Emission device, detection device, and terminal

Abstract

An emission device, a detection device, and a terminal, applied to the technical field of detection. The emission device comprises a first emission module and a second emission module. The first emission module is used for emitting a first light beam, the polarization state of the first light beam is a mixed polarization state, and the light beam in the mixed polarization state has low energy loss during emission, a high energy density, and good long-range measurement capability. The second emission module is used for emitting a second light beam, the polarization state of the second light beam is linear polarization, and the second light beam is suitable for scenarios requiring higher transmittance or higher reflectivity, and is capable of enhancing the anti-interference performance of the detection device. Furthermore, the first light beam and the second light beam are used for detecting different regions of an object space, thereby achieving composite detection combining mixed polarization detection and polarization detection on the object space. Without significantly degrading the long-range measurement performance of the detection device, the interference from reflection and a reflection effect on detection is reduced, enabling the detection device to have higher detection accuracy.

Description

Transmitting device, detecting device and terminal

[0001] The present application claims priority to the Chinese patent application No. 202411095072.9, filed on August 9, 2024, and entitled “Transmitting device, detecting device and terminal”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of detection, and in particular to a transmitting device, a detecting device and a terminal. BACKGROUND

[0003] Light detection and ranging (or laser detection and ranging) technology is a technology of emitting a light beam and acquiring relevant information (e.g., characteristic quantities such as position, shape, or speed of a target) of a target by detecting a return wave returned by the target.

[0004] The laser radar transmitting optical system is one of the core components of the laser radar, which is used to emit laser to a space to be detected, so as to detect a target in the space. The detection performance of the laser radar is related to the power of the emitted laser beam and the properties of the laser beam itself. The higher the energy density of the laser beam is, the better the long-range performance of the laser radar is. At present, the laser beam used by the laser radar can cover most of the sensing scenes, but is easily disturbed by reflection and scattering, for example, when the laser beam detects a waterlogged road surface, passes through an inclined optical element, detects a high-reflectivity object, or detects a high-temperature road surface, the reflection and scattering phenomena in these scenes will seriously interfere with the laser radar and cause misjudgment, which greatly affects the detection accuracy of the laser radar.

[0005] How to improve the anti-interference performance of the laser radar and improve the detection accuracy is a hot issue being studied by those skilled in the art. SUMMARY

[0006] The present application provides a transmitting device, a detecting device and a terminal, which can emit light beams of multiple polarization states and perform composite detection on a field of view. When the transmitting device is applied to a laser radar, the anti-interference performance of the laser radar can be improved, and the detection accuracy can be improved. Especially in the scenes of a waterlogged road surface, an inclined optical element, a high-reflectivity object, and a high-temperature road surface, the present application can significantly reduce interference, improve return wave energy, and improve the detection accuracy of the laser radar.

[0007] In a first aspect, the present application provides a transmitting device, comprising a first transmitting module and a second transmitting module. The first transmitting module is configured to transmit a first light beam, the first light beam being in a mixed polarization state, and the first light beam is configured to detect a first region of an object space. The second transmitting module is configured to transmit a second light beam, the second light beam being in a linear polarization state, and the second light beam is configured to detect a second region of the object space, the first region being different from the second region.

[0008] The mixed polarization state light beam can include a non-polarization state light beam, or a light beam including at least two polarization states. For example, the mixed polarization state light beam includes at least two of the following polarization state light beams: a non-polarization state light beam, a linear polarization state light beam, a circular polarization state light beam, and an elliptical polarization state light beam. In some embodiments, the mixed polarization state can be regarded as non-polarization, and the two can be replaced.

[0009] In the present application, the first light beam is a mixed polarization state light beam, which is usually not subjected to polarization modulation, has low energy loss during transmission, high energy density, and good long-range detection capability. The second light beam is a linear polarization state light beam (referred to as linear polarization light), which is suitable for detection scenarios that require higher transmittance (such as increasing the proportion of P component) or higher reflectivity (such as increasing the proportion of S component), and can improve the anti-interference performance of the detection device, so that the detection device has higher detection accuracy. Through the first light beam and the second light beam, a composite detection combining mixed polarization detection and polarization detection can be performed on the object space, which can reduce the interference of reflection and reflection on detection without significantly reducing the long-range detection performance of the detection device, and improve the detection accuracy of the detection device. Especially in scenarios such as waterlogged road surface, inclined optical element, high-reflectivity object detection, and high-temperature road surface, the present application can significantly reduce interference, improve echo energy, and improve the detection accuracy of the laser radar.

[0010] In a possible implementation of the first aspect, the vertical field of view angle of the first light beam is different from the vertical field of view angle of the second light beam. At this time, the regions detected by the first light beam and the second light beam do not completely overlap in the vertical direction. For example, the first light beam can be used to detect an angle range far from the ground in the vertical field of view angle, and the first light beam can be used to detect an angle range close to the ground in the vertical field of view angle, thereby improving the detection accuracy when detecting targets in scenarios such as waterlogged road surface or river with water flow.

[0011] In another possible implementation of the first aspect, the vertical field of view angle of the second light beam includes a detection angle pointing to the ground. In this way, polarization detection can be performed on the ground to reduce the interference caused by objects and scenes such as rainy days, rivers, inclined windows, and high reflectivity, and to achieve high-precision polarization recognition and detection.

[0012] In a further possible implementation form of the first aspect, the probe angle pointing to the ground is (-15°, 0°), 0° is the normal angle of the emitting device, or the middle line of the vertical field of view. Of course, the probe angle pointing to the ground can have other designs, for example, (-10°, 0°). It should be noted that due to manufacturing process, tolerance design, etc., there can be a certain error in the actual probe angle pointing to the ground, for example, the error can be within 5%.

[0013] In a further possible implementation form of the first aspect, the first emitting module comprises a first light source, and the second emitting module comprises a second light source, the first light source is configured to emit a light beam with a mixed polarization state, and the second light source is configured to emit a light beam with a linear polarization state.

[0014] The above implementation introduces a design for emitting light beams with different polarization states. Different light sources are used in the first emitting module and the second emitting module, so that the light beams emitted by the two light sources have different polarization states. At this time, no other modulation module needs to be designed in the emitting device, which can reduce the overall volume of the emitting device and facilitate the integration and miniaturization design of the probe device.

[0015] In a further possible implementation form of the first aspect, the first emitting module comprises a first light source, and the first light source and the second light source are both configured to emit a light beam with a mixed polarization state. The second emitting module comprises a second light source and a polarizer, the light beam emitted by the second light source passes through the polarizer, and the polarizer is configured to perform optical processing on the light beam from the second light source to obtain a second light beam.

[0016] The above implementation introduces another design for emitting light beams with different polarization states. In this design, a polarizer is designed in the light emitting path of the light source of the second emitting module to perform polarization modulation on the light beam emitted by the second light source, so that the second emitting module can emit polarized light. The use of the polarizer can stably modulate the light beam, and the implementation cost is relatively low. In addition, in this design, the first emitting module and the second emitting module can use the same light source, so that the performance of the first light source and the second light source is consistent, and it is conducive to the normalization design of the light source module (for example, the first light source and the second light source can use the same structure of the driving circuit), which can improve the stability of the emitting device.

[0017] In a further possible implementation form of the first aspect, the first emitting module comprises a first light source and a first liquid crystal modulation unit, the light beam emitted by the first light source passes through the first liquid crystal modulation unit, and the first liquid crystal modulation unit is configured to perform processing on the light beam from the first light source to obtain a first light beam. The second emitting module comprises a second light source and a second liquid crystal modulation unit, the light beam emitted by the second light source passes through the second liquid crystal modulation unit, and the second liquid crystal modulation unit is configured to perform processing on the light beam from the second light source to obtain a second light beam.

