitter, or a half-transmission half-reflection mirror.

[0040] In one possible design, the optical module further includes a scanning component, the scanning component is configured to scan the first light beam reflected by the reflecting component to the detection space, or scan the second light beam returned from the detection space to the reflecting component.

[0041] With the above example, the optical module can be adapted to a semi-solid detection device, such as a transceiving-aside semi-solid laser radar or a transceiving-aside semi-solid laser radar.

[0042] In a further possible design, the scanning component is a polygonal scanning mirror or a micro-electro-mechanical systems (MEMS) mirror.

[0043] With the above design, the scanning component can be configured according to actual requirements, for example, a polygonal scanning mirror can be selected when the cost requirement is low, and a MEMS mirror can be selected when the accuracy requirement is high.

[0044] In a third aspect, the present application provides a detection device, which includes the optical module in the first aspect or any design in the first aspect, or the optical module in the second aspect or any design in the second aspect.

[0045] In a possible design, the detection device can further include a processing module, which is configured to receive an electrical signal from the optical module, and generate point cloud information according to the electrical signal.

[0046] In a fourth aspect, the present application provides a terminal device, which includes the detection device in the third aspect or any design in the third aspect.

[0047] The technical effects achieved by the third aspect to the fourth aspect can refer to the beneficial effects described in the first aspect or the second aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0048] FIG. 1a exemplarily shows a scene schematic diagram of a tilt placement detection device provided by the industry;

[0049] FIG. 1b exemplarily shows a scene schematic diagram of a tilt placement transceiver module provided by the industry;

[0050] FIG. 2a exemplarily shows a schematic diagram of a transmitting component coordinate system provided by the present application;

[0051] FIG. 2b exemplarily shows a schematic diagram of an image spin and image spin elimination method provided by the present application;

[0052] FIG. 2c exemplarily shows a schematic diagram of an angle between an axis and a plane provided by the present application;

[0053] FIG. 2d exemplarily shows a schematic diagram of a rotation direction around an optical axis provided by the present application;

[0054] FIG. 2e exemplarily shows a schematic diagram of a horizontal field of view and a vertical field of view provided by the present application;

[0055] FIG. 3a exemplarily shows a scene schematic diagram of a downward tilt vertical field of view applicable to the present application;

[0056] Figure 3b schematically illustrates a scenario of an upwardly tilted vertical field of view, which is applicable to the present application;

[0057] Figure 3c schematically illustrates a scenario of a leftwardly tilted horizontal field of view, which is applicable to the present application;

[0058] Figure 3d schematically illustrates a scenario of a rightwardly tilted horizontal field of view, which is applicable to the present application;

[0059] Figure 4a schematically illustrates a scenario of a translation transceiver module provided in the industry;

[0060] Figure 4b schematically illustrates a scenario of a change in the receiver target surface after the translation transceiver module;

[0061] Figure 5 schematically illustrates a structure of an optical module provided in Embodiment 1;

[0062] Figure 6 schematically illustrates a placement of an optical module provided in Embodiment 1;

[0063] Figure 7 schematically illustrates a structure of an optical module provided in Embodiment 1 in an initial state;

[0064] Figure 8 schematically illustrates a structure of another optical module provided in Embodiment 1;

[0065] Figure 9a schematically illustrates a light spot of a light beam emitted by a transmitting assembly provided in Embodiment 1;

[0066] Figure 9b schematically illustrates a light spot of a light beam reflected by a reflecting assembly provided in Embodiment 1;

[0067] Figure 9c schematically illustrates a light spot of a light beam in a transmission process provided in Embodiment 1;

[0068] Figure 10a schematically illustrates a structure of an optical module provided in Embodiment 2;

[0069] Figure 10b schematically illustrates a structure of another optical module provided in Embodiment 2;

[0070] Figure 11 schematically illustrates a structure of an optical module provided in Embodiment 2 in an initial state;

[0071] Figure 12 schematically illustrates a light spot of a light beam received by a receiving assembly provided in Embodiment 2;

[0072] Figure 13a schematically illustrates a structure of an optical module provided in Embodiment 3;

[0073] FIG. 13b schematically shows a structure of another optical module provided in Embodiment 3;

[0074] FIG. 14 schematically shows a possible structure of a transmitting assembly provided in the present application;

[0075] FIG. 15 schematically shows a possible layout of a transmitting assembly and a receiving assembly provided in the present application;

[0076] FIG. 16 schematically shows an appearance structure and a disassembled structure of a transceiver module provided in the present application;

[0077] FIG. 17 schematically shows a structure of another transceiver module provided in the present application;

[0078] FIG. 18 schematically shows a structure of an optical module with a same-side layout provided in the present application;

[0079] FIG. 19 schematically shows a structure of an optical module provided in application scenario 1;

[0080] FIG. 20 schematically shows a possible structure of a scanning assembly provided in application scenario 1;

[0081] FIG. 21 schematically shows a height saving of an optical module provided in application scenario 1 relative to the prior art;

[0082] FIG. 22 schematically shows a structure of an optical module provided in application scenario 2;

[0083] FIG. 23 schematically shows a structure of an optical module provided in application scenario 3;

[0084] FIG. 24 schematically shows a structure of a detection device provided in the present application;

[0085] FIG. 25 schematically shows a structure of a terminal device provided in the present application. DETAILED DESCRIPTION

[0086] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0087] The following explains some terms used in the present application. It should be noted that the explanations are provided for the convenience of understanding by those skilled in the art, and do not limit the scope of protection required by the present application.

[0088] I. Component Coordinate System

[0089] In this application, the component coordinate system refers to a coordinate system constructed with the direction of two edges of a component surface as the coordinate axis direction. For example, taking the transmitting component as an example, please refer to FIG. 2a, the horizontal axis direction (X) of the transmitting component coordinate system refers to the direction of the edge in the horizontal direction or close to the horizontal direction on the transmitting surface of the transmitting component, and the vertical axis direction (Y) of the transmitting component coordinate system refers to the direction of the edge in the vertical direction or close to the vertical direction on the transmitting surface of the transmitting component.

[0090] II. Image rotation

[0091] Image rotation, also known as image surface rotation, refers to the phenomenon that the light spot rotates relative to the receiver target surface (i.e., the receiving surface of the receiver) or the transmitting surface of the transmitter. For example, taking the receiving end as an example, please refer to FIG. 2b, assuming that a horizontal line light beam is incident on the receiver target surface, in the ideal case, it should present a horizontal line light spot as shown in (A) of FIG. 2b, but if the actual light spot received by the receiver target surface is a tilted line light spot as shown in (B) of FIG. 2b, it can be considered that the horizontal line light beam has image rotation.

[0092] Image rotation can be eliminated by rotating the detector target surface. For example, please refer to (C) of FIG. 2b, by rotating the detector target surface along the same direction as the actual received light spot by the same angle, the actual received light spot will be parallel to the detector target surface. In this case, the row of detection units on which the light spot is located can theoretically receive all the light spots, and it can be considered that the image rotation phenomenon is eliminated.

[0093] III. Angle between axis and surface

[0094] The angle between the axis and the surface refers to the angle between the projection of the axis on the surface and the axis. As shown in FIG. 2c, assuming that the axis is axis T and the surface is surface A, the angle between axis T and surface A is denoted by θ, then θ refers to the angle between the projection (T') of axis T on surface A and axis T.

[0095] IV. Rotation direction around optical axis

[0096] In this application, the rotation direction around the optical axis is viewed from the direction of the light beam transmission of the optical axis, that is, viewed from the direction of the light beam entering to the direction of the light beam exiting. For example, please refer to FIG. 2d, the light beam transmission direction of the optical axis is from left to right, then viewed from the left to the right, the rotation direction shown in the figure is counterclockwise.

[0097] V. Field of view (FOV)

[0098] The field of view includes a horizontal field of view (HFOV) and a vertical field of view (VFOV). As shown in FIG. 2e, the horizontal field of view refers to the maximum visible range of the emitted light beam or the received light beam in the horizontal direction, and the vertical field of view refers to the maximum visible range of the emitted light beam or the received light beam in the vertical direction. When the emitted light beam and the received light beam are collectively referred to as a light beam, the horizontal field of view is positively correlated with the length of the light beam in the horizontal direction, and the longer the length of the light beam in the horizontal direction, the greater the horizontal field of view. Similarly, the vertical field of view is positively correlated with the width of the light beam in the vertical direction, and the longer the width of the light beam in the vertical direction, the greater the vertical field of view.

[0099] Some terms related to the present application are introduced in the foregoing, and possible application scenarios of the present application are introduced below.

[0100] In a possible application scenario, the optical module can be integrated into a detection device, which can include but is not limited to a laser radar (light detection and ranging, LiDAR). The detection device can be installed on various types of vehicles, such as vehicles, ships, aircraft, drones, trains, subways, automated guided vehicles (AGV) or unmanned vehicles, etc., as an information collection source for path planning, to assist the driver to realize or automatically realize safe driving. Alternatively, the detection device can also be installed on a road side unit (road side unit, RSU) as a roadside traffic detection device for intelligent vehicle-road cooperative communication. Alternatively, the detection device can also be applied to terminal equipment or components provided in terminal equipment, such as smart phones, smart home devices, smart manufacturing devices, medical devices, industrial devices, and robots, etc. Here, they will not be listed one by one.

[0101] Taking the case that the detection device is installed on a vehicle, the detection device provided by the present application can realize a tilted field of view, including a tilted VFOV and / or a tilted HFOV. For example, please refer to FIG. 3a, which shows a schematic diagram of an application scenario of a downwardly tilted VFOV provided by the present application, taking the case that the detection device is installed on the roof of a vehicle. In order to meet the detection range of obstacles and lane lines on the ground in front of the vehicle, the VFOV of the detection device is tilted downwardly to point to the ground, and at the same time, the lower edge of the VFOV of the detection device does not exceed the edge of the hood of the vehicle. Based on this, assuming that the VFOV of the detection device is 40°, in order to meet the detection range of the closest ground, the VFOV of the detection device can be tilted downwardly by 10°, that is, the optical axis (L0) of the detection device is tilted downwardly by 10° relative to the driving direction (V) of the vehicle, so that the lower edge of the VFOV of the detection device is close to the edge of the hood of the vehicle.

[0102] For example, referring to FIG. 3b, an application scenario of upwardly tilting VFOV is shown. In this application scenario, the detection device is installed on the air intake grille (or front face, ghost face, water tank cover). In this example, in order to meet the detection range of traffic signs and traffic lights in front of the vehicle, the VFOV of the detection device is tilted upwardly to point to the sky. For example, assuming that the VFOV of the detection device is 60°, the VFOV of the detection device can be tilted upwardly by 10°, that is, the optical axis L0 of the detection device is tilted upwardly by 10° relative to the vehicle driving direction V.

