Detection apparatus, lidar and terminal

Abstract

A detection apparatus, a LiDAR and a terminal, which are applied to the technical field of LiDARs. The detection apparatus comprises a transmitting module, a first receiving module, a second receiving module and a scanning module, wherein the transmitting module is used for transmitting a light beam to an object space, the first receiving module and the second receiving module are each used for receiving the light beam from the object space, and the field of view (FOV) of the first receiving module is different from that of the second receiving module. Moreover, a transmitting light path of the transmitting module, a receiving light path of the first receiving module and a receiving light path of the second receiving module all pass through the same reflecting surface of the scanning module. Therefore, the matching degree of light spots received by a plurality of receiving modules can be improved, and energy distribution differences caused by different reflecting surfaces can be significantly reduced, such that a large FOV and a high resolution are ensured, and the performance of the detection apparatus can also be improved and remain stable.

Description

A detection device, lidar, and terminal

[0001] This application claims priority to Chinese Patent Application No. 202411932378.5, filed on December 24, 2024, entitled "A Detection Device, LiDAR and Terminal", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of lidar technology, and more particularly to a detection device, lidar, and terminal. Background Technology

[0003] With the development of information technology and computer vision, detection technology has made rapid progress, bringing great convenience to people's lives and travel. Detection devices are the "eyes" of equipment in perceiving the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, lidar (light detection and ranging) has the advantages of high resolution, good detection performance, and strong concealment, playing an important role in the process of equipment perceiving the environment. It has been widely used, especially in the field of intelligent driving, contributing to the further development of intelligent driving technology.

[0004] Scanning LiDAR is a type of LiDAR that includes a transmitter, a receiver, and a scanner. Its architecture can be linear scanning with receiver, linear scanning with area scanning with receiver, or all-solid-state. Regardless of the architecture used, the size of the receiver module limits the LiDAR's angular resolution and ranging capability. A larger FOV results in a larger angular resolution and poorer ranging capability, while a smaller FOV improves angular resolution and ranging capability but reduces the field of view. Furthermore, the stability of the LiDAR's detection performance is also affected by the positional relationship between the transmitter, receiver, and scanner.

[0005] In summary, current lidar architecture designs struggle to achieve a balance between large FOV, high resolution, and performance stability. Summary of the Invention

[0006] This application provides a detection device, lidar, and terminal that can improve the matching degree of light spots received by multiple receiving modules, significantly reduce the energy distribution difference caused by the difference in the reflective surfaces of the scanning modules (such as surface difference, tower difference, etc.), improve the performance of the detection device, and improve the performance of the detection device while ensuring a large FOV and high resolution, and the performance is stable.

[0007] In a first aspect, this application provides a detection device, including a transmitting module, a first receiving module, a second receiving module, and a scanning module. The transmitting module transmits a first light beam, which propagates through the scanning module into an object space. The second receiving module receives a second light beam from the object space, which propagates through the scanning module to the first receiving module, and the second light beam includes an echo of the first light beam. The first receiving module receives a third light beam from the object space, which propagates through the scanning module to the second receiving module, and the third light beam includes an echo of the first light beam. The first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module do not overlap at least partially. The scanning module includes at least one reflective surface and is movable, including moving about a movable axis.

[0008] In this detection device, the optical paths of the first beam, the second beam, and the third beam all pass through the same reflective surface of the scanning module. The first beam represents the transmitting optical path of the transmitting module, the second beam represents the receiving optical path of the first receiving module, and the third beam represents the receiving optical path of the second receiving module. As the scanning module moves, the angular relationship between the reflective surface and the beam passing through it continuously changes, altering the angle of the beam passing through the reflective surface of the scanning module. The scanning module includes one or more scanning devices such as a swing mirror, a rotating mirror, and a galvanometer. The swing mirror's axis of movement is a swing axis, the rotating mirror's axis of movement is a rotating axis, and the galvanometer's axis of movement is a pre-designed component that supports its movement.

[0009] In the above scheme, the detection device includes two sets of receiving modules, enabling the reception of two echoes from a single transmission. This increases the point cloud density in the echoes and improves the resolution of the detection device. Furthermore, the fields of view of the two receiving modules are staggered, meaning they at least partially do not overlap, increasing the field of view (FOV) of the detection device. Simultaneously, employing a scanning module to perform scanning detection of the object space further improves resolution and increases the FOV. Since two receiving modules and one transmitting module are used, the matching degree between the receiving fields of view of the two receiving modules and the transmitting field of view of the transmitting module is crucial to the performance of the detection device.