[0018] The above embodiment introduces another design for emitting light beams with different polarization states. The modulation effect of the liquid crystal modulation unit on the light beam is affected by the applied voltage, so different detection patterns can be achieved by designing different voltage values, and the polarization states of the light beams detected by each detection region can be flexibly adjusted to meet the detection needs in various scenarios. In the above embodiment, the first light beam and the second light beam can belong to the same light source, such as a mixed polarization light source (including an unpolarized light source), which helps to normalize the design of the light source module and improves the stability of the emission device.

[0019] Alternatively, in some schemes, the first emission module can also not be provided with a liquid crystal modulation unit. At this time, the light beam emitted by the first light source does not pass through the liquid crystal modulation unit. By designing a liquid crystal modulation unit in the emission light path of the second light source, the light beam emitted by the second emission module and linearly polarized.

[0020] In another possible implementation of the first aspect, the first liquid crystal modulation unit and the second liquid crystal modulation unit are configured to adjust the polarization of the incident light beam under the action of a voltage. Further, the voltage applied to the first liquid crystal modulation unit is different from the voltage applied to the second liquid crystal modulation unit. For example, when the light beams emitted by the first light source and the second light source are the same, different voltages can be applied to the corresponding liquid crystal modulation units of the two light sources to generate two output light beams with different polarization states.

[0021] In another possible implementation of the first aspect, the emission device includes a light source array, the light source array includes a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the plurality of groups of light sources, and the first light source and the second light source are located in different regions of the light source array. Through the light source array, the arrangement of a plurality of polarized light beams and non-polarized light beams can be realized, the polarized light emission in a specific region or field of view can be realized, and high-precision polarization recognition and detection can be realized.

[0022] In another possible implementation of the first aspect, the emission device further includes a liquid crystal modulation module, the liquid crystal modulation module includes a plurality of liquid crystal modulation units arranged in an array. The first liquid crystal modulation unit and the second liquid crystal modulation unit belong to the plurality of liquid crystal modulation units, each liquid crystal modulation unit in the plurality of liquid crystal modulation units corresponds to a group of light sources of the light source array, and each liquid crystal modulation unit is configured to modulate a light beam from the corresponding group of light sources. In combination with the foregoing, the first liquid crystal modulation unit and the second liquid crystal modulation unit are located in different regions of the liquid crystal modulation module.

[0023] Using the array of liquid crystal modulation units, the arrangement of a plurality of polarized light beams and non-polarized light beams can be realized, the polarized light emission in a specific region or field of view can be realized, and high-precision polarization recognition and detection can be realized.

[0024] In a further possible implementation form of the first aspect, the voltage loaded on each of the plurality of liquid crystal modulation units is adjustable. In this way, the polarization state of the light beams probing each of the plurality of probing regions can be dynamically adjusted flexibly during operation of the emitting device, so as to meet the probing requirements in various scenarios.

[0025] In a further possible implementation form of the first aspect, the liquid crystal modulation module is further configured to receive a first signal, and to adjust the voltage of a target liquid crystal modulation unit of the plurality of liquid crystal modulation units in response to the first signal, so as to adjust the polarization state of the light beams emitted onto a target region in the object space.

[0026] In the above manner, the liquid crystal modulation module can adjust the voltage loaded on part or all of the liquid crystal modulation units in the liquid crystal modulation module in response to the signal, so as to actively adjust the polarization state of the light beams emitted onto a target region in the object space, so as to realize the change (or switching) of the arrangement of various polarized light beams and non-polarized light beams, realize the polarized light emission of a specific region or field of view, and realize high-precision polarization recognition and probing.

[0027] For example, in different scenarios, the detector or the processing device can send different signals to the liquid crystal modulation module, so as to update the modulation effect of the liquid crystal modulation units and form a special polarization pattern for probing the object space. For example, in a rainy day scenario, the liquid crystal modulation module is instructed by the signal to probe with a certain probing pattern, and in a sunny day scenario, the liquid crystal modulation module is instructed by the signal to probe with another probing pattern. For another example, the image captured by the camera is used to realize the recognition of special targets such as water surface, transparent device, high-reflection device, and high-temperature road surface, so that linearly polarized light is used to probe the probing regions corresponding to these special targets.

[0028] For another example, the data detected by the camera (or the data sensed by other sensing devices) is used to realize the recognition of special targets such as water surface, transparent device, high-reflection device, and high-temperature road surface, so that linearly polarized light is used to probe the probing regions corresponding to these special targets.

[0029] In a further possible implementation form of the first aspect, the first signal is generated based on a probing result of the detector for the object space. In this way, the liquid crystal modulation module can respond to the information instruction of the receiving end detector, so as to realize the accurate polarization probing of a specific region.

[0030] For example, if a certain region in the object space is not detected to have a target point or the number of target points is less than a certain threshold in the probing result of the detector, the detector (or other processing device) can use polarized light to probe the region again. Through dynamic adjustment, the interference caused by interfering objects (such as water, transparent devices, high-reflection objects, and high-temperature air masses) in the field of view can be reduced, so as to realize high-precision polarization recognition and probing.

[0031] In a further possible implementation form of the first aspect, the first emission module comprises a first light source and a first metasurface lens, the light beam emitted by the first light source passes through the first metasurface lens, and the first metasurface lens is configured to process the light beam from the first light source to obtain the first light beam. The second emission module comprises a second light source and a second metasurface lens, the light beam emitted by the second light source passes through the second metasurface lens, and the second metasurface lens is configured to process the light beam from the second light source to obtain the second light beam.

[0032] The above implementation introduces a further design for emitting light beams of different polarization states. The metasurface lens has the advantages of thin volume, light weight, low cost, good imaging, easy integration, etc. Using the metasurface lens to modulate the polarization of the light beam can significantly reduce the volume, types and cost of the emission module, while also reducing the energy consumption of the optical system inside the emission device, and can improve the detection accuracy of the detection device.

[0033] In a further possible implementation form of the first aspect, the first metasurface lens comprises a first substrate and a first micro-nano structure layer carried on the first substrate, the first micro-nano structure layer comprises a plurality of first nano structure units, and the second metasurface lens comprises a second substrate and a second micro-nano structure layer carried on the second substrate, the second micro-nano structure layer comprises a plurality of second nano structure units. By adjusting the shape, rotation direction, height, arrangement mode, etc. of the nano structure units, the metasurface lens can control the pointing angle, collimation, energy distribution, polarization, phase and amplitude, etc. of the light beam.

[0034] In a further possible implementation form of the first aspect, the metasurface lens can complete other optical processing in addition to polarization modulation. Illustratively, the first metasurface lens is configured to perform one or more of collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the first light source. The second metasurface lens is configured to perform polarization modulation on the light beam from the second light source, and is configured to perform one or more of collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the second light source.

[0035] In a further possible implementation form of the first aspect, the emission device comprises a light source array, the light source array comprises a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the groups of light sources, and the first light source and the second light source are located in different regions of the light source array. The emission device comprises a metasurface lens array, the metasurface lens array comprises a plurality of metasurface lenses arranged in an array, the first metasurface lens and the second metasurface lens belong to the plurality of metasurface lenses, and each metasurface lens in the plurality of metasurface lenses is configured to process the light beam from a corresponding group of light sources. Using the light source array and the metasurface lens array, the arrangement of a plurality of polarized light beams and non-polarized light beams can be realized, the polarized light can be emitted in a specific region or field of view, and high-precision polarization recognition and detection can be realized.