[0103] For example, referring to FIG. 3c, an application scenario of leftwardly tilting HFOV is shown. In this application scenario, the detection device is installed on the left rearview mirror. In this example, in order to meet the detection range of vehicles or pedestrians in front of the left side of the vehicle, the HFOV of the detection device is tilted leftwardly to point to the front, and meanwhile, the right edge of the HFOV of the detection device does not exceed the left edge of the hood of the vehicle. For example, assuming that the HFOV of the detection device is 60°, the HFOV of the detection device can be tilted leftwardly by 25°, that is, the optical axis L0 of the detection device is tilted leftwardly by 25° relative to the vehicle driving direction V, so that the included angle between the right edge of the HFOV and the vehicle driving direction V is 5°.

[0104] Similarly, referring to FIG. 3d, an application scenario of rightwardly tilting HFOV is shown. In this application scenario, the detection device is installed on the right rearview mirror. In order to meet the detection range of vehicles or pedestrians in front of the right side of the vehicle, the HFOV of the detection device is tilted rightwardly to point to the front, and meanwhile, the left edge of the HFOV of the detection device does not exceed the left edge of the hood of the vehicle. For example, assuming that the HFOV of the detection device is 60°, the HFOV of the detection device can be tilted rightwardly by 25°, that is, the optical axis L0 of the detection device is tilted rightwardly by 25° relative to the vehicle driving direction V, so that the included angle between the left edge of the HFOV and the vehicle driving direction V is 5°.

[0105] It can be understood that the above is only an example of several possible installation positions of the detection device in the vehicle, and the detection device can also be installed at any position or multiple positions of the vehicle, such as around the vehicle lamp, near the vehicle door, at the front bumper of the vehicle, at the rear bumper of the vehicle, or behind the windshield, to capture the environmental information around the vehicle. When the detection device is installed behind the windshield, it has a lower requirement for the risk of stone collision, and does not affect the appearance of the vehicle, and the front windshield itself has the functions of window heating, defogging, and rain cleaning.

[0106] The above application scenarios can be applied to the fields of unmanned driving, assisted driving, intelligent driving, automatic driving, networked vehicles, optical communication, security monitoring, biological medicine, surveying and mapping (such as three-dimensional mapping and remote sensing surveying), meteorological research, biomass and vegetation research, air quality monitoring, and aerospace applications. In addition, the application scenarios described in the present application are for more clearly illustrating the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided by the present application.

[0107] As described in the background, the existing detection device mainly realizes the tilted field of view by tilting the detection device itself or the transceiver module inside the detection device. However, this method will increase the installation height of the detection device, which is not conducive to the miniaturization design of the vehicle.

[0108] In view of this, the industry provides another solution, please refer to FIG. 4a. This solution installs the detection device parallelly on the vehicle, and simultaneously translates the transceiver module in the detection device. For example, when there is a need for a downward tilted field of view, the transceiver module is translated upward. For example, taking the receiving module as an example, please refer to FIG. 4b. In the detection device, especially in the laser radar, the photosensitive surface of the receiver and the FOV are completely matched. Assuming that the original VFOV is [-10°, 10°], the range of the photosensitive surface (i.e. the target surface) of the receiver is also [-10°, 10°]. After translating the receiver upward, assuming that the VFOV of the receiver becomes [-13°, 7°], in this case, in order to make the light beams in the VFOV range be received, the range of the negative side of the photosensitive surface of the receiver needs to be increased to -13°. However, due to the symmetry of scanning, the range of the positive side of the photosensitive surface of the receiver also needs to be increased, that is, the range of the photosensitive surface of the receiver needs to be increased to [-13°, 13°]. Since the light beams received by the receiver are all transmitted through the receiving optical lens in front of the receiver, in order to adapt to the increased range of the photosensitive surface of the receiver, the size of the receiving optical lens also needs to be increased accordingly. Obviously, this solution needs to increase the overall FOV of the transceiver module, which will not only affect the imaging quality of the transceiver module, but also increase the size of the cooperating optical lens, resulting in increased design difficulty of the transceiver module and increased cost of the module.

[0109] Therefore, the present application provides an optical module for realizing a tilted field of view without affecting the size, cost and optical performance.

[0110] The optical module provided by the present application will be described in detail below with reference to FIGS. 5 to 23.

[0111] The present application provides an optical module, which comprises a reflection component, a transmitting component and / or a receiving component. That is, the optical module can comprise a transmitting component and a reflection component, but not a receiving component. Alternatively, the optical module can comprise a receiving component and a reflection component, but not a transmitting component. Alternatively, the optical module can comprise a transmitting component, a reflection component and a receiving component. The three possible optical modules are described in detail below as Embodiment One, Embodiment Two and Embodiment Three respectively.

[0112] It should be noted that in the following various embodiments, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0113] Embodiment One

[0114] Referring to FIG. 5, a structural schematic diagram of an optical module provided by Embodiment One is shown. The optical module 500 can comprise a transmitting component 510 and a reflection component 520, the transmitting component 510 being configured to transmit a first light beam, and the reflection component 520 being configured to reflect the first light beam.

[0115] As shown in FIG. 5, a transmitting component coordinate system (X1, Y1) is established with an intersection point of the emitting surface of the transmitting component 510 as the origin (O1), with the bottom edge of the emitting surface as the horizontal axis (X1), and with the side edge of the emitting surface as the vertical axis (Y1). Similarly, a reflection component coordinate system (X2, Y2) is established with an intersection point of the reflecting surface of the reflection component 520 as the origin (O2), with the bottom edge of the reflecting surface as the horizontal axis (X2), and with the side edge of the reflecting surface as the vertical axis (Y2). In other words, in the transmitting component coordinate system (X1, Y1), the horizontal axis X1 direction refers to the horizontal direction of the emitting surface of the transmitting component 510, and the vertical axis Y1 direction refers to the vertical direction of the emitting surface of the transmitting component 510. In the reflection component coordinate system (X2, Y2), the horizontal axis X2 direction refers to the horizontal direction of the reflecting surface of the reflection component 520, and the vertical axis Y2 direction refers to the vertical direction of the reflecting surface of the reflection component 520.

[0116] Based on the established coordinate systems (X1, Y1) for the emitting component and (X2, Y2) for the reflecting component, as shown in the left view of Figure 5, the angle between the horizontal axis X1 of the emitting component coordinate system (X1, Y1) and the placement surface (S0) of the optical module 500 is α, and the angle between the horizontal axis X2 of the reflecting component coordinate system (X2, Y2) and the placement surface S0 of the optical module 500 is also α, where 0 < α < 90°. This can be understood as the bottom edge of the emitting surface of the emitting component 510 and the bottom edge of the reflecting surface of the reflecting component 520 being inclined relative to the placement surface S0 of the optical module 500, and the inclination angle of the bottom edge of the emitting surface of the emitting component 510 and the inclination angle of the bottom edge of the reflecting surface of the reflecting component 520 being the same.

[0117] From the perspective of the optical axis, as shown in Figure 5, the emitting component 510 emits a first light beam with an optical axis of L1, which is parallel to the placement plane S0 of the optical module 500. The first light beam emitted by the emitting component 510 is incident on the reflecting component 520. The reflecting component 520 reflects the first light beam, and the optical axis of the reflected first light beam is L1. 21 Optical axis L 21 It is not parallel to the placement plane S0 of the optical module 500. Specifically, the optical axis L... 21 The optical axis can be tilted towards the placement surface S0 of the optical module 500, or it can be tilted away from the placement surface S0 of the optical module 500. For example, in the example shown in Figure 5, the placement surface S0 is a horizontal plane, therefore, the optical axis L... 21 It can tilt downwards or upwards.

[0118] Understandably, the placement surface S0 of the optical module 500 can be any type of surface, such as a horizontal, vertical, or inclined surface, or an irregular surface, such as a curved surface, or a combination of a plane and an inclined surface.

[0119] For example, as shown in Figure 5, when the placement surface S0 of the optical module 500 is a horizontal plane, and the emitting component 510 and the reflecting component 520 are located above the placement surface S0, if the optical axis L of the first beam reflected by the reflecting component 520... 21 By tilting the optical module 500 towards the placement surface S0, the emission field of view is "tilted down." In other words, the emission field of view of the optical module 500 is tilted downwards, or the vertical field of view is tilted downwards. This scheme is suitable for the application scenario shown in Figure 3a. Conversely, if the optical axis L of the first beam reflected by the reflective component 520 is tilted downwards... 21When the optical module 500 is tilted towards the direction away from the placement surface S0, the optical module 500 realizes the effect of "lifting the head" of the emission field of view. That is, the emission field of view of the optical module 500 is tilted upwards, or the vertical field of view is tilted upwards. This scheme can be adapted to the application scenario shown in FIG. 3b.

[0120] For example, as shown in FIG. 6, when the placement surface S0 of the optical module 500 is a vertical surface, and the emission assembly 510 and the reflection assembly 520 are located on the left side of the placement surface S0, if the optical axis L1 of the first light beam reflected by the reflection assembly 520 is tilted towards the direction away from the placement surface S0, the optical module 500 realizes the effect of "lifting the head" of the emission field of view. That is, the emission field of view of the optical module 500 is tilted upwards, or the vertical field of view is tilted upwards. This scheme can be adapted to the application scenario shown in FIG. 3b. 21 When the optical module 500 is tilted towards the direction away from the placement surface S0, the optical module 500 realizes the effect of "lifting the head" of the emission field of view. That is, the emission field of view of the optical module 500 is tilted upwards, or the vertical field of view is tilted upwards. This scheme can be adapted to the application scenario shown in FIG. 3b. 21 When the optical module 500 is tilted towards the direction away from the placement surface S0, the optical module 500 realizes the effect of "lifting the head" of the emission field of view. That is, the emission field of view of the optical module 500 is tilted upwards, or the vertical field of view is tilted upwards. This scheme can be adapted to the application scenario shown in FIG. 3b.

[0121] Similarly, when the placement surface S0 of the optical module 500 is an inclined surface, the optical module 500 can realize the effects of "lifting the head to the upper left", "lifting the head to the upper right", "lowering the head to the lower left", "lowering the head to the lower right", and the like. Here, they will not be listed one by one.

[0122] Optionally, since the optical axis L1 of the first light beam emitted by the emission assembly 510 is perpendicular to the emission surface of the emission assembly 510, the optical axis L1 of the first light beam is parallel to the placement surface S0, and thus the emission surface of the emission assembly 510 is in a plane perpendicular to the placement surface S0. The current pose of the emission assembly 510 is referred to as the fourth pose, and the fourth pose of the emission assembly 510 can be considered to be obtained by rotating the first pose of the emission assembly 510 clockwise or counterclockwise by an angle a about the optical axis of the outgoing light beam (i.e., the optical axis L1 of the first light beam), wherein the first pose of the emission assembly 510 is a pose in which the bottom edge of the emission surface of the emission assembly 510 is parallel to the placement surface S0 and the side edge of the emission surface of the emission assembly 510 is perpendicular to the placement surface S0. The state in which the emission assembly 510 is in the first pose is referred to as the initial state of the optical module 500. Please refer to FIG. 7, which shows a possible structure diagram of the optical module 500 in the initial state. It can be found that in the first pose, the emission assembly 510 is vertically placed above the placement surface S0, the bottom surface of the emission assembly 510 is parallel to the placement surface S0, and the side surface is perpendicular to the placement surface S0.