[0010] Consider a possible scenario where the scanning module includes multiple reflective surfaces. Due to manufacturing processes and application environments, surface differences and / or tower differences inevitably exist between these surfaces. The same light beam will exhibit different pointing angles when passing through reflective surfaces with different positional relationships. For example, consider a rotating mirror comprising reflective surfaces R1 and R2. Reflective surfaces R1 and R2 have surface differences and / or tower differences. For the same light beam, when passing through reflective surface R1, it will fall into region A, but when passing through reflective surface R2, it will deviate from region A. That is, the pointing angle of a light beam emitted from the two reflective surfaces differs. This pointing angle difference leads to differences in the position of the light spot on the receiving array of the receiving module, resulting in significant differences in the energy distribution of the received beam by the two receiving modules. This leads to low matching of the point cloud data obtained by the two receiving modules, affecting the backend algorithm processing and consequently impacting the performance of the detection device. Furthermore, the reflective surface through which the beam emitted by the transmitting module passes may not be the same as the reflective surface through which one (or even two) receiving modules receive the beam. This causes a significant deviation between the field of view of the transmitting module and the field of view of the receiving module on the opposite side due to the difference in reflective surfaces, which also affects the difference in energy distribution of the light spot on the receiving array.

[0011] In the above scheme, the beam emitted by the transmitting module and the beams received by the two receiving modules all pass through the same reflective surface of the scanning module, which can improve the matching degree of the light spots received by multiple receiving modules, significantly reduce the energy distribution difference caused by the difference of the reflective surface of the scanning module (such as surface difference, tower difference, or abnormality of some reflective surfaces), and improve the performance stability of the detection device.

[0012] In summary, this application can improve the performance of the detection device while ensuring a large FOV and high resolution, and the performance is stable.

[0013] Optionally, the second beam and the third beam are two independent beams, which pass through a scanning module and then enter different receivers. Independent receiving optical paths can improve the detection accuracy of each receiving beam.

[0014] In one possible implementation of the first aspect, the transmitting module, the first receiving module, and the second receiving module are located on the same side of the scanning module. As one possible implementation, the extension direction of the active axis of the scanning module is the Y direction, the direction in which the first beam enters the scanning module is the X direction, and the Z direction is a direction perpendicular to both the Y and X directions. Along the X-axis, relative to the YOZ plane, the transmitting module, the first receiving module, and the second receiving module are located on the same side of the scanning module. Point O is the intersection of the X, Y, and Z directions, and can be exemplarily used as the origin.

[0015] Since the transmitting optical path of the transmitting module, the receiving optical path of the first receiving module, and the optical path of the second receiving module all pass through the same reflective surface of the scanning module, the light ports of the transmitting module, the first receiving module, and the second receiving module can face the same reflective surface directly or indirectly. Designing all three on one side of the scanning module makes it easier to achieve an optical path design where all three optical paths pass through the same reflective surface.

[0016] Optionally, the scanning module includes a rotating mirror with multiple reflective surfaces, such as a double-sided, three-sided, four-sided, or five-sided rotating mirror. A double-sided rotating mirror has two reflective surfaces for scanning, a three-sided rotating mirror has four reflective surfaces for scanning, and so on. Further, along the rotation axis, the ground and top surfaces of the rotating mirror are positioned opposite each other, and the reflective surfaces are located on the sides of the rotating mirror.

[0017] Alternatively, the scanning module can be a pendulum mirror, which includes one or two reflective surfaces. For example, the pendulum mirror can swing back and forth along a pendulum axis.

[0018] In another possible implementation of the first aspect, the first receiving module includes a first detector and a first receiving optical component, and the second light beam propagates through the first receiving optical component to the first detector. The second receiving module includes a second detector and a second receiving optical component, and the third light beam propagates through the second optical component to the second detector.

[0019] The first receiving optical assembly includes a receiving lens for a first receiving module, and the second receiving optical assembly includes a receiving lens for a second receiving module. The first and second receiving modules use independent receiving optical assemblies, enabling independent dual-channel reception. This improves the resolution of the detection data obtained by each receiving module and enhances detection accuracy, even when the receiving aperture of each module is affected.