[0036] In a second aspect, the present application provides a detection device, the detection device comprising a transmitting device and a detector, the transmitting device being the transmitting device described in the first aspect or any possible implementation of the first aspect. The transmitting device is configured to transmit a detection beam to a space, the detection beam comprising a first light beam from the first transmitting module and a second light beam from the second transmitting module. The detector is configured to receive a return beam, the return beam comprising a return echo corresponding to the detection beam. Optionally, the detector can be included in a receiving device.

[0037] In a possible implementation, the detection device further comprises a window, the detection beam and the return beam passing through the window.

[0038] Further, the detection device further comprises a housing, the housing being configured to provide a receiving space for accommodating other modules in the detection device.

[0039] Optionally, the detection device can be a laser radar, or other devices capable of transmitting a light beam, such as a fusion detection device capable of realizing the functions of a laser radar and a camera at the same time, or a range finder, etc.

[0040] In a third aspect, the present application provides a terminal, the terminal comprising the transmitting device described in the first aspect or any possible implementation of the first aspect, or comprising the detection device described in the second aspect or any possible implementation of the second aspect.

[0041] Optionally, the terminal is an intelligent terminal or a vehicle, such as a vehicle, a drone, or a robot, etc.

[0042] Some beneficial effects of the second aspect to the third aspect of the present application can refer to the beneficial effects of the first aspect, which will not be described one by one. BRIEF DESCRIPTION OF DRAWINGS

[0043] The drawings needed to be used in the following embodiment description will be briefly introduced.

[0044] FIG. 1 is a schematic diagram of P light and S light formed after a light beam passes through a PBS;

[0045] FIG. 2 is a schematic diagram of a transmitting and refracting phenomenon;

[0046] FIG. 3 is a schematic diagram of the relationship between the reflectivity of S component and the reflectivity of P component and the incident angle;

[0047] FIG. 4 is a schematic diagram of the working process of a liquid crystal modulator;

[0048] FIG. 5 is a schematic diagram of the structure of a super-structured lens;

[0049] FIG. 6 is a schematic diagram of the structure of a detection device provided by the embodiments of the present application;

[0050] FIG. 7 is a schematic diagram of a scene of detecting a waterlogged road surface;

[0051] FIG. 8 is a schematic diagram of a scene of a light beam passing through a transparent device;

[0052] FIG. 9 is a schematic diagram of a structure of a transmitting device according to an embodiment of the present application;

[0053] FIG. 10 is a schematic diagram of a scene of using a transmitting device according to an embodiment of the present application;

[0054] FIG. 11 is a schematic diagram of a region distribution of linear polarization detection and mixed polarization detection according to an embodiment of the present application;

[0055] FIG. 12 is a schematic diagram of a field of view angle of a first light beam and a second light beam according to an embodiment of the present application;

[0056] FIG. 13 is a schematic diagram of a structure of another transmitting device according to an embodiment of the present application;

[0057] FIG. 14 is a schematic diagram of a structure of another transmitting device according to an embodiment of the present application;

[0058] FIG. 15 is a schematic diagram of a structure of another transmitting device according to an embodiment of the present application;

[0059] FIG. 16 is a schematic diagram of two detection patterns according to an embodiment of the present application;

[0060] FIG. 17 is a schematic diagram of a structure of another transmitting device according to an embodiment of the present application;

[0061] FIG. 18 is a schematic diagram of a structure of a vehicle including a lidar according to an embodiment of the present application. DETAILED DESCRIPTION

[0062] For the convenience of understanding, the following exemplary gives a part of the description of the concepts related to the embodiments of the present application for reference.

[0063] The detection device is a device for detecting a target in an object space, and its working principle is to emit a detection signal to the object space, receive a return signal from the object space, and obtain relevant information of the target in the object space according to the return signal, such as one or more of the distance, position, angle, speed, reflectivity, reflection intensity, color or material of the target. Wherein, the detection signal is usually an electromagnetic wave or a sound wave, the electromagnetic wave includes light, millimeter wave, or centimeter wave, etc., the detection device provided by the embodiments of the present application takes light as the detection signal. The detection device mentioned in the present application can be a lidar, or other devices capable of emitting a light beam, such as a fusion detection device capable of realizing the functions of lidar and camera at the same time, or a range finder, etc.

[0064] Polarization is used to describe the direction and regularity of the vibration of the optical vector (i.e. the electric vector or the magnetic vector). The polarization state is a property of light, and the polarization state of a light beam can generally include the following: linear polarization, elliptical polarization (including circular polarization), unpolarized (or non-polarized) and mixed polarization, etc. When the polarized light is linearly polarized light, the polarization state further includes the angle and amplitude, and when the polarized light is circularly polarized light, the polarization state further includes the direction of polarization (e.g. clockwise or counterclockwise). For linearly polarized light, the optical vector reciprocally vibrates in one direction. For elliptically polarized light, the direction and size of the optical vector change over time, and in a fixed plane perpendicular to the direction of light propagation, the endpoint of the optical vector traces an ellipse. For circularly polarized light, the size of the optical vector is constant, and the vibration direction changes with the phase. Unpolarized light, such as natural light, has a random vibration of the optical vector, neither in the same direction nor with a fixed time correspondence, so there is no fixed phase, and the vibration of the electric vector has no fixed regularity. A mixed polarization state light beam refers to a light beam having one or more polarization states. For example, a mixed polarization state light beam includes an unpolarized light beam. For another example, a mixed polarization state includes a plurality of linearly polarized light beams, which can have different polarization angles and / or amplitudes. For another example, a mixed polarization light beam includes a linearly polarized light beam and a circularly polarized light beam. For another example, a mixed polarization light beam includes a linearly polarized light beam and an elliptically polarized light beam.

[0065] P light and S light are concepts used to describe the polarization state of light in reflection and refraction phenomena. When light is incident at a certain angle, the reflected or transmitted light whose vibration direction of the optical vector is parallel to the incident plane is P (parallel) light, and the light whose vibration direction of the optical vector is perpendicular to the incident plane is S (senkrecht, meaning perpendicular) light. At the same time, in the light emission reflection and refraction phenomena, the component of the electric vector parallel to the incident plane is called the P component, and the component of the electric vector perpendicular to the incident plane is called the S component. The P light and S light are introduced below in combination with the scenario of a light beam incident on a polarization beam splitter (PBS), which is a special optical element capable of splitting the incident light according to the polarization state. The incident light has P and S components, and when incident on the PBS, the P component is transmitted through the PBS, and the S component is reflected by the PBS. In combination with FIG. 1, the emergent light after the incident light passes through the PBS includes two beams, the S light is reflected by the PBS, and the polarization direction is perpendicular to the incident plane. The P light is transmitted through the PBS, and the polarization direction is parallel to the incident plane.

[0066] Reflection and refraction of light, when light propagates from a medium with a refractive index of n1 to another medium with a refractive index of n2, reflection and refraction of light can occur simultaneously at the interface between the two (commonly referred to as interface). In the light emission reflection and refraction phenomenon, the component parallel to the incident plane of the electric vector is called P light, and the component perpendicular to the incident plane of the electric vector is called S light. Please refer to Figure 2, when the incident angle is θ1, and the refractive index of the upper layer material is n1, and the refractive index of the lower layer material is n2, the reflection angle is θ'1, and the refraction angle is θ2, according to the reflection and refraction law, the following formula can be obtained: θ1= θ'1 formula (1)

[0067] According to the Fresnel equation, the reflection coefficient R s and the reflection coefficient R p of the P component of the S component in the incident light are respectively:

[0068] Please refer to Figure 3, which is a schematic diagram of the relationship between the reflectivity of the S component and the reflectivity of the P component and the incident angle (taking n1 as 1 and n2 as 1.45 as an example). According to the above formula (1) (2) (3) (4) and Figure 3, the reflectivity of the P component in the light beam is less than the reflectivity of the S component at different angles. Therefore, increasing the proportion of the P component in the incident light beam, for example, using P light as the incident light beam, can improve the transmittance of the light beam when passing through the interface of different materials.