[0123] Similarly, the current pose of the reflecting component 520 is referred to as a sixth pose, the sixth pose of the reflecting component 520 can be considered to be obtained by rotating the third pose of the reflecting component 520 clockwise or counterclockwise by an angle of a about an optical axis of an incident light beam (i.e., the optical axis L1 of the first light beam) or an optical axis of an emergent light beam (i.e., the optical axis L 21 of the reflected first light beam) of the reflecting component 520, where the third pose of the reflecting component 520 is a pose in which a bottom edge of a reflecting surface of the reflecting component 520 is parallel to the placement surface S0 and a side edge of the reflecting surface of the reflecting component 520 is perpendicular to the placement surface S0. For example, in combination with FIGS. 5 and 7, the pose of the reflecting component 520 in FIG. 5 can be considered to be obtained by rotating the pose in FIG. 7 clockwise by an angle of a about the optical axis L1 of the first light beam, which is equivalent to rotating the reflecting component 520 in FIG. 7 by an angle of a in the upward-downward direction shown in the figure. For another example, refer to FIG. 8, which shows a structural diagram of another optical module 500 provided by the embodiment, the pose of the reflecting component 520 in FIG. 8 can be considered to be obtained by rotating the pose in FIG. 7 clockwise by an angle of a about the optical axis L 20 of the reflected first light beam, which is equivalent to rotating the reflecting component 520 in FIG. 7 by an angle of a in the left-right direction shown in the figure.

[0124] Based on FIGS. 7, 5 and 8, the current state of the optical module 500 can be considered to be that: the emitting component 510 rotates clockwise by an angle of a about the optical axis L1 of the first light beam from the first pose in FIG. 7 to the fourth pose, and the reflecting component 520 rotates clockwise by an angle of a about the optical axis L1 of the first light beam or the optical axis L 20 of the reflected first light beam from the third pose in FIG. 7 to the sixth pose.

[0125] It can be understood that when the emitting component 510 is in the first position shown in FIG. 7, the emitting surface of the emitting component 510 is perpendicular to the placement surface S0 of the optical module 500, and the outgoing light axis L0 of the emitting component 510 is also perpendicular to the emitting surface. Therefore, when the emitting component 510 rotates around the light axis L0 from the first position to the fourth position shown in FIG. 5 or FIG. 8, the emitting surface of the rotated emitting component 510 is still perpendicular to the light axis L0, that is, the light axis L0 of the emitting component 510 does not change before and after rotation. However, since the reflecting surface of the emitting component 510 rotates, the first light beam emitted by the emitting component 510 is tilted on the reflecting surface. For example, referring to FIG. 9a, a spot comparison diagram of the light beams emitted by the emitting component 510 in two positions is shown, taking the four-channel light source as an example. As shown in FIG. 9a, when the emitting component 510 is in the first position, the first light beam emitted by the emitting component 510 is four vertical line light beams staggered with each other, each of which is parallel to the side of the emitting surface in the first position and perpendicular to the bottom of the emitting surface in the first position. When the emitting component 510 rotates from the first position to the fourth position, the first light beam emitted by the emitting component 510 becomes four inclined line light beams staggered with each other, each of which is parallel to the side of the emitting surface in the fourth position (i.e., the longitudinal axis direction of the emitting component coordinate system) and perpendicular to the bottom of the emitting surface in the fourth position. Since the inclined line light beam is no longer parallel to the side of the emitting surface in the first position and no longer perpendicular to the bottom of the emitting surface in the first position, the emitting component 510 rotated to the fourth position produces an image spin.

[0126] When the reflecting component 520 is in the third position shown in FIG. 7, the reflecting surface of the reflecting component 520 is perpendicular to the placement surface S0 of the optical module 500. To achieve the reflecting function, the reflecting surface of the reflecting component 520 needs to have a certain angle with the outgoing light axis L1 of the emitting component 510, which is between 0-90°. That is, the reflecting surface of the reflecting component 520 is not perpendicular to the incoming light axis L1 and the outgoing light axis L 20 On this basis, the reflecting component 520 rotates around the light axis L1 or the light axis L 20The rotation causes the bottom edge and the side edge of the reflective surface to be inclined relative to the placement surface S0. Therefore, when the sixth position shown in FIG. 5 or FIG. 8 is reached, the reflective surface of the reflection assembly 520 is not perpendicular to the placement surface S0 of the optical module 500. Based on this, the reflection assembly 520 can reflect the incident first light beams in a direction that is inclined toward or away from the placement surface S0 of the optical module 500, and at the same time, is inclined toward the side edge of the reflective surface. For example, referring to FIG. 9b, a comparison diagram of the light spots of the outgoing light beams of the reflection assembly 520 in two positions is shown, and four vertical linear light beams emitted by the emission assembly 510 are taken as an example. As shown in FIG. 9b, after the four vertical linear light beams are reflected by the rotated reflection assembly 520, the four vertical linear light beams are translated as a whole toward the side edge of the emission surface of the emission assembly 510 (an example of downward translation is shown), and an inclined field of view is generated. At the same time, each vertical linear light beam is also rotated in the emission surface of the emission assembly 510 and becomes an inclined linear light beam. Therefore, the reflection assembly 520 rotated to the sixth position also generates an image rotation.

[0127] Based on the above-mentioned rotated emission assembly 510 and reflection assembly 520, referring to FIG. 9c, a diagram of the light spot presentation after the two are combined is shown. As shown in FIG. 9c, the emission assembly rotated to the fourth position emits four inclined linear light beams that are staggered with each other, and the four inclined linear light beams have a rightward inclined image rotation on the emission surface of the emission assembly. After the four inclined linear light beams are reflected by the reflection assembly rotated to the sixth position, on the one hand, the four inclined linear light beams are translated toward the side edge of the emission surface, thereby generating an inclined field of view, and on the other hand, a leftward inclined image rotation is generated on the emission surface of the emission assembly, and the leftward inclined image rotation and the rightward inclined image rotation generated by the emission assembly 510 cancel each other out, so that the four inclined linear light beams become four vertical linear light beams again.

[0128] That is to say, in the optical module 500, the rotated reflection assembly 520 is used to achieve an inclined field of view, but because the reflection assembly 520 is rotated, an image rotation is introduced at the same time. Therefore, in order to eliminate the image rotation, the emission assembly 510 is also rotated to generate an opposite image rotation, so that an image rotation cancellation is achieved at the same time as the inclined field of view, and a better light beam emission performance is obtained. Based on this, optionally, in some scenarios, if the demand for the light beam emission performance is not high, only the reflection assembly 520 can be rotated, and the emission assembly 510 is not rotated. That is to say, the reflection assembly 520 is in the third position, and the emission assembly 510 is in the fourth position, so that the effect of the inclined field of view can also be achieved.

[0129] Optionally, there is a certain correlation between the tilt angle of the tilted field of view and the rotation angle of the emitting component 510 or the rotation angle of the reflecting component 520, such as, in one example, the tilt angle of the tilted field of view is the same as the rotation angle of the emitting component 510 or the rotation angle of the reflecting component 520. For example, when the placement surface S0 of the optical module 500 is a horizontal plane, if the emitting component 510 is rotated by an angle a relative to the direction of its exit optical axis and the reflecting component 520 is rotated by an angle a relative to the direction of its incident optical axis or exit optical axis, the tilt angle of the center direction of the vertical field of view of the optical module 500 relative to the horizontal plane is a. When the placement surface S0 of the optical module 500 is a vertical plane, if the emitting component 510 is rotated by an angle a relative to the direction of its exit optical axis and the reflecting component 520 is rotated by an angle a relative to the direction of its incident optical axis or exit optical axis, the tilt angle of the center direction of the horizontal field of view of the optical module 500 relative to the vertical plane is a. That is, if the vertical field of view is to be tilted upward or downward by 30 degrees relative to the horizontal plane, or the horizontal field of view is to be tilted upward or downward by 30 degrees relative to the vertical plane, the emitting component 510 and the reflecting component 520 can be controlled to rotate by 30 degrees counterclockwise or clockwise around their respective optical axes in the pose shown in FIG. 7.

[0130] Further, optionally, as shown in FIG. 5, the rotation direction of the emitting component 510 relative to its exit optical axis is the same as the rotation direction of the reflecting component 520 relative to its incident optical axis or exit optical axis. For example, taking the vertical field of view as an example, defining the counterclockwise rotation of the emitting component 510 or the reflecting component 520 around the optical axis as positive, the clockwise rotation of the emitting component 510 or the reflecting component 520 around the optical axis as negative, the upward tilt of the vertical field of view as positive, and the downward tilt of the vertical field of view as negative, the tilt directions of the emitting component 510, the reflecting component 520, and the vertical field of view remain the same sign. That is, when the emitting component 510 is rotated by an angle a counterclockwise around its exit optical axis, the reflecting component 520 is also rotated by an angle a counterclockwise around its incident optical axis or exit optical axis, and the rotated emitting component 510 and the reflecting component 520 achieve the effect of tilting the vertical field of view upward by an angle a. Conversely, when the emitting component 510 is rotated by an angle a clockwise around its exit optical axis, the reflecting component 520 is also rotated by an angle a clockwise around its incident optical axis or exit optical axis, and the rotated emitting component 510 and the reflecting component 520 achieve the effect of tilting the vertical field of view downward by an angle a.

[0131] From the perspective of the placement position, if the angle between the longitudinal axis Y1 direction of the emission assembly coordinate system and the longitudinal axis Y2 direction of the reflection assembly coordinate system and the placement surface S0 is an acute angle, it indicates that the emission assembly 510 and the reflection assembly 520 are both rotated clockwise around the optical axis direction, and thus the vertical field of view is downwardly inclined. If the angle between the longitudinal axis Y1 direction of the emission assembly coordinate system and the longitudinal axis Y2 direction of the reflection assembly coordinate system and the placement surface S0 is an obtuse angle, it indicates that the emission assembly 510 and the reflection assembly 520 are both rotated counterclockwise around the optical axis direction, and thus the vertical field of view is upwardly inclined.