[0020] In another possible implementation of the first aspect, the first receiving optical component and the first detector are integrated. For example, the first detector is integrated on a circuit board, the first receiving optical component is fixedly disposed inside a first lens barrel, the first lens barrel is fixedly connected to the circuit board on which the first detector is disposed, and the first lens barrel covers the first detector. This integrated design can reduce the size of the detection device, improve the stability of the receiving module, and improve the performance stability of the detection device.

[0021] In another possible implementation of the first aspect, the second receiving optical component and the second detector are integrated. For example, the second detector is integrated on a circuit board, the second receiving optical component is fixedly disposed inside a second lens barrel, the second lens barrel is fixedly connected to the circuit board on which the second detector is disposed, and the second lens barrel covers the first detector.

[0022] In another possible implementation of the first aspect, the focal length of the first receiving optical component is different from that of the second receiving optical component. In this way, the first receiving module and the second receiving module can work together, enabling the detection device to simultaneously possess a large field of view (FOV) and high resolution.

[0023] For example, the first receiving optical component is a short focal length, and the first receiving module is used to achieve a large field of view (FOV). The second receiving optical component is a long focal length, and the first receiving module is used to achieve a high resolution.

[0024] In another possible implementation of the first aspect, the detection device further includes a reflector for reflecting the first beam from the transmitting module to the reflecting surface of the scanning module.

[0025] In the above scheme, a reflector can be set in the detection device. The reflector is used to deflect the emitted light path, making the position design of the emission module more flexible and adaptable to various optical path design requirements.

[0026] In another possible implementation of the first aspect, the orientation of the light output port of the transmitting module is different from the orientation of the light input port of the first receiving module, and a reflector is disposed in the optical path between the first receiving module and the scanning module, and the first beam and the second beam after passing through the reflector are coaxial.

[0027] In the above embodiments, the coaxial optical path design of the transmitting module and the first receiving module can significantly reduce the parallax between them, improve the matching degree between the transmitting field of view and the field of view of the first receiving module, improve the accuracy of the detection results received by the first receiving module, and help improve the performance of the detection device.

[0028] Furthermore, the light inlet of the first receiving module is opposite to the reflective surface of the scanning module. This simplifies the components in the detection device, achieving optimal size and cost.

[0029] In another possible implementation of the first aspect, the orientation of the light output port of the transmitting module is different from the orientation of the light input port of the first receiving module, and a reflector is disposed in the optical path between the first receiving module and the scanning module, and / or in the optical path between the second receiving module and the scanning module, and the principal optical axis of the first beam and the principal optical axis of the second beam after passing through the reflector are not coaxial.

[0030] In this way, the reflector does not need to be placed on the optical axis of the first and second receiving modules, which can reduce the influence of the reflector on the amount of light entering the first and second receiving modules, reduce stray light inside the detection device, and help improve the effectiveness of the beam received by the detection device.

[0031] In another possible implementation of the first aspect, along the first direction (X direction), the orthographic projection of the reflector onto the first plane coincides with the orthographic projection of the first receiving module onto the first plane, and the orthographic projection of the reflector onto the first plane coincides with the orthographic projection of the second receiving module onto the first plane. The first direction is the direction in which the first beam exits from the reflector. The first plane is a plane perpendicular to the first direction.

[0032] In the above scheme, the reflector is positioned between the optical paths of the first and second receiving modules. Both the transmitter and the two receiving modules form a paraxial optical path, but the reflector reduces the impact on the receiving aperture of a single receiving module and the amount of light entering the receiving module, which helps to ensure the ranging capability of the detection device.

[0033] In another possible implementation of the first aspect, the transmitting module is disposed on the first circuit board, and the first receiving module is disposed on the second circuit board. Both the transmitting and receiving modules are electrically driven. Furthermore, both the transmitting and receiving modules are fixedly connected to the circuit boards.

[0034] Because the transmitting module has high power, separating the transmitting and receiving modules and driving them on two separate circuit boards can reduce the heat dissipation pressure on the detection device.

[0035] In another possible implementation of the first aspect, the light output port of the transmitting module, the light input port of the first receiving module, and the light input port of the second receiving module face the same direction. The transmitting module, the first receiving module, and the second receiving module are arranged along a second direction, which is perpendicular to the rotation axis of the scanning module.

[0036] In the above embodiment, the three modules are arranged in the same direction, which reduces the number of reflecting elements such as mirrors, reduces stray light inside the detection device, reduces the impact on the aperture of the receiving module, and ensures the ranging capability of the receiving module.