[0069] Liquid crystal modulator, also known as electrically responsive liquid crystal modulator, is a phase delay device that can modulate the phase of light beam under the action of electric field, so that the polarization direction of light beam changes, and the specific modulation condition is determined by the voltage loaded to the liquid crystal modulator. Please refer to Figure 4, the light beam (a) is vertically incident to the liquid crystal modulator, according to the different voltage loaded to the liquid crystal modulator, the liquid crystal modulator will realize the corresponding modulation effect, so that the polarization state of the light beam (a) changes (also can realize unchanged), and the light beam (b) is obtained.

[0070] Metalenses, also known as metasurface lenses, are planar lenses that use metasurfaces to focus light. Metalenses have the advantages of thin volume, light weight, low cost, good imaging, easy integration, and provide a solution for compact integrated optical systems. Referring to FIG. 5, which is a structural schematic diagram of a metalens, the metalens generally includes a substrate and a micro-nano structure layer carried on the substrate. The number of micro-nano structure layers can be a single layer (arranged on one side of the substrate), two layers (for example, arranged on both sides of the substrate), or even more layers (for example, a plurality of layers can be arranged in layers). The micro-nano structure layer includes a plurality of nano structure units arranged in a certain manner. By adjusting the shape, rotation direction, height, arrangement manner, and other parameters of the nano structure units, the metalens can control the pointing angle, collimation, energy distribution, polarization, phase, and amplitude of the light beam. Optionally, referring to FIG. 5, the metalens can further include a protective layer to protect the internal components, prevent dust, water, and water vapor, and prolong the service life of the metalens.

[0071] The metalens is usually made of a light-transmitting material, such as glass or crystal. For example, the substrate is usually made of a high light-transmitting material, which reduces the energy loss of the light beam. For example, the high light-transmitting material has a light transmittance higher than a first threshold value, which can be predefined (for example, industry regulations) or pre-set. For example, the high light-transmitting material can be a material with a light transmittance higher than 99%, or a material with a light transmittance higher than 90%.

[0072] In some schemes, the modulation effect of the metalens on the light beam is affected by the voltage loaded thereon. For example, different voltages applied to the metalens can cause the metalens to achieve different polarization modulation effects. For example, when the metalens is loaded with voltage V1, the mixed polarized light beam passing through the metalens can be modulated into linearly polarized light. When the metalens is loaded with voltage V2, the metalens does not have a polarization modulation effect, that is, the polarization state of the light beam passing through the metalens does not change. The voltage value loaded on the metalens can be 0, and when the voltage is 0, the modulation effect of the metalens is not affected by the voltage.

[0073] The detection device 10, for example, as shown in FIG. 6, includes a transmitting device 11 and a receiving device 12. The transmitting device 11 is configured to emit a detection light beam for detecting an object space. When the detection light beam irradiates on a target in the object space, the target can reflect the detection light beam to form a return wave. The receiving device 12 is configured to receive a return light beam including the return wave from the target. The detection device 10 can process the return light beam to obtain relevant information of the target, such as distance, angle, position, shape, speed, reflectivity, material, color, and other characteristic quantities of the target. The detection performance of the detection device 10 is related to the power of the laser light beam emitted by the transmitting end and the properties of the laser light beam itself. At present, the detection light beam emitted by the transmitting end is mostly a mixed polarization state (including no polarization) laser light beam. The detection light beam does not undergo polarization modulation during the emission process, and the energy loss rate is low, which can cover most of the sensing scenes. However, the mixed polarization state light beam is easily disturbed by reflection and scattering, which affects the performance stability of the laser radar.

[0074] Please refer to FIG. 7, which is a schematic diagram of a scene for detecting a waterlogged road. The detection light beam emitted by the transmitting device irradiates on a general target (for example, target 1, i.e., a vehicle in front) to produce diffuse reflection. Part of the reflected light formed by the diffuse reflection of the general target returns to the receiving device of the detection device, so that the detection device can perceive the target 1 in front. When the detection device irradiates on the waterlogged road, the reflection and scattering effects caused by the water reduce the energy of the light entering the water. It is known to those skilled in the art that when the energy of the return wave is weak, it can not be detected because it does not reach the detection threshold, or it can not be detected because it is overwhelmed by noise. Therefore, when the energy of the light projected into the water is low, the detection device can not perceive the road surface under the water and the obstacles (such as target 2) that can exist on the bottom of the water.

[0075] Please refer to FIG. 8, which is a schematic diagram of a light beam passing through a transparent device, such as a window of the detection device, an automobile windshield, etc. When the light beam passes through the lens device, part of the light beam is reflected, resulting in a decrease in the light power transmitted through the transparent device.

[0076] In addition to waterlogged roads and transparent devices, the surfaces of some roads (or objects) in high-reflectivity and high-temperature weather can also form similar reflection and scattering effects, which seriously interfere with the detection of the detection device and cause misjudgment, seriously affecting the detection accuracy of the laser radar.

[0077] Therefore, the application provides a transmitting device, a detection device (such as a laser radar) and a terminal, which can emit light beams with different polarization states, the light beams with different polarization states can composite detect a field of view, and the light beams emitted by the transmitting device have strong detection performance in various complex scenes. When the transmitting device is applied to a laser radar, the anti-interference performance of the laser radar can be improved, and the detection accuracy can be improved. Especially in the scenes of a waterlogged road surface, an optical element passing through an inclination, a high-reflectivity object and a high-temperature road surface, the application can significantly reduce interference, improve echo energy and improve the detection accuracy of the laser radar.

[0078] The application provides a transmitting device, which is described below with reference to FIG. 9.

[0079] As shown in FIG. 9, the detection device 10 includes a first transmitting module 111 and a second transmitting module 112. The first transmitting module 111 is configured to emit a first light beam, and the polarization state of the first light beam is a mixed polarization state. The mixed polarization state light beam has one or more polarization states. For example, the first light beam is a light beam generated by a light source in the first transmitting module and has not been subjected to polarization modulation. Because the first light beam has not been subjected to polarization modulation, the polarization state of the first light beam is mixed and not single, and in some scenes, the first light beam can be regarded as a light beam without a polarization state.

[0080] The second transmitting module 112 is configured to emit a second light beam, and the polarization state of the second light beam is linear polarization. The first transmitting module 111 and the second transmitting module 112 are configured to detect different regions of an object space. For example, the first light beam is configured to detect a first region of the object space, and the second light beam is configured to detect a second region of the object space. The first region and the second region are different regions of the object space.

[0081] In the application, the first light beam is a mixed polarization state light beam, which is usually not subjected to polarization modulation, has low energy loss, high energy density, good remote measurement capability and is suitable for most detection scenes. The second light beam is a linear polarization state light beam (referred to as linearly polarized light). As described in FIG. 3, the linearly polarized light beam is suitable for detection scenes that need to have higher transmittance (such as improving the proportion of P components) or need to have higher reflectivity (such as improving the proportion of S components), can improve the anti-interference performance of the detection device and make the detection device have higher detection accuracy.