[0132] Similarly to the vertical field of view, the horizontal field of view is inclined to the left or to the right, which is related to the rotation direction of the emission assembly 510 and the reflection assembly 520, and is also related to the relative position of the emission assembly 510, the reflection assembly 520 and the placement surface S0. For example, if it is the placement mode shown in FIG. 6, the emission assembly 510 is rotated by an angle a clockwise around the outgoing optical axis direction thereof and the reflection assembly 520 is rotated by an angle a clockwise around the incoming optical axis (or outgoing optical axis) direction thereof, which brings the effect that the horizontal field of view is inclined by an angle a to the right. The emission assembly 510 is rotated by an angle a counterclockwise around the outgoing optical axis direction thereof and the reflection assembly 520 is rotated by an angle a counterclockwise around the incoming optical axis (or outgoing optical axis) direction thereof, which brings the effect that the horizontal field of view is inclined by an angle a to the left. Of course, other placement positions can also bring different inclination effects. For example, if it is the placement mode opposite to FIG. 6, i.e., the emission assembly 510 and the reflection assembly 520 are on the right side of the placement surface S0, the emission assembly 510 is rotated by an angle a clockwise around the outgoing optical axis direction thereof and the reflection assembly 520 is rotated by an angle a clockwise around the incoming optical axis (or outgoing optical axis) direction thereof, which brings the effect that the horizontal field of view is inclined by an angle a to the left. The emission assembly 510 is rotated by an angle a counterclockwise around the outgoing optical axis direction thereof and the reflection assembly 520 is rotated by an angle a counterclockwise around the incoming optical axis (or outgoing optical axis) direction thereof, which brings the effect that the horizontal field of view is inclined by an angle a to the right. It should be understood that the inclination direction of the horizontal field of view is related to the actual placement scene, which will not be listed one by one here.

[0133] Based on the above embodiment one, by rotating the emission assembly and the reflection assembly at the existing pose, the inclined emission field of view can be achieved. Moreover, since the emission assembly is rotated around the optical axis direction thereof, the emission assembly still stays in the plane perpendicular to the placement surface, and the rotation of the emission assembly does not introduce additional height, that is, does not affect the height of the emission module where the emission assembly is located and the height of the detection device using the emission module, which is helpful to realize the miniaturization design of the detection device. In addition, the optical module can achieve the inclined field of view by rotating the emission assembly and the reflection assembly, without the need to increase the overall FOV of the emission assembly or the size of the optical lens cooperating with the emission assembly, and thus the inclined emission field of view can be achieved without affecting the size, cost and optical performance.

[0134] Embodiment two

[0135] Please refer to FIG. 10a or FIG. 10b, which show the structural schematic diagrams of two optical modules provided by embodiment two. The optical module 500 includes a reflection assembly 520 and a receiving assembly 530, the reflection assembly 520 is used for reflecting the returned second light beam, and the receiving assembly 530 is used for receiving the second light beam reflected by the reflection assembly 520. Wherein, the second light beam can be understood as the light beam reflected by the target in the detection space, such as the light beam emitted by the detection device reflected by the target in the detection space.

[0136] As shown in FIG. 10a or FIG. 10b, the reflection assembly coordinate system (X2, Y2) is established in the manner of the above embodiment one, and at the same time, with one intersection point of the receiving surface of the receiving assembly 530 as the origin (O3), with the bottom edge of the receiving surface as the horizontal axis (X3), and with the side edge of the receiving surface as the vertical axis (Y3), the receiving assembly coordinate system (X3, Y3) is established. In other words, the horizontal axis X3 direction of the receiving assembly coordinate system (X3, Y3) refers to the horizontal direction of the receiving surface of the receiving assembly 530, and the vertical axis Y3 direction of the receiving assembly coordinate system (X3, Y3) refers to the vertical direction of the receiving surface of the receiving assembly 530.

[0137] Based on the above established reflection assembly coordinate system (X2, Y2) and receiving assembly coordinate system (X3, Y3), as shown in the left view of FIG. 10a or FIG. 10b, the angle between the horizontal axis X3 direction of the receiving assembly coordinate system (X3, Y3) and the placement surface SO of the optical module 500 is α, and the angle between the horizontal axis X2 direction of the reflection assembly coordinate system (X2, Y2) and the placement surface SO of the optical module 500 is also α, wherein 0 < α < 90°.

[0138] From the perspective of the optical axis, as shown in FIG. 10a or FIG. 10b, the reflection assembly 520 receives the returned second light beam, the optical axis of the second light beam is L 22 , the optical axis L 22 is not parallel to the placement surface SO of the optical module 500, for example, it can be inclined towards the direction close to the placement surface SO of the optical module 500, or it can be inclined towards the direction away from the placement surface SO of the optical module 500, and the latter is taken as an example in the figure. The reflection assembly 520 reflects the received second light beam, so that the reflected second light beam enters the receiving assembly 530. Wherein, the optical axis of the reflected second light beam is L3, and the optical axis L3 is parallel to the placement surface SO of the optical module 500.

[0139] Please refer to Figure 11, which shows a structural diagram of an optical module in its initial state according to Embodiment 2. Combining Figures 10a, 10b, and 11, the current pose of the reflective component 520 is referred to as the sixth pose, and the current pose of the receiving component 530 is referred to as the fifth pose. Then, the sixth pose of the reflective component 520 can be considered as a change in position from the third pose shown in Figure 11 around its incident optical axis (i.e., the optical axis L of the second beam). 22 The fifth pose of the receiving component 530 can be considered as obtained by rotating the second pose shown in Figure 11 around its incident optical axis (i.e., the optical axis L3 of the reflected second beam) clockwise or counterclockwise by an angle α. Specifically, the third pose of the reflecting component 520 is the pose where the bottom edge of the reflecting surface of the reflecting component 520 is parallel to the placement surface S0 and the side edge of the reflecting surface of the reflecting component 520 is perpendicular to the placement surface S0. The second pose of the receiving component 530 is the pose where the bottom edge of the receiving surface of the receiving component 530 is parallel to the placement surface S0 and the side edge of the receiving surface of the receiving component 530 is perpendicular to the placement surface S0. If the reflecting component 520 rotates clockwise or counterclockwise by an angle α around its incident optical axis L3... 22 If the optical module 500 is rotated, the current state of the optical module 500 is shown in Figure 10a. If the reflective component 520 is rotated around its outgoing optical axis L3, the current state of the optical module 500 is shown in Figure 10b.

[0140] Understandably, due to the optical axis L of the second beam 22 Since the beam is not parallel to the placement surface S0, the second beam is a beam with an oblique field of view. The rotated reflector 520 can reverse the oblique field of view beam during reflection, transforming it back into a beam with a symmetrical field of view. However, this process also generates image rotation. Therefore, by rotating the receiver 530 in the above manner, the rotated receiver 530 can have the same tilt angle as the second beam after image rotation, thus counteracting the image rotation caused by the rotation of the reflector 520.

[0141] For example, please refer to FIG. 12, which shows a spot rendering diagram of the optical module 500 when receiving the light beams. Assuming that the second light beams received by the reflection assembly 520 are four vertical line light beams with the field of view tilted downward, after the reflection assembly 520 is rotated, the four vertical line light beams will be translated upward as a whole, for example, so as to be translated to the center position of the receiving assembly 530. At the same time, each vertical line light beam will also be tilted in the receiving surface of the receiving assembly 530 at the second pose to become an inclined line light beam, and the tilt direction of the inclined line light beam is the same as the rotation direction of the receiving assembly 530, that is, parallel to the longitudinal axis Y3 of the coordinate system (X3, Y3) of the receiving assembly 530 after rotation. In this arrangement, after the four inclined line light beams are irradiated to the receiving assembly 530 after rotation, they can be concentrated on one vertical photosensitive unit of the receiving assembly 530, which is the one photosensitive unit of the receiving assembly 530 that is turned on in the line scanning scene. As can be seen, by synchronously rotating the reflection assembly 520 and the receiving assembly 530, the receiving assembly 530 after rotation can accurately receive the reflected second light beams in the same tilting manner, offsetting the image rotation introduced by the rotation of the reflection assembly 520, and effectively ensuring the receiving efficiency.

[0142] Optionally, as shown in FIG. 10a or FIG. 10b, the rotation direction of the receiving assembly 530 relative to its incident optical axis is the same as the rotation direction of the reflection assembly 520 relative to its incident optical axis or its outgoing optical axis. For example, taking the vertical field of view as an example, defining the counterclockwise rotation of the receiving assembly 530 or the reflection assembly 520 around the optical axis direction as negative, the clockwise rotation of the receiving assembly 530 or the reflection assembly 520 around the optical axis direction as positive, the upward tilt of the vertical field of view as positive, and the downward tilt of the vertical field of view as negative, then the tilt directions of the receiving assembly 530, the reflection assembly 520, and the vertical field of view keep the same sign. That is, when the receiving assembly 530 rotates counterclockwise by an angle a around its outgoing optical axis, the reflection assembly 520 also rotates counterclockwise by an angle a around its incident optical axis or its outgoing optical axis, and the receiving assembly 530 after rotation and the reflection assembly 520 achieve the effect of tilting the vertical field of view downward by an angle a. Conversely, when the receiving assembly 530 rotates clockwise by an angle a around its outgoing optical axis, the reflection assembly 520 also rotates clockwise by an angle a around its incident optical axis or its outgoing optical axis, and the receiving assembly 530 after rotation and the reflection assembly 520 achieve the effect of tilting the vertical field of view upward by an angle a.

[0143] Based on the above embodiment two, by rotating the receiving assembly and the reflecting assembly, the tilted receiving field of view can be achieved. And since the receiving assembly is rotated around its optical axis direction, the receiving assembly is still in the plane perpendicular to the placement surface, and the rotation of the receiving assembly does not introduce additional height, that is, does not affect the height of the receiving module where the receiving assembly is located and the height of the detection device using the receiving module, which helps to realize the miniaturization design of the detection device. Furthermore, the optical module can achieve the tilted field of view by rotating the receiving assembly and the reflecting assembly, without the need to increase the overall FOV of the receiving assembly or the size of the optical lens cooperating with the receiving assembly, so that the tilted receiving field of view can be achieved without affecting the size, cost and optical performance.

[0144] Embodiment three

[0145] Please refer to FIG. 13a or FIG. 13b, which shows the structural schematic diagram of two optical modules provided by the embodiment three. The optical module 500 can include a transmitting assembly 510 for transmitting a first light beam, a reflecting assembly 520 for reflecting the first light beam from the transmitting assembly 510 and reflecting a returned second light beam, and a receiving assembly 530 for receiving the second light beam reflected by the reflecting assembly 520. The second light beam can be understood as the light beam reflected by the target in the detection space.

[0146] As shown in FIG. 13a or FIG. 13b, the transmitting assembly coordinate system (X1, Y1) and the reflecting assembly coordinate system (X2, Y2) are established in the manner of the above embodiment one, and the receiving assembly coordinate system (X3, Y3) is established in the manner of the above embodiment two. The angle between the horizontal axis X1 direction of the transmitting assembly coordinate system (X1, Y1) and the placement surface SO of the optical module 500 is α, the angle between the horizontal axis X2 direction of the reflecting assembly coordinate system (X2, Y2) and the placement surface SO of the optical module 500 is also α, and the angle between the horizontal axis X3 direction of the receiving assembly coordinate system (X3, Y3) and the placement surface SO of the optical module 500 is also α, 0 < α < 90°.