[0037] In another possible implementation of the first aspect, the transmitting module and the second receiving module are arranged along a second direction. The first receiving module and the second receiving module are arranged along the second direction, and the transmitting module and the first receiving module are arranged along a third direction, which is parallel to the rotation axis of the scanning module. Further, along the Z direction, the orthographic projection portions of the transmitting module and the second receiving module coincide, and the orthographic projection portions of the first receiving module and the second receiving module also coincide.

[0038] In the above implementation, the three modules are arranged in a two-dimensional staggered manner, which can reduce the problem of increased height or depth caused by unidirectional arrangement. At the same time, the size requirements of the scanning module are also reduced, which is in line with the development direction of miniaturization and high integration of detection devices.

[0039] In another possible implementation of the first aspect, the light output port of the transmitting module, the light input port of the first receiving module, and the light input port of the second receiving module all face the scanning module. This simplifies the components in the detection device, achieving optimal size and cost.

[0040] In another possible implementation of the first aspect, the transmitting module, the first receiving module, and the second receiving module are disposed on the same circuit board. This simplifies the components in the detection device, greatly improves the integration of the detection device, and achieves optimal size and cost.

[0041] In another possible implementation of the first aspect, both the first receiving module and the second receiving module are disposed on the same circuit board.

[0042] In another possible implementation of the first aspect, the field of view of the first field of view is greater than that of the second field of view. In the above scheme, the first receiving module is used to achieve a large FOV of the detection device, while the second receiving module is used to achieve high-resolution detection, which can improve the resolution of the detection device while ensuring that the detection device has a large FOV.

[0043] Secondly, this application provides a lidar, wherein the lidar includes a detection device as described in the first aspect or any one of the first aspects and at least one circuit board. The transmitting module, the first receiving module, and the second receiving module of the detection device are disposed on at least one circuit board.

[0044] Furthermore, the lidar also includes a housing, and the transmitting module, the first receiving module, the second receiving module, and the scanning module in the detection device are all fixedly connected to the housing. Optionally, the housing includes a bottom shell, and the aforementioned scanning module and at least one circuit board are fixedly connected to the bottom shell, while the transmitting module, the second receiving module, and the second receiving module are fixedly connected to at least one circuit board.

[0045] Optionally, the scanning module includes a rotating mirror, and / or a tilting mirror. For example, the scanning module includes both a tilting mirror and a rotating mirror to achieve two-dimensional scanning.

[0046] Thirdly, this application also provides a terminal, which includes the lidar of the second aspect, or the detection device described in the first aspect or any one of the first aspects.

[0047] The beneficial effects of the second and third aspects of this application can be found in the beneficial effects of the solution in the first aspect. Attached Figure Description

[0048] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0049] Figure 1 is a schematic diagram of the architecture of a detection device;

[0050] Figure 2 is a schematic diagram of the detection range of the two receiving ends of the detection device;

[0051] Figure 3 is a schematic diagram illustrating the differences between the two reflective surfaces;

[0052] Figure 4 is a schematic diagram of the energy distribution of the four light spots;

[0053] Figure 5 shows the positions of the four light spots falling in the receiver array;

[0054] Figure 6 is a schematic diagram of a detection device provided in an embodiment of this application;

[0055] Figure 7 is a schematic diagram of a receiving module provided in an embodiment of this application;

[0056] Figure 8 is a cross-sectional view of the receiving module shown in Figure 7 along line AA'.

[0057] Figure 9 is a schematic diagram of another possible detection device provided in an embodiment of this application;

[0058] Figure 10 is a schematic diagram of the optical path of a detection device provided in an embodiment of this application;

[0059] Figure 11 is a schematic diagram showing the positional relationship between a reflector and a first receiving module according to an embodiment of this application;

[0060] Figure 12 is a schematic diagram of the optical path of another detection device provided in an embodiment of this application;

[0061] Figure 13 is a schematic diagram showing the positional relationship between a reflector, a first receiving module, and a second receiving module according to an embodiment of this application.