[0082] For example, in a scenario where higher transmittance is needed, please refer to FIG. 10, which is a schematic diagram of a usage scenario of a transmitting device according to an embodiment of the present application. In this scenario, the second light beam emitted by the second emitting module 112 in the transmitting device is linearly polarized light, which is P light relative to the current reflecting surface. The linearly polarized light is used to detect the angle β in the vertical field of view, which includes the angle pointing to the ground. As introduced in FIG. 3, when P light passes through the interface between two materials with different refractive indices, its transmittance is relatively higher than that of S light. Therefore, when P light passes through the surface of a waterlogged road, a transparent device, a highly reflective surface, or a road surface (or object) in high-temperature weather, it has less loss, can reduce the interference caused by reflection and scattering, and improve the accuracy of the detection result. For example, in the scenario described in FIG. 10, compared with using a light beam with a mixed polarization state, circularly polarized light, or non-polarized light, using P light to detect waterlogged ground can improve the energy of the light rays refracted into the water and the energy of the echoes refracted from the water into the air, thereby improving the detection accuracy of the underlying obstacles under the water. On the other hand, the first light beam emitted by the first emitting module 111 in the transmitting device is a light beam with a mixed polarization state, which is used to detect the angle α in the vertical field of view, which includes the angle pointing to the sky. Since the target in the air is not prone to special conditions such as waterlogging, using a mixed polarization state for detection can ensure the energy density of the light beam and improve the long-distance measurement performance of the detection device.

[0083] Continuing with the scenario where higher transmittance is needed, the first emitting module and the second emitting module can be one of the modules in the array of emitting modules, and the transmitting device can include multiple first emitting modules and multiple second emitting modules (to be described in detail below). The light beams emitted by the transmitting device can form an arrangement as shown in FIG. 11 on the field of view of the object space. In the area irradiated by the light beams emitted by the transmitting device, some areas are detected by the light beam with a mixed polarization state, and some areas are detected by the linearly polarized light. It should be understood that the arrangement of the areas detected by the light beam with a mixed polarization state and the areas detected by the linearly polarized light in this pattern is only an example. In this way, for some suspicious areas, such as areas where no target is detected, high-reflectivity areas, and areas with severe noise, polarization light can be used for detection to improve the detection accuracy.

[0084] In summary, the present scheme can perform composite detection on the object space, reduce the interference of reflection and reflection on detection, and improve the detection accuracy of the detection device without significantly reducing the long-distance measurement performance of the detection device. Especially in scenarios such as waterlogged road, inclined optical element, high-reflectivity object, and high-temperature road, the present application can significantly reduce interference, improve echo energy, and improve the detection accuracy of the laser radar.

[0085] In some possible implementation manners, the vertical field of view angle of the first light beam and the vertical field of view angle of the second light beam are different, and the regions detected by the first light beam and the second light beam are not completely overlapped in the vertical direction. For example, the first light beam can be used to detect an angle range far from the ground in the vertical field of view angle, and the first light beam is used to detect an angle range close to the ground in the vertical field of view angle, so as to improve the detection accuracy of the target in a scene such as a waterlogged road or a river with water flow.

[0086] The vertical field of view angle is the field of view angle in the vertical direction, which can be predefined. For example, the emitting device can define a coordinate system, and the vertical direction can be a direction predefined in the coordinate system, for example, the Y-axis direction or the Z-axis direction. Alternatively, the vertical direction can be understood as a direction perpendicular to the bottom surface or the horizontal surface. In combination with FIG. 9 and FIG. 12, the vertical field of view angle of the first light beam is angle α, and the vertical field of view angle of the second light beam is angle β. Taking the normal angle of the emitting device as 0° and the square of the azimuth angle as an example, the angle range detected by the first light beam is (α1, α2), and the angle range detected by the first light beam is (β1, β2). Wherein, (α1, α2) and (β1, β2) can not overlap, for example, (α1, α2) is (0°, 15°), and (β1, β2) is (-15°, 0°). Alternatively, (α1, α2) and (β1, β2) can overlap but are not completely the same, for example, (α1, α2) is (-2°, -15°), and (β1, β2) is (-15°, 0°).

[0087] Alternatively, the pointing angle of the first light beam and the pointing angle of the second light beam are different. The pointing angle can be the azimuth angle of the optical axis of the light beam. As shown in FIG. 12, the pointing angle of the first light beam is α0, and the pointing angle of the first light beam is β0, and α0 and β0 are different.

[0088] In some possible implementation manners, the vertical field of view angle of the second light beam includes a detection angle pointing to the ground. In this way, the ground can be detected by polarization detection, and the sky and other regions can be detected by mixed polarization detection (including non-polarization detection), so as to reduce the interference of objects and scenes such as rainy days, rivers, inclined windows and high reflection, and to realize high-precision polarization recognition and detection.

[0089] And the ground pointing detection angle can be predefined, for example, in some possible solutions, the ground pointing detection angle is defined as (-15°, 0°) in combination with FIG. 12, 0° is the normal angle of the emitting device, or the middle line of the vertical field of view. Alternatively, the ground pointing detection angle can be determined through the detection result of the object space, such as through a camera or a detection device, detecting the object space to determine the corresponding angle range of the ground, and then polarizing the light beam pointing to the ground, so as to detect the ground by using polarized light.

[0090] The emitting device is introduced above, and the difference between the detection regions of the first light beam and the second light beam is described. The following continues to introduce some possible designs of the first emitting module and the second emitting module provided in the present application, which can be combined in a non-exclusive manner, or can be combined with the embodiments shown in FIG. 9, FIG. 10 and FIG. 11.

[0091] In one possible design, the first emitting module includes a first light source for emitting a light beam with a mixed polarization state, and the second emitting module includes a second light source for emitting a light beam with a linear polarization state. The first emitting module and the second emitting module use different light sources, so that the light beams emitted by the light sources have different polarization states.

[0092] Please refer to FIG. 13, which is a structural schematic diagram of another emitting device provided in an embodiment of the present application. The first emitting module 111 includes one or more light source units (unit), such as the light source unit 113 shown in FIG. 13. The second emitting module also includes multiple light source units. In the foregoing light source unit, one unit can include multiple optical apertures (optical aperture, OA), hereinafter referred to as light source OA, which is the smallest light emitting unit. Taking a vertical-cavity surface-emitting laser (VCSEL) as an example, one light source OA can be a single VCSEL light emitting tube. In FIG. 13, the light source OA in the first emitting module 111 is a non-polarized laser light source (which can be replaced by a mixed polarization laser light source), and the light beam emitted by the non-polarized laser light source is a mixed polarization state light beam (including a non-polarized light beam). The light source OA in the second emitting module 112 is a polarized laser light source, and the light beam emitted by the light source is a linearly polarized light.

[0093] Alternatively, as shown in FIG. 13, the first emitting module 111 and the second emitting module 112 can be integrated together, for example, arranged on the same circuit board, for example, packaged as a whole through the same shell.

[0094] The foregoing is described by taking the light source unit as an example. In actual implementation, the application is also applicable to other forms of light sources (for example, independent single lasers). In some schemes, the light source can be a vertical surface emitting laser or an edge emitting laser (EEL) or the like. The vertical surface emitting laser has a light emitting surface parallel to the surface of the circuit board when the vertical surface emitting laser is arranged on the circuit board. For example, the vertical surface emitting laser includes but is not limited to one or more of a VCSEL, a photonic crystal surface emitting semiconductor laser (PCSEL), a horizontal cavity surface-emitting laser (HCSEL), a fiber laser, or the like. The edge emitting laser refers to a laser that emits light through a side surface. In other words, the edge emitting laser refers to a laser that has a light emitting surface that is a side surface (or a surface perpendicular to the circuit board) when the edge emitting laser is arranged on the circuit board. Alternatively, the EEL can be replaced by another device that emits light at the edge of a light emitting element, such as a silicon optical chip or the like.