[0147] From the perspective of the optical axis, as shown in FIG. 13a or FIG. 13b, the transmitting assembly 510 emits the first light beam, and the optical axis of the first light beam is L1, which is parallel to the placement surface SO of the optical module 500. The reflecting assembly 520 reflects the first light beam, and the optical axis of the reflected first light beam is L2, which is parallel to the placement surface SO of the optical module 500. The receiving assembly 530 receives the second light beam, and the optical axis of the second light beam is L3, which is parallel to the placement surface SO of the optical module 500. 21 , the optical axis L 21The placement surface S0 of the optical module 500 is not parallel to the placement surface S0, and can be tilted towards the placement surface S0 of the optical module 500, or can be tilted away from the placement surface S0 of the optical module 500. The reflection assembly 520 is also configured to receive a second light beam returned after the first light beam is reflected by a target in the detection space. Since the optical axis L 21 The placement surface S0 of the optical module 500 is not parallel to the placement surface S0, and can be tilted towards the placement surface S0 of the optical module 500, or can be tilted away from the placement surface S0 of the optical module 500. The reflection assembly 520 is also configured to receive a second light beam returned after the first light beam is reflected by a target in the detection space. Since the optical axis L 22 The placement surface S0 of the optical module 500 is not parallel to the placement surface S0, and can be tilted towards the placement surface S0 of the optical module 500, or can be tilted away from the placement surface S0 of the optical module 500. The reflection assembly 520 is also configured to receive a second light beam returned after the first light beam is reflected by a target in the detection space. Since the optical axis L

[0148] From the perspective of the rotation of the assembly, the current pose of the emission assembly 510 can be obtained by rotating the pose shown in FIG. 7 clockwise or counterclockwise by an angle a (the clockwise rotation is taken as an example in the figure), and the current pose of the receiving assembly 530 can be obtained by rotating the pose shown in FIG. 11 clockwise or counterclockwise by an angle a (the counterclockwise rotation is taken as an example in the figure). For the reflection assembly 520, if it is the structure shown in FIG. 13a, the current pose of the reflection assembly 520 can be obtained by rotating the pose shown in FIG. 7 clockwise or counterclockwise by an angle a (the clockwise rotation is taken as an example in the figure) around the incident light axis of the emission side, or by rotating the pose shown in FIG. 11 clockwise or counterclockwise by an angle a (the counterclockwise rotation is taken as an example in the figure) around the emission light axis of the receiving side. If it is the structure shown in FIG. 13b, the current pose of the reflection assembly 520 can be obtained by rotating the pose shown in FIG. 7 clockwise or counterclockwise by an angle a (the clockwise rotation is taken as an example in the figure) around the emission light axis of the emission side, or by rotating the pose shown in FIG. 11 clockwise or counterclockwise by an angle a (the counterclockwise rotation is taken as an example in the figure) around the incident light axis of the receiving side.

[0149] Based on the description in the above embodiment one, by rotating the emitting assembly 510 and the reflecting assembly 520, the effect of tilting the emitting field of view can be achieved, and the tilting angle of the emitting field of view is the same as the rotating angle of the emitting assembly 510 or the reflecting assembly 520. Based on the description in the above embodiment two, by rotating the receiving assembly 530 and the reflecting assembly 520, the effect of tilting the receiving field of view can be achieved, and the tilting angle of the receiving field of view is the same as the rotating angle of the receiving assembly 530 or the reflecting assembly 520. In the above embodiment three, both the emitting assembly 510 and the reflecting assembly 520 are rotated, and both the receiving assembly 530 and the reflecting assembly 520 are rotated, therefore, the optical module in the above embodiment three can achieve the effect of tilting both the emitting field of view and the receiving field of view, and can make the field of view of the detection device applying the optical module to tilt at a specific angle, while not increasing the size of the emitting module and the receiving module, and not increasing the height and volume of the whole detection device.

[0150] The above describes the basic concept of the optical module 500, and the following takes the above FIG. 13a as an example to introduce and describe each functional assembly and structure respectively, to give an exemplary specific implementation scheme.

[0151] The emitting assembly

[0152] Optionally, the emitting assembly 510 can include a light source, which can be a laser, such as a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a diode pumped solid state laser (DPSS), or a fiber laser, etc.

[0153] Optionally, the emitting assembly 510 is arranged in an emitting module, and the emitting module can further include an emitting lens. For example, please refer to FIG. 14, which shows a possible structural schematic diagram of an emitting module, which mainly can include a circuit board, the emitting assembly 510, and a lens group. The circuit board is the support body of electronic components, and is the carrier of electrical interconnection of electronic components. The emitting assembly 510 can be a laser chip, which is fixed on the circuit board, and the laser chip includes a laser emitting area for emitting laser signals. The lens group can be fixed through a lens barrel and a lens seat, and the lens group can include at least one lens, such as the lens 1, the lens 2, and the lens 3 shown in FIG. 14. The at least one lens can be a convex lens, a concave lens, or a double convex lens, etc. A filter can also be arranged between the lens group and the lens seat. The filter can filter the laser signals emitted by the laser chip, and the filtered laser signals are optically processed by the lens group and then emitted from the lens barrel.

[0154] For example, the optical processing can include, but is not limited to, collimation, beam expansion, energy modulation. For example, the lens group can collimate and / or expand and / or modulate the energy distribution in the angular space of the received light beam, and can transmit the collimated and / or expanded and / or modulated light beam to the detection space via the lens barrel, or a subsequent scanning component.

[0155] It can be understood that the structure of the lens group can be a structure capable of collimating and / or expanding and / or modulating the light beam, and the lens group shown in FIG. 14 is only an example. The lens group in the actual emission module can include more or fewer lenses, or can be composed of multiple optical fibers and collimating lenses, or can be a microlens array, or can be a micro-optical system pasted on the surface of the light source component, which is not limited here.

[0156] The receiving component

[0157] Optionally, the receiving component 530 can include a detector (also referred to as a receiver), which can be a photodetector such as a photomultiplier tube, a photodiode, or a single photon avalanche diode (SPAD), etc.

[0158] Optionally, the receiving component 530 is arranged in a receiving module, which can further include a receiving lens. For example, referring to FIG. 14 described above, similar to the emission module, the receiving module can mainly include a circuit board, a receiving component 530, and a lens group. The lens group can be fixed by a lens barrel and a lens seat, and a filter can be arranged between the lens group and the lens seat. The light signal returned in the detection space is transmitted to the lens group through the lens barrel, and reaches the filter after being optically processed by the lens group. The filter can filter the transmitted light signal, and transmit the filtered light signal to the receiving component 530. The receiving component 530 is arranged on the circuit board, and can be a semiconductor chip containing a chip photosensitive area. The chip photosensitive area can convert the light signal conducted from the filter into an electrical signal in the working state, and then convert the electrical signal into a digital signal through analog-digital conversion inside, to form an image.

[0159] Further, optionally, the receiving module usually uses the same optical lens as the emission module, that is, the receiving lens and the emission lens are based on rotationally symmetric imaging optical design. In this way, the cost of the optical module can be reduced, the multiplexing rate of the optical device can be improved, and the assembly and adjustment of the optical module can be facilitated.

[0160] Optionally, the transmitting component 510 and the receiving component 530 can be arranged in a same side or in a different side. For example, refer to FIG. 15, which shows a schematic diagram of possible arrangements of a transmitting component and a receiving component. As shown in FIG. 15, when the transmitting component 510 and the receiving component 530 are arranged in a same side, the transmitting component 510 and the receiving component 530 can be coaxial, as shown in (A) of FIG. 15, or can be non-coaxial but have parallel optical axes, as shown in (B) or (C) of FIG. 15. When the transmitting component 510 and the receiving component 530 are arranged in a different side, the light beams of the transmitting component 510 and the receiving component 530 can be transmitted separately via other devices. For example,

[0161] In one example, as shown in (D) of FIG. 15, a mirror with a through hole in the middle (or two mirrors with a certain distance between them) can be arranged, the first light beam emitted by the transmitting component 510 directly transmits out of the through hole in the middle of the mirror, and the second light beam returns by reflecting on the mirror surface to the receiving component 530;

[0162] In another example, as shown in (E) of FIG. 15, a beam splitting prism can be arranged, the first light beam emitted by the transmitting component 510 reflects on one side of the beam splitting prism to the upper area, and the second light beam returns by reflecting on the other side of the beam splitting prism to the receiving component 530 below;

[0163] In yet another example, as shown in (F) of FIG. 15, a half-transmission half-reflection mirror can be arranged, the first light beam emitted by the transmitting component 510 directly transmits out of the half-transmission half-reflection mirror, and the second light beam returns by reflecting on the half-transmission half-reflection mirror to the receiving component 530 below;

[0164] In still another example, as shown in (G) of FIG. 15, three mirrors can be arranged, the first light beam emitted by the transmitting component 510 reflects on one of the mirrors and then transmits out of the area between the other two mirrors, and the second light beam returns by reflecting on the mirror surfaces of the other two mirrors to the receiving component 530 below.

[0165] It should be understood that FIG. 15 only exemplarily shows several possible arrangements, and the transmitting component 510 and the receiving component 530 can also have other arrangements, such as opposite side arrangement, which are not listed here.

[0166] Exemplarily, referring to FIG. 16, an appearance structure and a disassembled structure of a transceiver module are shown. In this example, the transmitting assembly 510 and the receiving assembly 530 are arranged side by side in the same mirror frame, and the transmitting lens in front of the transmitting assembly 510 and the receiving lens in front of the receiving assembly 530 are arranged side by side outside the mirror frame. The transmitting assembly 510 is fixed on the circuit board on the transmitting side, and the receiving assembly 530 is fixed on the circuit board on the receiving side. The transmitting assembly 510 and the receiving assembly 530 are respectively connected to the peripheral devices through the respective flexible printed circuits (FPCs) to realize communication with the peripheral devices.

[0167] Further, exemplarily, as shown in FIG. 16, when the transmitting assembly 510 and the receiving assembly 530 are arranged side by side, the tilting direction of the transmitting assembly 510 is the same as that of the receiving assembly 530, such as the rightward tilting in the example of FIG. 16. From the perspective of rotation, the rotation direction of the transmitting assembly 510 from the vertical placement pose to the current pose around the outgoing light axis L1 is opposite to that of the receiving assembly 530 from the vertical placement pose to the current pose around the incoming light axis L3. For example, in the example of FIG. 16, the transmitting assembly 510 is rotated counterclockwise from the vertical placement pose to the current pose around the outgoing light axis L1, while the receiving assembly 530 is rotated clockwise from the vertical placement pose to the current pose around the incoming light axis L3.

[0168] It can be understood that, in the side-by-side arrangement, the light beam received by the receiving assembly 530 and the light beam emitted by the transmitting assembly 510 have the same image spin, and therefore, by keeping the same tilting direction of the transmitting assembly 510 and the receiving assembly 530, the current pose of the receiving assembly 530 can be adapted to the image spin direction of the light beam reflected by the reflecting assembly 520, so as to better offset the image spin caused by the tilting of the reflecting assembly 520 cooperating with the transmitting assembly 510.