[0062] Figure 14 is a schematic diagram of the optical path of another detection device provided in an embodiment of this application;

[0063] Figure 15 is a schematic diagram of another detection device provided in an embodiment of this application;

[0064] Figure 16 is a schematic diagram of another detection device provided in an embodiment of this application;

[0065] Figure 17 is a schematic diagram of another detection device provided in an embodiment of this application;

[0066] Figure 18 is a schematic diagram of another detection device provided in an embodiment of this application;

[0067] Figure 19 is a schematic diagram of another detection device provided in an embodiment of this application;

[0068] Figure 20 is a schematic diagram of another detection device provided in an embodiment of this application;

[0069] Figure 21 is a schematic diagram of the positions of a first field of view and a second field of view provided in an embodiment of this application;

[0070] Figure 22 is a schematic diagram showing the positions of a first field of view and a second field of view according to an embodiment of this application;

[0071] Figure 23 is a schematic diagram showing the positions of a first field of view and a second field of view according to an embodiment of this application;

[0072] Figure 24 is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0073] Detection devices such as lidar, which use laser beams to probe the object space, are widely used in various industries. Currently, the architecture of mainstream detection devices has entered the semi-solid-state or all-solid-state stage. A typical detection device architecture includes a transmitter (TX), a receiver (RX), and a scanning mechanism. The transmitter emits a laser, the receiver receives the laser beam from the object space (including the echo of the emitted laser), and the scanning mechanism performs scanning. Due to the limitations of the detector array at the receiver, it is difficult for detection devices to simultaneously achieve a large field of view (FOV) and high resolution.

[0074] To simultaneously achieve the performance requirements of a large field of view (FOV) and high resolution, some detection devices use dual receivers. Please refer to Figure 1, which is a schematic diagram of a detection device architecture. This device includes a transmitting module TX, a first receiving module RX1, a second receiving module RX2, and a rotating mirror. The rotation direction of the mirror is only for illustrative purposes. Please refer to Figure 2, which is a schematic diagram of the detection range of the two receiving ends of the detection device. Combining Figures 1 and 2, it can be seen that the first receiving module RX1 has a larger field of view and is mainly used for detecting close-range targets, achieving a large FOV. The second receiving module RX2 has a smaller field of view and is mainly used for detecting distant targets, achieving a high resolution. Of course, the above field of view design is one possible scenario; in specific implementations, the field of view of the receiving modules may have other designs, and the ranging range may also have other designs.

[0075] In a dual-receiver architecture, the relative positions of the transmitter, the two sets of receivers, and the rotating mirror significantly impact the performance of the detection device. Since the detection device uses two receiver modules, the matching degree between the receiving field of view of the two receiver modules and the transmitting field of view of the transmitter module is crucial to the device's performance.

[0076] Referring to Figure 1, the transmitting module TX and the first receiving module RX1 are positioned on one side of the rotating mirror, while the second receiving module RX2 is positioned on the other side. Since the rotating mirror comprises multiple reflecting surfaces, their relative positions can easily differ. For example, referring to Figure 3, taking a rotating mirror with four reflecting surfaces (R1, R2, R3, and R4), the relative angles (i.e., surface differences) of the four reflecting surfaces observed along the rotation axis yield the schematic diagram of part (a) of Figure 3. Ideally, the angles between reflecting surfaces R1 and R4 (i.e., β1, β2, β2, and β4) are all right angles, but in reality, the angle β2 between reflecting surface R2 and R1 may exhibit surface difference deviations. Similarly, when observing the tilt angle (i.e., tower difference) between the reflecting surface and the bottom surface of the rotating mirror in a direction perpendicular to the axis of rotation, ideally, the angles of reflecting surface R1 and reflecting surface R2 relative to the bottom surface are the same. However, in reality, there is a tower difference deviation between reflecting surface R4 and reflecting surface R2, as shown in part (b) of Figure 3. That is, the angle α1 between reflecting surface R4 and the bottom surface is different from the angle α2 between reflecting surface R2 and the bottom surface.

[0077] For two surfaces with tower difference and / or surface difference, the same returning beam will have a different pointing angle when it reaches these two surfaces, causing the beam spot to jitter. Please refer to Figure 4, where parts (a), (b), (c), and (d) illustrate four possible energy distributions of the beam spot. In one possible scenario, the energy distribution of the beam spot received by the receiving module is shown in part (a) of Figure 4. In part (b) of Figure 4, the beam spot shifts left and right. In part (c) of Figure 4, the beam spot shifts up and down. In part (d) of Figure 4, the beam spot tilts or rotates.