[0095] As one possible example, in combination with FIG. 13 and the foregoing FIG. 12, the laser light sources in the emitting device can be arranged in a specific manner, such that the part on the ground is a polarized laser light source, and the remaining part is a mixed polarization state laser light source. For example, in the angle range below the horizontal field of view angle 0°, the light beam emitted by the polarized laser light source is used for detection.

[0096] Optionally, the emitting device further includes an optical module. The optical module can be used for one or more optical processes such as collimation, light filtering, direction control, light homogenization, light splitting, and scanning. For example, the optical module can include one or more of the following optical elements: a collimating mirror, a lens, a microlens, a metasurface lens, a light filter, a light homogenizer, a beam splitter, a scanner (such as a swing mirror, a rotating mirror, or the like), or a mirror, or the like. The application does not strictly limit the number and arrangement position of the optical elements included in the emitting device.

[0097] In one possible design, the first emitting module and / or the second emitting module includes a polarization modulation module. The polarization modulation module can modulate the light beam emitted by the light source, so that the polarization states of the light beams emitted by the first emitting module and the second emitting module are different.

[0098] Please refer to FIG. 14, which is a structural schematic diagram of a transmitting device according to an embodiment of the present application. The first transmitting module 111 includes a first light source, and the second transmitting module 112 includes a second light source 21. Both the first light source and the second light source 21 are configured to emit a light beam with a mixed polarization state. As shown in FIG. 14, the first light source is a non-polarized laser light source (which can be replaced by a mixed polarization laser light source), and the second light source 21 is also a non-polarized light source (which can be replaced by a mixed polarization laser light source). The second transmitting module further includes a polarization modulation module 22. The light beam emitted by the second light source passes through the polarization modulation module 22, which is configured to process the light beam emitted by the second light source 21 to obtain a light beam with a linear polarization state (i.e., a second light beam). In other words, the polarization modulation module 22 is configured to modulate the light beam from the second light source 21 into a linearly polarized light beam. As shown in FIG. 14, the light beam emitted by the second light source 21 is a mixed polarization light beam, and the light beam emitted after passing through the polarization modulation module 22 is a linearly polarized light beam.

[0099] In some possible solutions, the polarization modulation module can include one or more of a polarizer, a liquid crystal modulator, or a superlens. For example, by arranging a polarizer in the light path of the second light source 21 in the second transmitting module 112, the polarization state of the emitted light beam can be linearly polarized.

[0100] The foregoing FIG. 14 describes the case where the polarization modulation module is arranged in the second transmitting module 112. In some other designs, the polarization modulation module can also be arranged in the first transmitting module 111. In the case where the polarization modulation modules are arranged in both the first transmitting module 111 and the second transmitting module 112, the polarization modulation modules arranged in the two modules process the light beams to obtain different results.

[0101] The following describes several possible designs of the first transmitting module and the second transmitting module:

[0102] In one possible design, please refer to FIG. 15, the first transmitting module 111 includes a first light source 31 and a first liquid crystal modulation unit 32, and the second transmitting module 112 includes a second light source 21 and a second liquid crystal modulation unit 23 (which can be regarded as a polarization modulation module 22). The first liquid crystal modulation unit 32 and the second liquid crystal modulation unit 23 are liquid crystal modulators, which can adjust the polarization of the incident light beam under the action of voltage. As shown in FIG. 15, in the case where the first light source and the second light source are both non-polarized laser light sources, the light beam emitted by the first light source 31 passes through the first liquid crystal modulation unit 32, which is configured to process the light beam from the first light source 31 to obtain a first light beam. The first light beam is a mixed polarization light beam (including a non-polarized light beam). The light beam emitted by the second light source 21 passes through the second liquid crystal modulation unit 23, which is configured to process the light beam from the second light source 21 to obtain a second light beam. The second light beam is a linearly polarized light beam.

[0103] Optionally, the voltage loaded on the first liquid crystal modulation unit is different from the voltage loaded on the second liquid crystal modulation unit. For example, when the light beams emitted by the first light source and the second light source are the same, by loading different voltages on the corresponding liquid crystal modulation units of the two, two output light beams with different polarization states can be generated. Of course, the present application is also applicable to the case where the polarization states of the light beams emitted by the first light source and the second light source are different.

[0104] In the embodiment shown in FIG. 15, since the modulation effect of the liquid crystal modulation unit on the light beam is affected by the loaded voltage, different detection patterns can be achieved by designing different voltage values, so that the polarization states of the light beams detected by each detection area can be flexibly detected to meet the detection needs in various scenarios.

[0105] It should be understood that the present application does not limit the number of first emission modules and the number of second emission modules included in the emission module.

[0106] In a possible embodiment, the emission device can include a plurality of first emission modules 111 and a plurality of second emission modules 112, and the light sources in the plurality of first emission modules 111 and the light sources in the plurality of second emission modules 112 can be integrated in the same light source array, and the emission device can include a plurality of liquid crystal modulation units, and the plurality of liquid crystal modulation units can also be integrated into a liquid crystal modulation module. Optionally, the number of liquid crystal modulation units in the liquid crystal modulation module can be the same as the number of light source units in the emission device, or can be different, where the light source unit refers to a set of light sources included in a first emission module or a second emission module. Further, the liquid crystal modulation units in the liquid crystal modulation module can correspond to the light source units in the emission device one by one.

[0107] In some possible embodiments, referring to FIG. 15, the emission device 11 includes a light source array 20, the light source array 20 includes a plurality of light source units (or a plurality of groups of light sources), the first light source 31 and the second light source 21 belong to the plurality of light source units. Further, the plurality of light source units are arranged in an array to form a two-dimensional plane with multiple rows and multiple columns, and the first light source 31 and the second light source 21 are located in different regions on the light source array.

[0108] In some possible implementation, referring to FIG. 15, the emitting device 11 comprises a liquid crystal modulation module 30, the liquid crystal modulation module 30 comprises a plurality of liquid crystal modulation units, the first liquid crystal modulation unit 32 and the second liquid crystal modulation unit 23 belong to the plurality of liquid crystal modulation units. Further, the plurality of liquid crystal modulation units are arranged in an array to form a two-dimensional plane with multiple rows and multiple columns (it is also possible to have a single column or a single row), and the first liquid crystal modulation unit 32 and the second liquid crystal modulation unit 23 are located in different regions on the liquid crystal modulation module 30. Further, in the liquid crystal modulation module 30, each liquid crystal modulation unit corresponds to a group of light sources (i.e., a light source unit) of the light source array 20, and each liquid crystal modulation unit is configured to modulate a light beam from the corresponding group of light sources.

[0109] In some possible implementation, the liquid crystal modulation unit, such as the first liquid crystal modulation unit and / or the second liquid crystal modulation unit, is adjustable in voltage loading. Further, referring to FIG. 15, the voltage loaded on each liquid crystal modulation unit in the liquid crystal modulation module 30 is adjustable. In this way, the polarization state of the light beam for detecting each detection region can be dynamically adjusted flexibly to meet the detection requirements in various scenarios.