[0169] Further, as shown in FIG. 16, when there is enough space in the transmitting module, the circuit board on the transmitting side and the transmitting assembly 510 can be tilted together. When there is enough space in the receiving module, the circuit board on the receiving side and the receiving assembly 530 can be tilted together. That is, when there is enough space, the circuit board on the transmitting side and the transmitting assembly 510 can be rotated together from the vertical placement pose by an angle a around the outgoing light axis L1 of the transmitting assembly 510 to the current pose, and the circuit board on the receiving side and the receiving assembly 530 can be rotated together from the vertical placement pose by an angle a around the incoming light axis L3 of the receiving assembly 530 to the current pose. For example, in the example of FIG. 16, the circuit board on the transmitting side is small in volume, and the current internal space of the transmitting module is sufficient to support the rotation of the circuit board. In this case, the circuit board on the transmitting side and the transmitting assembly 510 can be rotated together, so that the circuit board on the transmitting side and the transmitting assembly 510 are tilted together in the current pose. The circuit board on the receiving side is large in volume, and the current internal space of the receiving module is insufficient to support the rotation of the circuit board. In this case, only the receiving assembly 530 can be rotated without rotating the circuit board on the receiving side, so that only the receiving assembly 530 is tilted in the current pose, and the circuit board on the receiving side is still in the vertical placement pose.

[0170] Based on the tilting mode shown in FIG. 16, for the transmitting side, the transmitting assembly 510 can be first pasted parallel on the circuit board on the transmitting side, and then tilted together and assembled in the frame. For the receiving side, the receiving assembly 530 can be first pasted and tilted on the circuit board on the receiving side, and then assembled parallel in the frame. In this way, by assembling the transmitting side device or the receiving side device separately and then assembling, the preparation difficulty can be reduced.

[0171] For example, taking the opposite layout as an example, referring to FIG. 17, another structure of the transmitting and receiving module provided by the present application is shown. In this example, the transmitting module and the receiving module are arranged opposite to each other, the transmitting assembly 510 is installed in the frame of the transmitting module, the receiving assembly 530 is installed in the frame of the receiving module, and the transmitting lens of the transmitting module and the receiving lens of the receiving module are coaxial.

[0172] Further, as shown in FIG. 17, when the emitting component 510 and the receiving component 530 are arranged in the opposite side, the tilting directions of the emitting component 510 and the receiving component 530 are the same from the direction of the optical axis, for example, if viewed from the direction of the optical axis L1 in FIG. 17 (from left to right), the emitting component 510 and the receiving component 530 are both tilted to the left, and if viewed from the direction of the optical axis L3 in FIG. 17 (from right to left), the emitting component 510 and the receiving component 530 are both tilted to the right. In terms of rotation, the rotation direction of the emitting component 510 from the vertical arrangement to the current position around the outgoing optical axis L1 is the same as the rotation direction of the receiving component 530 from the vertical arrangement to the current position around the incoming optical axis L3. For example, in the example of FIG. 17, the emitting component 510 is rotated counterclockwise from the vertical arrangement to the current position around the outgoing optical axis L1, and the receiving component 530 is also rotated counterclockwise from the vertical arrangement to the current position around the incoming optical axis L3.

[0173] It can be understood that, in the opposite side arrangement, the light beam received by the receiving component 530 also has the same image spin as the light beam emitted by the emitting component 510, and therefore, by keeping the emitting component 510 and the receiving component 530 tilted in the same direction, the current position of the receiving component 530 can be adapted to the image spin direction of the light beam reflected by the reflecting component 520, so as to better offset the image spin caused by the tilting of the reflecting component 520 cooperating with the emitting component 510.

[0174] It should be noted that, when the emitting component 510 and the receiving component 530 adopt other local forms, the rotation direction or the tilting direction of the emitting component 510 and the receiving component 530 can also be other cases, which are not limited here.

[0175] Reflecting component

[0176] Optionally, the reflecting component 520 is a stationary component. That is, the position of the reflecting component 520 does not change during the entire scanning process of the optical module 500. In this way, at any scanning time point, the reflecting component 520 can reflect the incident light beam obliquely so as to maintain the oblique field of view during the entire scanning period.

[0177] Based on this, it can also be understood that the reflecting component 520 is not a scanning component and is not used to implement the scanning function.

[0178] Optionally, the reflecting component 520 can be any device having a reflecting function, for example, can include one or more reflecting mirrors, which can be a plane mirror, a curved mirror, or other types of mirrors. Taking a plane mirror as an example, it can specifically include but is not limited to a beam splitter, a beam splitter, or a half-transmission half-reflection mirror, etc.

[0179] Further, optionally, when the reflecting component 520 includes only one mirror, the angle between the horizontal axis direction of the mirror coordinate system of the mirror, or the bottom side of the mirror surface of the mirror, and the placement surface SO of the optical module 500 is a. Conversely, when the reflecting component 520 includes multiple mirrors, the sum of the angles between the horizontal axis directions of the mirror coordinate systems of the multiple mirrors and the placement surface SO of the optical module 500 is a, that is, the sum of the angles between the bottom sides of the mirror surfaces of the multiple mirrors and the placement surface SO of the optical module 500 is a.

[0180] For example, when the emitting component 510 and the receiving component 530 are arranged on the same side, the reflecting component 520 can include only one mirror, which is referred to as a first mirror 521 as shown in FIG. 18. The tilt direction of the first mirror 521 is the same as the tilt direction of the emitting component 510 or the receiving component 530. From the perspective of rotation, the rotation direction of the first mirror 521 from the vertical placement pose to the current pose around the incident light axis (i.e., the optical axis L1 of the first light beam) or the exit light axis (i.e., the optical axis L2 of the reflected first light beam) of the emitting side of the first mirror 521 is the same as the rotation direction of the emitting component 510 from the vertical placement pose to the current pose around the exit light axis L1 of the emitting component 510, and the rotation direction of the first mirror 521 from the vertical placement pose to the current pose around the incident light axis (i.e., the optical axis L4 of the second light beam) or the exit light axis (i.e., the optical axis L5 of the reflected second light beam) of the receiving side of the first mirror 521 is the same as the rotation direction of the receiving component 530 from the vertical placement pose to the current pose around the incident light axis L3 of the receiving component 530. 21 ) of the emitting component 510 from the vertical placement pose to the current pose around the exit light axis L1 of the emitting component 510, and the rotation direction of the first mirror 521 from the vertical placement pose to the current pose around the incident light axis (i.e., the optical axis L 22 ) of the receiving component 530 from the vertical placement pose to the current pose around the incident light axis L3 of the receiving component 530. For example, in the example of FIG. 18, the emitting component 510 is rotated counterclockwise from the vertical placement pose to the current pose around the exit light axis L1 of the emitting component 510, the receiving component 530 is rotated clockwise from the vertical placement pose to the current pose around the incident light axis L3 of the receiving component 530, the first mirror 521 is rotated counterclockwise from the vertical placement pose to the current pose around the exit light axis L1 of the emitting side of the first mirror 521, or the first mirror 521 is rotated clockwise from the vertical placement pose to the current pose around the exit light axis L3 of the receiving side of the first mirror 521.

[0181] For example, when the emitting component 510 and the receiving component 530 are arranged on the opposite sides, the reflecting component 520 can include at least two reflecting mirrors. For example, referring to FIG. 17, the reflecting component 520 can include a second reflecting mirror 5221 and a third reflecting mirror 5222. The second reflecting mirror 5221 is configured to reflect the first light beam from the emitting component 510, so that the reflected first light beam is transmitted to a subsequent device or a detection space. The third reflecting mirror 5222 is configured to reflect the second light beam from the detection space, so that the reflected second light beam is transmitted to the receiving component 530. The second reflecting mirror 5221 has the same tilting direction as the emitting component 510, and the third reflecting mirror 5222 has the same tilting direction as the receiving component 530. From the perspective of rotation, the second reflecting mirror 5221 is rotated from the vertical arrangement position around the incident light axis L1 or the exit light axis L2 of the second reflecting mirror 5221 to the current position, and the third reflecting mirror 5222 is rotated from the vertical arrangement position around the incident light axis L3 or the exit light axis L4 of the third reflecting mirror 5222 to the current position. 21 The rotation direction of the second reflecting mirror 5221 from the vertical arrangement position to the current position is the same as the rotation direction of the emitting component 510 from the vertical arrangement position around the exit light axis L1 to the current position, and the rotation direction of the third reflecting mirror 5222 from the vertical arrangement position to the current position is the same as the rotation direction of the receiving component 530 from the vertical arrangement position around the incident light axis L3 to the current position. For example, in the example of FIG. 17, the emitting component 510 is rotated from the vertical position around the exit light axis L1 counterclockwise to the current position, the second reflecting mirror 5221 is also rotated from the vertical position around the incident light axis L1 counterclockwise to the current position, the receiving component 530 is rotated from the vertical arrangement position around the incident light axis L3 counterclockwise to the current position, and the third reflecting mirror 5222 is also rotated from the vertical arrangement position around the exit light axis L3 counterclockwise to the current position. 22 The rotation direction of the second reflecting mirror 5221 from the vertical arrangement position to the current position is the same as the rotation direction of the emitting component 510 from the vertical arrangement position around the exit light axis L1 to the current position, and the rotation direction of the third reflecting mirror 5222 from the vertical arrangement position to the current position is the same as the rotation direction of the receiving component 530 from the vertical arrangement position around the incident light axis L3 to the current position. For example, in the example of FIG. 17, the emitting component 510 is rotated from the vertical position around the exit light axis L1 counterclockwise to the current position, the second reflecting mirror 5221 is also rotated from the vertical position around the incident light axis L1 counterclockwise to the current position, the receiving component 530 is rotated from the vertical arrangement position around the incident light axis L3 counterclockwise to the current position, and the third reflecting mirror 5222 is also rotated from the vertical arrangement position around the exit light axis L3 counterclockwise to the current position.

[0182] It can be understood that, as the arrangement form of the emitting component 510 and the receiving component 530 changes, the number of reflecting mirrors included in the reflecting component 520 and the tilting direction of the reflecting mirrors can also change accordingly, which will not be listed one by one here.

[0183] Based on the structure design of the optical module, by rotating the emitting component 510, the receiving component 530 and the reflecting component 520 in the vertical arrangement position, the pointing direction change of the transmitting / receiving field of view can be realized. For example, the vertical field of view can be lowered or raised, or the horizontal field of view can be tilted left or right, or the comprehensive field of view can be tilted left up, left down, right up or right down.

[0184] For example, to realize the effect of lowering or raising the vertical field of view, the specific implementation of the optical module in several different application scenarios is given below to further introduce the scheme.

[0185] It should be noted that in the following various application scenarios, the terms and / or descriptions between different application scenarios are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different application scenarios can be combined to form new application scenarios according to their inherent logical relationship.