[0078] The receiving module includes an array detector, which acquires the energy of the light spot. This energy can be converted into an electrical signal and processed to obtain detection results (such as point cloud data). Light spot jitter affects its position on the receiver array, thus impacting the accuracy of the detection results. See Figure 5, which shows the positions of four different light spots within the receiver array. The light spot shown in part (a) of Figure 4 is positioned as shown in part (a) of Figure 5. As shown in parts (b), (c), and (d) of Figure 5, when the light spot shifts or rotates, its position on the array receiver changes accordingly, causing changes in the data output by the detector. For two receivers located on opposite sides of the rotating mirror, when the energy distribution of the light spots acquired by the two receivers differs, the difficulty of data registration increases. When stitching or fusing the data acquired by the two receivers, the accuracy of the results decreases. For example, it may be impossible to accurately measure the reflectivity of the target, reduce the maximum detection distance of the detection device, and decrease the ranging accuracy. Furthermore, some light spots may deviate from the area where the receiver array can acquire the energy of the echo, as shown in part (d) of Figure 5, i.e., fall into the area where the energy of the echo cannot be acquired, causing energy loss of the light spot and further reducing the ranging capability and detection accuracy. In summary, under the existing architecture, the differences between the reflective surfaces of the rotating mirrors affect the performance stability of the detection device.

[0079] In view of this, this application provides a detection device, lidar, and terminal that can improve the matching degree of light spots received by multiple receiving modules, significantly reduce the energy distribution difference caused by the difference in the reflective surface of the rotating mirror (such as surface difference, tower difference, etc.), improve the performance of the detection device, and improve the performance of the detection device while ensuring a large FOV and high resolution, and the performance is stable.

[0080] Please refer to Figure 6, which is a schematic diagram of a detection device provided in an embodiment of this application. The detection device 100 includes a transmitting module 10, a first receiving module 21, a second receiving module 22, and a scanning module 30. The following describes each module in detail:

[0081] The emitting module 10 is used to emit a first beam, such as beam L1. The emitting module 10 includes a laser, and the beam emitted by the emitting module 10 is generated by the laser. Exemplarily, the emitting module may include one or more of the following lasers: vertical cavity surface emitting laser (VCSEL), photonic crystal surface emitting semiconductor laser (PCSEL), edge emitting laser (EEL), laser diode (LD), distributed feedback laser diode (DFB-LD), grating coupled sampling reflection laser diode (GCSR-LD), or micro opto-electro-mechanical system laser diode (MOEMS-LD), etc. Furthermore, the transmitting module also includes a transmitting optical assembly, which includes one or more optical elements, such as lenses (including lens groups formed by multiple lenses), microlenses, metalenses, collimating optical systems, beam expanders, homogenizers, optical shaping devices, polarizing optical elements, etc.

[0082] Receiving modules, such as the first receiving module 21 and / or the second receiving module 22, are used to receive light beams. For ease of description, the light beam received by the first receiving module 21 is referred to as the second light beam L2, and the light beam received by the second receiving module 22 is referred to as the third light beam L3. It should be understood that the light beams L1, L2, and L3 shown herein can exemplarily represent optical paths. Generally, the light beams received by the first receiving module 21 and the second receiving module 22 include the echo (or return light) of the emitted light beam, thereby enabling the back-end processing module to calculate relevant information about the target in the object space based on the characteristics of the echo, such as one or more of the following: distance, velocity, reflectivity, color, size, or texture.

[0083] The receiving module includes a detector. The detector may include one or more detection elements, such as a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), an avalanche photodetector (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD). The detector typically contains multiple detection elements, which can be arranged in an array to form a detector array. For example, the first receiving module 21 and the second receiving module 22 include a SPAD array.

[0084] Furthermore, the receiving module also includes a receiving optical component, and the transmitting optical component includes one or more optical elements, such as lenses (including lens groups formed by multiple lenses), microlenses, metalenses, light homogenizers, light shaping devices, filters, beam splitters, polarizing optical elements, etc.

[0085] Optionally, in the embodiments of this application, the first receiving module 21 and the second receiving module 22 may share the same back-end system on chip (SoC) chip, or they may be connected to two different back-end SoC chips respectively. The embodiments of this application do not limit this.

[0086] The scanning module 30 includes at least one reflective surface. During operation, the scanning module can move around a movable axis, reflecting the incident light beam at different angles; that is, rotation of the scanning module changes the angle of the light beam passing through its reflective surface. Optionally, if the scanning module includes multiple reflective surfaces, the angle of each reflective surface can change sequentially.