[0110] As a possible application example, in sunny weather, the light beams emitted by the emitting device are all light beams with mixed polarization states, as shown in (A) of FIG. 16. In rainy weather, water is likely to accumulate on the ground, at this time, the light beams in the angle range towards the ground can be linearly polarized, and the light beams in the remaining angle range are light beams with mixed polarization states, as shown in (B) of FIG. 16. Of course, the sunny weather and the rainy weather here are only examples, and in specific implementation, more special scenarios can also be implemented to correspond to the detection pattern, such as through the image collected by the camera, to realize the identification of special targets such as water surface, transparent device, high-reflection device, and high-temperature road surface, so as to use linearly polarized light to detect in the detection region corresponding to the special target. In some solutions, the identification of the target can be identified by other processing devices, and the processing device can send a control signal to the emitting device, and the emitting device can adjust the voltage loaded on part or all of the liquid crystal modulation units in the liquid crystal modulation module 30 according to the corresponding control signal, so as to realize various detection patterns.

[0111] As another possible application example, the detection device further comprises a receiving device 12, the receiving device 12 comprises a detector, the detector can receive the return signal to obtain a detection result of the object space. Further, the detector (or other processing device) can generate a first signal according to the detection result of the object space. The liquid crystal modulation module 30 in the transmitting device 11 can receive the first signal, and in response to the first signal, adjust the voltage of the target liquid crystal modulation unit in the plurality of liquid crystal modulation units, so as to adjust the polarization state of the light beam emitted to the target region of the object space. For example, in the detection result of the detector, a certain region in the object space does not detect a target point or the number of target points is less than a certain threshold, and the detector (or other processing device) can use polarized light to re-detect the region, so as to reduce the interference of interfering objects (such as water, transparent devices, high-reflectivity objects, high-temperature air masses, etc.) in the field of view, and realize high-precision polarization recognition and detection.

[0112] In summary, the above design can use the liquid crystal modulation module to actively and / or passively modulate the light beams emitted by the array laser light source in different regions and differentially, realize polarization detection in a specific region or a specific field of view angle range, and mixed polarization detection (which can be regarded as non-polarization detection) in other regions, so as to realize high-precision polarization recognition and detection while ensuring the far measurement performance.

[0113] In a possible design, please refer to FIG. 17, the first transmitting module 111 comprises a first light source 31 and a first super lens 41, and the second transmitting module 112 comprises a second light source 21 and a second super lens 42 (which can be regarded as a polarization modulation module 22). The first super lens 41 and the second super lens 42 can perform polarization modulation on the incident light beam. As shown in FIG. 17, in the case that the first light source and the second light source are both non-polarized laser light sources, the light beam emitted by the first light source 31 passes through the first super lens 41, and the first super lens 41 is used to process the light beam from the first light source 31 to obtain a first light beam, which is a mixed polarization state light beam (regarded as a non-polarized light beam). The light beam emitted by the second light source 21 passes through the second super lens 42, and the second super lens 42 is used to process the light beam from the second light source 21 to obtain a second light beam, which is a linearly polarized light.

[0114] Further, in combination with the foregoing introduction to the structure of the super lens, the first super lens 41 comprises a first substrate and a first micro-nano structure layer carried on the first substrate, and the first micro-nano structure layer comprises a plurality of first nano structure units. The second super lens comprises a second substrate and a second micro-nano structure layer carried on the second substrate, and the second micro-nano structure layer comprises a plurality of second nano structure units. The parameters of the first nano structure units, such as shape, rotation direction, height, arrangement mode, etc., can be different from those of the second nano structure units, and of course there can be some same parameters, such as the same height.

[0115] In a possible implementation, the metasurface lens can complete other optical processing in addition to completing polarization modulation. That is, the metasurface lens can simultaneously realize divergence angle regulation, energy distribution regulation, pointing angle regulation, and polarization regulation. Of course, which one or which ones of the modulation effects are specifically realized can be designed according to actual needs. Exemplarily, the first metasurface lens is used for one or more of collimation processing, energy distribution regulation, and pointing angle regulation on a light beam from the first light source, the second metasurface lens is used for polarization modulation on a light beam from the second light source, and is also used for one or more of collimation processing, energy distribution regulation, and pointing angle regulation.

[0116] Similarly, in combination with FIG. 17, the emitting apparatus includes a light source array 20, the light source array 20 includes a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the plurality of groups of light sources, and the first light source and the second light source are located in different regions of the light source array.

[0117] Optionally, the metasurface lenses can be arrayed, the regulation capabilities of the metasurface lenses are independent of each other, and the final regulation results can be superimposed and displayed. As a possible example, referring to FIG. 17, the emitting apparatus 11 further includes a metasurface lens array 40, the metasurface lens array 40 includes a plurality of metasurface lenses arranged in an array, the first metasurface lens 41 and the second metasurface lens 42 belong to the metasurface lens array 40, and each metasurface lens in the plurality of metasurface lenses is used for processing a light beam from a corresponding group of light sources. Related descriptions can be referred to the possible implementation of FIG. 16 described above, and will not be introduced one by one here.

[0118] In some possible implementations, the voltage loaded on the first metasurface lens is different from the voltage loaded on the second metasurface lens. For example, when the light beams emitted by the first light source and the second light source are the same, different voltages loaded on the corresponding metasurface lenses of the two can generate two output light beams with different polarization states. Of course, the present application is also applicable to the case where the polarization states of the light beams emitted by the first light source and the second light source are different. In the implementation shown in FIG. 17, because the modulation effect of the metasurface lens on the light beam is affected by the loaded voltage, different detection patterns can be realized by designing different voltage values, so that the polarization states of the light beams detected by each detection region can be flexibly detected, to meet the detection needs in various scenes.

[0119] In some possible implementation manners, the superlens, such as the first superlens and / or the second superlens, is loaded with a voltage that is adjustable. Further, in combination with FIG. 17, the voltage loaded on each superlens in the superlens array 40 is adjustable. In this way, the polarization state of the light beam probing each detection region can be dynamically adjusted flexibly to meet the detection requirements in various scenarios. For related technical effects, application examples, and application scenarios, refer to the foregoing scheme in which the voltage loaded on the liquid crystal modulation unit of the liquid crystal modulation module is adjustable.

[0120] In some possible implementation manners, the superlens array 40 can receive a second signal, and in response to the second signal, adjust the voltage loaded on the target superlens in the plurality of superlenses to adjust the polarization state of the light beam emitted onto the target region in the object space. For related application scenarios and technical effects, refer to the foregoing scheme in which the voltage loaded on the liquid crystal modulation unit of the liquid crystal modulation module is adjustable.

[0121] In some schemes, in the case where the emitting device includes a superlens, the emitting device can still optionally include a geometric lens and an optical element. The present application does not strictly limit the number and arrangement positions of the optical elements additionally included in the emitting device.

[0122] In summary, the above design can use a multifunctional integrated superlens to perform regional and differentiated polarization modulation on the light beams emitted by the array laser source, to realize polarization detection in a specific region or a specific field of view range and mixed polarization detection in other regions, and to achieve high-precision polarization recognition and detection while ensuring the far-focusing performance.

[0123] Embodiments of the present application also provide a detection device, which includes the foregoing emitting device 11. The emitting device is the foregoing emitting device, for example, the emitting device 11 shown in the embodiments of FIG. 9, FIG. 13, FIG. 14, FIG. 15, and FIG. 17. In combination with FIG. 6, the emitting device 11 in the detection device 10 is configured to emit a detection light beam to an object space, and the detection light beam includes a first light beam from the first emitting module and a second light beam from the second emitting module.

[0124] Further, the detection device also includes a detector, which is configured to receive a return light beam. The return light beam includes a return wave corresponding to the detection light beam.

[0125] Optionally, the detector can be included in a receiving device. As shown in FIG. 6, the detection device 10 includes a receiving device 12, and the receiving device 12 can include the detector.

[0126] In a possible implementation manner, the detection device further includes a view window, and the detection light beam and the return light beam pass through the view window.