[0186] Application scenario one

[0187] Please refer to FIG. 19, which shows a structural schematic diagram of an optical module provided by application scenario one. In this application scenario, the optical module can be applied to a transceiving-same-side semi-solid-state detection device, such as a transceiving-same-side semi-solid-state laser radar. Specifically, as shown in FIG. 19, in addition to the transmitting assembly 510, the receiving assembly 530 and the first mirror 521 introduced above, the optical module can further include a scanning assembly 540, and the transmitting assembly 510 and the receiving assembly 530 are located on the same side of the scanning assembly 540. The scanning assembly 540 is configured to scan the first light beam reflected by the first mirror 521 to the detection space and scan the second light beam returned from the detection space to the first mirror 521 through the same mirror surface.

[0188] It can be understood that the scanning assembly 540 can be any device capable of achieving the scanning function, such as a polyhedral scanning mirror or a MEMS galvanometer. Taking the polyhedral scanning mirror as an example, the base body of the polyhedral scanning mirror in FIG. 19 is a tetrahedron, but the base body can also be any other shape, such as a pentahedron or a decahedron as shown in FIG. 20, or a hexahedron, a heptahedron, etc., which is not limited in particular.

[0189] In the example of FIG. 19, the scanning assembly 540 is in a vertical placement pose. The current pose of the transmitting assembly 510 is obtained by counterclockwise rotating the vertical placement pose by a certain angle around the outgoing light axis L1 of the transmitting assembly 510, the current pose of the receiving assembly 530 is obtained by clockwise rotating the vertical placement pose by the same angle around the incoming light axis L3 of the receiving assembly 530, and the current pose of the first mirror 521 is obtained by counterclockwise rotating the vertical placement pose by the same angle around the outgoing light axis L 21 clockwise rotating the vertical placement pose by the same angle around the incoming light axis L 22 clockwise rotating the vertical placement pose by the same angle around the incoming light axis L

[0190] Based on the position layout, the tilted emitting assembly 510 emits a first light beam with a spin. The first mirror 521 reflects the first light beam with the spin, so that the reflected first light beam is tilted upward and no longer has the spin. After the upwardly tilted first light beam is scanned to the detection space by the scanning assembly 540, an upwardly tilted emission field of view can be achieved, and the tilt angle of the emission field of view is the same as the rotation angle of the emitting assembly 510. Since the emission field of view is upwardly tilted, the returned second light beam received by the scanning assembly 540 is downwardly tilted, and the scanning assembly 540 scans the downwardly tilted second light beam to the first mirror 521. The first mirror 521 reflects the downwardly tilted second light beam upwardly, so that the originally downwardly tilted second light beam is no longer tilted after being reflected, and the reflected second light beam generates a spin, which is the same as the spin of the first light beam emitted by the emitting assembly 510. After the second light beam with the spin is transmitted to the tilted receiving assembly 530, since the tilt direction and the tilt angle of the tilted receiving assembly 530 and the tilted emitting assembly 510 are the same, the tilted receiving assembly 530 can cancel the spin of the reflected second light beam, so as to receive the second light beam without the spin.

[0191] The above manner realizes the tilted field of view by rotating the emitting assembly 510, the receiving assembly 530, and the first mirror 521. Compared with the prior art scheme of realizing the tilted field of view by tilting the entire optical module (i.e., the transceiver module), the height of the entire optical module can be saved. For example, referring to FIG. 21, assuming that the optical axis of the optical module 500 is L0 and the placement surface S0 is a horizontal plane, in the vertical direction perpendicular to the placement surface S0, the height that can be saved by the present scheme is: Δh = (d1+d2)×sin(γ)

[0192] where Δh is the saved height; d1 is the length of the optical lens in the L0 direction, and in combination with FIG. 19, since the first mirror 521 in the application scenario one is arranged at the edge position of the optical lens, d1 can also be considered as the length between the optical lens barrel and the first mirror 521; d2 is the length of the optical lens barrel in the L0 direction; and γ is the angle between the optical axis L0 of the optical module 500 and the placement surface S0.

[0193] In the application scenario one, the optical module can be applied to a transceiving-same-side semi-solid detection device, such as a transceiving-same-side semi-solid laser radar, so that the upwardly tilted transceiving field of view can be realized without affecting the assembly height of the transceiving-same-side semi-solid laser radar.

[0194] Application scenario two

[0195] Please refer to FIG. 22, which shows a structural schematic diagram of an optical module provided in application scenario two. In this application scenario, the optical module can be applied to a transceiver-contralateral semi-solid-state detection device, such as a transceiver-contralateral semi-solid-state laser radar. Specifically, as shown in FIG. 22, in addition to the transmitting assembly 510, the receiving assembly 530, the second mirror 5221, and the third mirror 5222 introduced above, the optical module can further include a scanning assembly 540, and the transmitting assembly 510 and the receiving assembly 530 are located on opposite sides of the scanning assembly 540. The scanning assembly 540 has two opposite mirror surfaces, one of which is used to scan the first light beam reflected by the first mirror 521 to the detection space, and the other of which is used to scan the second light beam returned from the detection space to the first mirror 521.

[0196] In the example of FIG. 22, the scanning assembly 540 is in a vertical placement pose. The current pose of the transmitting assembly 510 is obtained by rotating the vertical placement pose clockwise by a certain angle about the outgoing light axis L1 thereof, and the current pose of the second mirror 5221 is obtained by rotating the vertical placement pose clockwise by the same angle about the outgoing light axis L2 thereof. The current pose of the receiving assembly 530 is obtained by rotating the vertical placement pose clockwise by the same angle about the incoming light axis L3 thereof, and the current pose of the third mirror 5222 is obtained by rotating the vertical placement pose clockwise by the same angle about the incoming light axis L4 thereof. 21 22

[0197] Based on this position layout, the tilted transmitting assembly 510 emits the first light beam with image rotation. The second mirror 5221 reflects the first light beam with image rotation, so that the reflected first light beam is tilted downward and no longer has image rotation. After the downwardly tilted first light beam is scanned by the scanning assembly 540 to the detection space, a downwardly tilted emission field of view can be achieved, and the tilt angle of the emission field of view is the same as the rotation angle of the transmitting assembly 510. Since the emission field of view is downwardly tilted, the returned second light beam received by the scanning assembly 540 is upwardly tilted, and the scanning assembly 540 scans the upwardly tilted second light beam to the third mirror 5222. The third mirror 5222 reflects the upwardly tilted second light beam downwardly, so that the originally upwardly tilted second light beam is no longer tilted after reflection, and the reflected second light beam has image rotation. After the second light beam with image rotation is transmitted to the tilted receiving assembly 530, the tilted receiving assembly 530 cancels the image rotation of the reflected second light beam, so that the second light beam without image rotation is received.

[0198] In application scenario two, the optical module can be applied to a transceiver-contralateral semi-solid-state detection device, such as a transceiver-contralateral semi-solid-state laser radar, and can achieve a downwardly tilted transceiver field of view without affecting the assembly height of the transceiver-contralateral semi-solid-state laser radar.​​

[0199] Application scenario three

[0200] Referring to FIG. 23, a structural schematic diagram of an optical module provided by the application scenario three is shown. In the application scenario, the optical module can be applied to a transceiving-opposite pure solid-state detection device, such as a transceiving-opposite pure solid-state laser radar. Specifically, as shown in FIG. 23, the optical module can only include the transmitting assembly 510, the receiving assembly 530, the second mirror 5221 and the third mirror 5222 introduced above, and does not include the scanning assembly. The transmitting assembly 510 and the receiving assembly 530 are located at opposite sides and the optical axes coincide. The second mirror 5221 and the third mirror 5222 are located between the transmitting assembly 510 and the receiving assembly 530. The second mirror 5221 is used to transmit the first light beam emitted by the transmitting assembly 510 to the detection space, and the third mirror 5222 is used to reflect the second light beam returned from the detection space to the receiving assembly 530.

[0201] In the example of FIG. 23, the current pose of the transmitting assembly 510 is obtained by rotating the vertical placement pose counterclockwise around the outgoing optical axis L1 of the transmitting assembly 510 by a certain angle, the current pose of the second mirror 5221 is obtained by rotating the vertical placement pose counterclockwise around the outgoing optical axis L2 of the second mirror 5221 by the same angle, the current pose of the receiving assembly 530 is obtained by rotating the vertical placement pose counterclockwise around the incoming optical axis L3 of the receiving assembly 530 by the same angle, and the current pose of the third mirror 5222 is obtained by rotating the vertical placement pose counterclockwise around the incoming optical axis L4 of the third mirror 5222 by the same angle. 21 22

[0202] Based on this position layout, the tilted transmitting assembly 510 emits the first light beam with image rotation. The second mirror 5221 reflects the first light beam with image rotation, so that the reflected first light beam is tilted upward and no longer has image rotation. The upwardly tilted first light beam can realize an upwardly tilted transmitting field of view after being scanned to the detection space by the scanning assembly 540, and the tilt angle of the transmitting field of view is the same as the rotation angle of the transmitting assembly 510. Since the transmitting field of view is upwardly tilted, the returned second light beam received by the third mirror 5222 is downwardly tilted, and the third mirror 5222 reflects the downwardly tilted second light beam upwardly, so that the originally downwardly tilted second light beam is no longer tilted after being reflected, and the reflected second light beam generates image rotation. The second light beam with image rotation is transmitted to the tilted receiving assembly 530 and the image rotation is cancelled.

[0203] In the application scenario three, the optical module can be applied to a transceiving-opposite pure solid-state detection device, such as a transceiving-opposite pure solid-state laser radar, and can realize an upwardly tilted transceiving field of view without affecting the assembly height of the transceiving-opposite pure solid-state laser radar.​​

[0204] Based on the above various application scenarios, the optical module provided in the present application can be compatible with different detection architectures such as transceiver on the same side, transceiver on the opposite side, and solid-state without mirror. The concepts, explanations, and detailed descriptions related to the technical solutions provided in the embodiments of the present application involved in the above various application scenarios are described in the foregoing various embodiments, and will not be repeated here.

[0205] The above content only gives some applications of the optical module in the current mainstream detection architecture, but it should be understood that any existing or future detection architecture that has a need for an inclined field of view can adopt the structure design of the above optical module, and the present application does not make specific limitations in this regard.

[0206] In addition, as the detection technology develops, the optical module structure provided in the present application is also applicable to the same technical problem, and the present application does not make specific limitations in this regard.

[0207] Based on the structure and functional principle of the optical module described above, the present application can also provide a detection device, please refer to FIG. 24. The detection device 2400 includes an optical module 2410, which can be any of the optical modules described above, such as the optical module 500 shown in FIGS. 5, 6, 8, 10a, 10b, 13a, 13b, 14, 16-19, 22 or 23.

[0208] Optionally, the detection device 2400 can be a laser radar, for example.

[0209] In one possible implementation, as shown in FIG. 24, the detection device 2400 can also include a processing module 2420, which can be used to receive electrical signals from the optical module 2410, and can generate corresponding point cloud data according to the electrical signals, and can also determine the associated information of the target. For example, when the detection device 2400 is installed on a vehicle, the processing module 2420 can obtain the latitude, longitude, speed, orientation of the vehicle, or the associated information (such as the distance of the target, the speed of the target, and / or the attitude of the target, etc.) of the target (such as other vehicles, pedestrians, or obstacles, etc.) within a certain range in real time or periodically. Further, the processing module 2420 can also send the obtained information to the control device or the like in the vehicle, so as to realize the assisted driving or autonomous driving of the vehicle in combination with the function of the advanced driving assistant system (ADAS).