[0087] In some possible implementations, the scanning module includes one or more scanning devices such as a swing mirror, a rotating mirror, and a galvanometer. The movable axis of the swing mirror is a swing axis, the movable axis of the rotating mirror is a rotating axis, and the movable axis of the galvanometer is also a pre-designed component that can support the movement of the galvanometer.

[0088] It should be understood that Figure 6 and other embodiments described herein use a rotating mirror as an example for illustration, and the rotation direction shown in Figure 6 is merely an example. However, this application is equally applicable to scanning modules that include other scanning mechanisms. In some embodiments, the scanning module 30 includes a rotating mirror, with multiple reflective surfaces of the rotating mirror mounted on the main body of the rotating mirror in the form of patches. In other embodiments, the multiple reflective surfaces of the rotating mirror and the main body of the rotating mirror are integrated into a single design. Optionally, the number of reflective surfaces included in the rotating mirror can be designed in various ways. For example, the rotating mirror can be a double-sided rotating mirror, a three-sided rotating mirror, a four-sided rotating mirror, a five-sided rotating mirror, etc. Among them, a double-sided rotating mirror has two reflective surfaces for scanning, a three-sided rotating mirror includes four reflective surfaces for scanning, and so on. Further, along the rotation axis direction, the ground and top surfaces of the rotating mirror are arranged opposite to each other, and the reflective surfaces are arranged on the sides of the rotating mirror. In yet other embodiments, the scanning module includes a swing mirror, which includes one or two reflective surfaces. Exemplarily, the swing mirror can swing back and forth along the swing axis.

[0089] In this embodiment, the transmitting module 10 transmits a first beam, denoted by L1, which propagates to the object space via the scanning module 30. The first receiving module 21 receives a second beam, denoted by L2, from the object space. The second beam L2 propagates to the first receiving module 21 via the scanning module 30 and includes the echo of the first beam. The second receiving module 22 receives a third beam, denoted by L3, from the object space. The third beam L3 propagates to the second receiving module 22 via the scanning module 30 and also includes the echo of the first beam. The first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module do not overlap at least partially (possible implementations are described below). The detection data corresponding to the first field of view and the detection data corresponding to the second field of view can be stitched or fused. The detection result obtained by stitching or fusion can meet the requirements of large FOV and high resolution, enabling the detection device to simultaneously possess the performance of large FOV and high resolution. Optionally, the echo of the first beam included in the second beam and the echo of the first beam included in the third beam are different echoes.

[0090] The optical paths of the first beam L1, the second beam L2, and the third beam L3 all pass through the same reflective surface of the scanning module 30. Specifically, the optical path of the first beam L1 is the same as the optical path of the transmitting module 10 (i.e., the transmitting optical path), the optical path of the second beam L2 is the same as the optical path of the first receiving module 21 (i.e., a set of receiving optical paths), and the optical path of the third beam L3 is the same as the optical path of the second receiving module 22 (i.e., another set of receiving optical paths). In other words, the reflective surface through which the transmitted beam passes and the echo of the transmitted beam pass through the same reflective surface of the scanning module. That is, during the rotation of the scanning module, the transmitted beam passes through reflective surface 1, and the echo of the transmitted beam also passes through reflective surface 1. Furthermore, the time interval between the transmitted beam and the echo is insufficient for the scanning module to complete one rotation; the transmitted beam and the echo pass through the same reflective surface during the same rotation. For example, taking the scanning module 30 including a rotating mirror as an example, the rotating mirror includes a reflecting surface R1. During one detection process (i.e., transmitting and receiving waves), the light beam emitted by the first receiving module 10, the light beam received by the first receiving module 21, and the light beam received by the second receiving module 22 all pass through the reflecting surface R1 of the scanning module 30. Furthermore, during the aforementioned one detection process, the reflecting surface R1 through which the emitted light beam passes and the reflecting surface R1 through which the received light beam passes are located within the same scan circle, that is, the scanning module 30 has not yet switched to the next reflecting surface.

[0091] Because the beam emitted by the transmitting module and the beams received by the two receiving modules both pass through the same reflective surface of the scanning module, the energy distribution of the beam emitted by the transmitting module and the energy distribution of the beams received by the two receiving modules are matched. This greatly reduces beam jitter and significantly reduces the energy distribution difference caused by differences in the reflective surfaces of the scanning modules (such as surface difference, tower difference, etc.). This improves the accuracy of target reflectivity detection, enhances the ranging capability and accuracy of the detection device, and improves the performance stability of the detection device.