[0127] In a possible implementation, the detection device further includes a housing configured to provide a receiving space for accommodating other modules in the detection device.

[0128] In a possible implementation, the detection device can be a laser radar, or other devices capable of emitting a light beam, such as a fusion detection device capable of simultaneously implementing functions of a laser radar and a camera, or a range finder.

[0129] The embodiments of the present application further provide a terminal including the aforementioned transmitting device 11, or the aforementioned detection device 10 (such as a laser radar). The terminal can be a vehicle, a drone, or a robot, or other intelligent terminal or vehicle.

[0130] Taking the detection device as a laser radar for example, refer to FIG. 18, which is a structural schematic diagram of a vehicle including a laser radar. The laser radar can perceive the surrounding environment of the vehicle, and obtain related information of targets in the surrounding environment. The related information of the targets can be used to control the vehicle or assist the driver to drive.

[0131] It should be understood that the installation position of the laser radar shown in FIG. 18 is only an example. In actual implementation, the detection device can be installed at other positions, for example, at the top of the cabin, or can also be installed at the head of the vehicle, the side of the vehicle, or the tail of the vehicle, and the like.

[0132] In the embodiments of the present application, the words “exemplarily” or “for example” are used to represent as an example, illustration or description. Any embodiment or design scheme described as “exemplarily” or “for example” in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words “exemplarily” or “for example” are used to present the relevant concept in a specific manner.

[0133] In the embodiments of the present application, “at least one” means one or more, and “multiple” means two or more. “At least one of the following” or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. “And / or” describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone, where A and B can be single or multiple. The character “ / ” generally represents an “or” relationship between the front and rear associated objects.

[0134] And, unless otherwise stated, the ordinal numbers "first", "second", etc. used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority or importance of the multiple objects.

Claims

1. A transmitting device, characterized by The emitting device comprises a first emitting module and a second emitting module, wherein: The first emitting module is used for emitting a first light beam, the polarization state of the first light beam is a mixed polarization state, and the first light beam is used for detecting a first region of an object space; The second emitting module is used for emitting a second light beam, the polarization state of the second light beam is linear polarization, and the second light beam is used for detecting a second region of the object space, wherein the first region and the second region are different.

2. The transmitting apparatus of claim 1, wherein, The vertical field of view angle of the first light beam and the vertical field of view angle of the second light beam are different.

3. The launch device of claim 2, wherein, The vertical field of view angle of the second light beam comprises a detection angle pointing to the ground.

4. The transmitting apparatus of claim 3, wherein, The detection angle pointing to the ground is (-15°, 0°), and the 0° is the normal angle of the emitting device.

5. The launching device of any one of claims 1-4, wherein, The first emitting module comprises a first light source, and the second emitting module comprises a second light source, The first light source is used for emitting a light beam with a mixed polarization state; The second light source is used for emitting a light beam with linear polarization.

6. The transmitting apparatus of any of claims 1-4, wherein The first emitting module comprises a first light source, and the second emitting module comprises a second light source and a polarizer, The first light source and the second light source are both used for emitting a light beam with a mixed polarization state, The light beam emitted by the second light source passes through the polarizer, and the polarizer is used for optically processing the light beam from the second light source to obtain the second light beam.

7. The transmitting apparatus of claim 6, wherein, The first emitting module comprises a first light source and a first liquid crystal modulation unit, and the second emitting module comprises a second light source and a second liquid crystal modulation unit, The light beam emitted by the first light source passes through the first liquid crystal modulation unit, and the first liquid crystal modulation unit is used for processing the light beam from the first light source to obtain the first light beam; The light beam emitted by the second light source passes through the second liquid crystal modulation unit, and the second liquid crystal modulation unit is used for processing the light beam from the second light source to obtain the second light beam.

8. The transmitting apparatus of claim 7, wherein, The first liquid crystal modulation unit and the second liquid crystal modulation unit are used for adjusting the polarization of the incident light beam under the action of voltage, The voltage loaded on the first liquid crystal modulation unit is different from the voltage loaded on the second liquid crystal modulation unit.

9. The transmitting apparatus of claim 7 or 8, wherein, The emitting device comprises a light source array, and the light source array comprises a plurality of groups of light sources arranged in an array, The first light source and the second light source belong to the plurality of groups of light sources, and the first light source and the second light source are located in different regions of the light source array.

10. The transmitting apparatus of claim 9, wherein, The emitting device further comprises a liquid crystal modulation module, and the liquid crystal modulation module comprises a plurality of liquid crystal modulation units arranged in an array, The first liquid crystal modulation unit and the second liquid crystal modulation unit belong to the plurality of liquid crystal modulation units, and the first liquid crystal modulation unit and the second liquid crystal modulation unit are located in different regions of the liquid crystal modulation module, Each liquid crystal modulation unit in the plurality of liquid crystal modulation units corresponds to a group of light sources of the light source array, and each liquid crystal modulation unit is used for modulating a light beam from the corresponding group of light sources.

11. The transmitting apparatus of claim 10, wherein, The voltage loaded on each liquid crystal modulation unit in the plurality of liquid crystal modulation units is adjustable.

12. The transmitting apparatus of claim 11, wherein, The liquid crystal modulation module is also configured to receive a first signal, and adjust a voltage of a target liquid crystal modulation unit in the plurality of liquid crystal modulation units to adjust a polarization state of a light beam emitted onto a target region of the object space in response to the first signal.

13. The transmitting apparatus of claim 12, wherein, The first signal is generated based on a detection result of a detector on the object space.

14. The launching device of any one of claims 1-4, wherein, The first emission module comprises a first light source and a first metasurface lens, and the second emission module comprises a second light source and a second metasurface lens, The first light source emits a light beam, and the first metasurface lens is configured to process the light beam from the first light source to obtain the first light beam; The second light source emits a light beam, and the second metasurface lens is configured to process the light beam from the second light source to obtain the second light beam.

15. The transmitting apparatus of claim 14, wherein, The first metasurface lens comprises a first substrate and a first micro-nano structure layer carried on the first substrate, and the first micro-nano structure layer comprises a plurality of first nano structure units; The second metasurface lens comprises a second substrate and a second micro-nano structure layer carried on the second substrate, and the second micro-nano structure layer comprises a plurality of second nano structure units; The first metasurface lens is configured to perform collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the first light source; The second metasurface lens is configured to perform polarization modulation, collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the second light source.

16. The transmitting apparatus of claim 14 or 15, wherein, The emission device comprises a light source array, the light source array comprises a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the groups of light sources, and the first light source and the second light source are located in different regions of the light source array. The emission device comprises a metasurface lens array, the metasurface lens array comprises a plurality of metasurface lenses arranged in an array, the first metasurface lens and the second metasurface lens belong to the plurality of metasurface lenses, Each metasurface lens in the plurality of metasurface lenses is configured to process a light beam from a corresponding group of light sources.

17. A detection device, characterized by The detection device comprises the emission device and a detector according to any one of claims 1-16. The emission device is configured to emit a detection light beam to the object space, the detection light beam comprising a first light beam from the first emission module and a second light beam from the second emission module; The detector is configured to receive a return light beam from the object space and obtain a detection result on the object space, the return light beam comprising a corresponding echo of the detection light beam.

18. The probe device of claim 17, wherein, The detection device further comprises a window, and the detection light beam and the return light beam pass through the window.

19. A terminal, characterized by The terminal comprises the emission device according to any one of claims 1-16, or the detection device according to claim 17 or 18.

20. The terminal according to claim 19, characterized by The terminal is a vehicle, a drone or a robot.

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