[0210] The processing module 2420 can be a circuit with signal (or data) processing capability. In one implementation, the processing module can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), and the like. In another implementation, the processing module can implement certain functions through a logic relationship of hardware circuits, which can be fixed or reconfigurable. For example, the processing module can be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the processing module loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processing module loads instructions to implement the functions of the above units or all of the units. In addition, the processing module can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), and the like.

[0211] It should be noted that the architecture of the detection device shown in FIG. 24 is only an example. In other examples, the detection device can include more, fewer, or different structures, and each structure can include more, fewer, or different components. For example, in another example, the detection device 2400 can further include a viewing window for transmitting a light beam.

[0212] Based on the structure and functional principle of the detection device described above, the present application can also provide a terminal device, please refer to FIG. 25. The terminal device 2500 includes a detection device 2510, which can be any of the detection devices described above, such as the detection device 2400 described above in FIG. 24.

[0213] Optionally, as shown in FIG. 25, the terminal device 2500 can further include a processor 2520 configured to invoke a program or an instruction to control the detection apparatus 2510 to acquire the electrical signal. Further, the processor 2520 can further receive the associated information of the target from the detection apparatus 2510. When the terminal device 2500 is a vehicle, the processor 2520 can further perform path planning, braking, starting, etc. of the vehicle according to the acquired information. For example, the latitude and longitude can be used to determine the position of the vehicle, the speed and direction can be used to determine the driving direction and destination of the vehicle in the future period of time, or the distance of the surrounding objects can be used to determine the number and density of the obstacles around the vehicle.

[0214] Further, the terminal device 2500 can further include a memory 2530 configured to store the program or the instruction. Of course, the terminal device 2500 can further include other devices, such as a wireless communication device, etc.

[0215] The processor 2520 can include one or more processing units. For example, the processor 2520 can include an application processor (AP), an image signal processor (ISP), a controller, a DSP, or other programmable logic device, transistor logic device, hardware component, or any combination thereof, etc. Different processing units can be independent devices or integrated in one or more processors.

[0216] The memory 2530 includes, but is not limited to, a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium well known in the art. For example, the storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC.

[0217] Exemplarily, the terminal device 2500 can be, for example, a vehicle (e.g., a self-driving vehicle, a smart vehicle, an electric vehicle, or a digital car), a robot, a surveying device, a drone, a smart home device (e.g., a television, a sweeping robot, a smart table lamp, a sound system, a smart lighting system, an electric appliance control system, a home background music, a home theater system, an intercom system, or a video monitoring device), a smart manufacturing device (e.g., an industrial device), a smart transportation device (e.g., an AGV, a self-driving vehicle, or a truck), or a smart terminal (a mobile phone, a computer, a tablet computer, a palm computer, a desktop computer, a headset, a sound system, a wearable device, a vehicle-mounted device, a virtual reality device, an augmented reality device, or the like).

[0218] In the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In the textual description of the present application, the character " / " generally represents an "or" relationship between the front and rear associated objects. In addition, in the present application, the words "optionally" or "exemplarily" are used to mean an example, illustration or description. Any embodiment or design scheme described as "optional" or "exemplary" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Alternatively, it can be understood that the use of the words "example" or "optional" is intended to present the concept in a specific manner, and does not limit the present application.

[0219] It can be understood that the various numbers involved in the present application are only distinguished for the convenience of description, and are not used to limit the scope of the embodiments of the present application. The size of the serial numbers of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and internal logic. The terms "first", "second", "third", and the like similar expressions are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, including a series of steps or units. The method, system, product or device does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

Claims

1. An optical module, characterized in that, Includes a reflective component, a transmitting component, and / or a receiving component; The angle between the horizontal axis of the transmitting component coordinate system and / or the horizontal axis of the receiving component coordinate system and the placement surface of the optical module is α, and the angle between the horizontal axis of the reflecting component coordinate system and the placement surface of the optical module is α, where 0 < α < 90°; wherein, the horizontal axis of the transmitting component coordinate system is the horizontal direction of the transmitting surface of the transmitting component, the horizontal axis of the receiving component coordinate system is the horizontal direction of the receiving surface of the receiving component, and the horizontal axis of the reflecting component coordinate system is the horizontal direction of the reflecting surface of the reflecting component; The transmitting component is used to emit a first beam of light. The reflective component is used to reflect the first beam or to reflect the returning second beam; The receiving component is used to receive the reflected second light beam.

2. An optical module, characterized in that, Includes a reflective component, a transmitting component, and / or a receiving component; The emitting component is used to emit a first beam, the optical axis of which is parallel to the placement surface of the optical module; The reflective component is used to reflect the first beam, wherein the optical axis of the reflected first beam is tilted towards the placement surface of the optical module or towards a direction away from the placement surface of the optical module; and / or, to reflect the returning second beam, wherein the optical axis of the returning second beam is tilted towards the placement surface of the optical module or towards a direction away from the placement surface of the optical module, and the optical axis of the reflected second beam is parallel to the placement surface of the optical module. The receiving component is used to receive the reflected second light beam.

3. The optical module as described in claim 1 or 2, characterized in that, The emitting surface of the emitting component and / or the receiving surface of the receiving component are perpendicular to the placement surface of the optical module, while the reflecting surface of the reflecting component is not perpendicular to the placement surface of the optical module.

4. The optical module as described in any one of claims 1 to 3, characterized in that, The first light beam is parallel to the longitudinal axis of the coordinate system of the transmitting component, and the reflected second light beam is parallel to the longitudinal axis of the coordinate system of the receiving component. The longitudinal axis of the coordinate system of the transmitting component is perpendicular to the transmitting surface of the transmitting component, and the longitudinal axis of the coordinate system of the receiving component is perpendicular to the receiving surface of the receiving component.

5. The optical module as described in any one of claims 1 to 4, characterized in that, The optical module is placed on a horizontal plane, and the tilt angle of the center direction of the vertical field of view of the optical module relative to the horizontal plane is α; or, the optical module is placed on a vertical plane, and the tilt angle of the center direction of the horizontal field of view of the optical module relative to the vertical plane is α.

6. The optical module as described in any one of claims 1 to 5, characterized in that, The current pose of the transmitting component is rotated by an angle α relative to the first pose of the transmitting component around the optical axis of the first beam. The current pose of the receiving component is rotated by an angle α relative to the second pose of the receiving component around the optical axis of the reflected second beam. The current pose of the reflecting component is rotated by an angle α relative to the third pose of the reflecting component around the optical axis of the first beam, or the optical axis of the reflected first beam, or the optical axis of the second beam, or the optical axis of the reflected second beam. The first pose of the emitting component is that the horizontal direction of the emitting surface of the emitting component is parallel to the placement surface of the optical module, and the vertical direction of the emitting surface of the emitting component is perpendicular to the placement surface of the optical module. The second pose of the receiving component is that the horizontal direction of the receiving surface of the receiving component is parallel to the placement surface of the optical module, and the vertical direction of the receiving surface of the receiving component is perpendicular to the placement surface of the optical module. The third pose of the reflecting component is that the horizontal direction of the reflecting surface of the reflecting component is parallel to the placement surface of the optical module, and the vertical direction of the reflecting surface of the reflecting component is perpendicular to the placement surface of the optical module.

7. The optical module as described in claim 6, characterized in that, The direction of rotation of the reflective component about the optical axis is the same as the direction of rotation of the transmitting component and / or the receiving component about the optical axis.

8. The optical module as described in claim 6 or 7, characterized in that, The transmitting component and the receiving component are disposed on the same side, and the direction of rotation of the transmitting component around the optical axis is opposite to the direction of rotation of the receiving component around the optical axis.

9. The optical module as described in claim 8, characterized in that, The reflecting component includes a first reflecting mirror, the first reflecting mirror rotating about the optical axis of the first beam or the reflected first beam in the same direction as the emitting component rotating about the optical axis, and the first reflecting mirror rotating about the optical axis of the second beam or the reflected second beam in the same direction as the receiving component rotating about the optical axis.

10. The optical module as described in claim 8 or 9, characterized in that, The transmitting component rotates counterclockwise from the first pose to the current pose, and the receiving component rotates clockwise from the second pose to the current pose, with the vertical field of view tilted upward; or, the transmitting component rotates clockwise from the first pose to the current pose, and the receiving component rotates counterclockwise from the second pose to the current pose, with the vertical field of view tilted downward.

11. The optical module as described in any one of claims 8 to 10, characterized in that, The transmitting component is coaxial with the receiving component, or they are not coaxial but their optical axes are parallel.

12. The optical module as described in claim 6, characterized in that, The transmitting component and the receiving component are arranged opposite each other, and the direction of rotation of the transmitting component around the optical axis is the same as the direction of rotation of the receiving component around the optical axis.

13. The optical module as described in claim 12, characterized in that, The transmitting component rotates counterclockwise from the first pose to the current text, and the receiving component rotates counterclockwise from the second pose to the current pose, with the vertical field of view tilted upward; or, the transmitting component rotates clockwise from the first pose to the current text, and the receiving component rotates clockwise from the second pose to the current pose, with the vertical field of view tilted downward.

14. The optical module as described in claim 12 or 13, characterized in that, The reflecting component includes a second reflector and a third reflector. The second reflector is used to reflect the first light beam, and the third reflector is used to reflect the second light beam. The rotation direction of the second reflector about the optical axis is the same as the rotation direction of the transmitting component about the optical axis, and the rotation direction of the third reflector about the optical axis is the same as the rotation direction of the receiving component about the optical axis.

15. The optical module as described in any one of claims 1 to 14, characterized in that, The reflective assembly includes one or more reflective mirrors. When it includes multiple reflective mirrors, the sum of the angles between the horizontal axis of the coordinate system of the multiple reflective mirrors and the placement surface of the optical module is α. The horizontal axis of the coordinate system of the multiple reflective mirrors is the horizontal direction of the reflecting surface of the multiple reflective mirrors.

16. The optical module as described in claim 15, characterized in that, The reflector is a plane reflector, a curved reflector, a beam splitter, a beam splitter, or a semi-transparent and semi-reflective mirror.

17. The optical module as described in any one of claims 1 to 16, characterized in that, The optical module also includes a scanning component; The scanning component is used to scan the first beam reflected by the reflecting component into the detection space, or to scan the second beam returned from the detection space into the reflecting component.

18. The optical module as described in claim 17, characterized in that, The scanning component is a polyhedral scanning mirror or a microelectromechanical system (MEMS) galvanometer.

19. A detection device, characterized in that, Includes the optical module as described in any one of claims 1 to 18.

20. A terminal device, characterized in that, Includes the detection device as described in claim 19.

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