[0092] In summary, the embodiments of this application can improve the performance of the detection device and make the performance of the detection device stable while ensuring a large FOV and high resolution.

[0093] In some possible implementations, the transmitting module 10, the first receiving module 21, and the second receiving module 22 are located on the same side of the scanning module 30. As shown in Figure 6, the transmitting module 10, the first receiving module 21, and the second receiving module 22 are located on the right side of the scanning module 30; however, this positional relationship is merely an example. Furthermore, the light-transmitting ports of the transmitting module, the first receiving module, and the second receiving module can directly or indirectly (e.g., after being refracted by a reflector) face the same reflective surface of the scanning module 30. Designing all three on one side of the scanning module makes it easier to implement an optical path design where three optical paths pass through the same reflective surface.

[0094] In some possible implementations, the field of view of the first field of view is larger than that of the second field of view. In this case, the first receiving module 21 is used to achieve a large field of view (FOV) for the detection device, while the second receiving module 22 is used to achieve high-resolution detection, which can improve the resolution of the detection device while ensuring that the detection device has a large FOV.

[0095] In some possible implementations, referring to Figures 7 and 8, the first receiving module 21 includes a first detector 2101 and a first receiving optical component 2102. Further, the second beam, after passing through the scanning module 30, propagates through the first receiving optical component 2102 to the first detector 2101. The light-passing port of the first receiving module 21, or light-inlet port of the first receiving module 21, is the end of the first receiving optical component 2102 furthest from the first detector 2101.

[0096] Furthermore, the first receiving optical component 2102 and the first detector 2101 are integrated. For example, referring to Figures 7 and 8, the first receiving module includes the first detector 2101, the first receiving optical component 2102, and the first lens barrel 2103. The first detector 2101 is integrated onto a circuit board. The first receiving optical component 2102 is fixedly disposed within the first lens barrel 2103. The first lens barrel 2103 is fixedly connected to the circuit board on which the first detector 2101 is disposed, and the first lens barrel 2103 covers the first detector 2101. In other words, the first receiving optical component 2102 is used to receive the second light beam, which propagates within the first lens barrel and reaches the first detector 2101.

[0097] Similarly, the structure of the second receiving module 22 is the same as that of the first receiving module 21. The first and second receiving modules use independent receiving optical components to achieve independent dual-path reception, which can improve the resolution of the detection data obtained by each receiving module and improve the detection accuracy without affecting the receiving aperture of each receiving module.

[0098] Furthermore, the optical parameters of the second receiving optical component may differ from those of the first receiving optical component. For example, the first receiving optical component may be a short focal length, used to achieve a large field of view (FOV). Conversely, the second receiving optical component may be a long focal length, used to achieve a high resolution.

[0099] It should be understood that the positional relationship between the transmitting module 10, the first receiving module 21, and the second receiving module 22 shown in Figure 6 is merely an example. The following description, in conjunction with the accompanying drawings, introduces some possible embodiments of this application. The embodiments provided in this application and the various possible implementations can be implemented individually or in combination.

[0100] Please refer to Figure 9, which is a schematic diagram of another possible detection device provided in an embodiment of this application. The detection device 100 also includes a reflector 40, which is used to reflect the first light beam from the transmitting module 10 to the scanning module 30. For example, at a certain moment, the first light beam can be reflected onto the reflecting surface of the scanning module 30. As the scanning module 30 rotates, the reflecting surface of the scanning module 30 reflects the first light beam into the object space at different angles.

[0101] The following describes several possible placement positions for the reflector 40, as well as the design of the positional relationship between the transmitting module and other components:

[0102] In one possible design, the orientation of the light-emitting port of the transmitting module 10 is different from the orientation of the light-in port of the first receiving module 21, and the reflector 40 is disposed in the optical path between the first receiving module 21 and the scanning module 30. Further, referring to Figure 10, the first and second beams after passing through the reflector 40 are coaxial. The light-in port (or light-passing port) of the transmitting module 10 refers to the end from which the transmitting module 10 emits the light beam. For example, the transmitting module 10 includes an emitting optical component and a laser, and the light-emitting port is the end of the emitting optical component away from the light source. In some cases, the transmitting module 10 includes a lens barrel, an emitting optical component, and a laser. The light beam emitted by the laser propagates within the lens barrel, passes through the emitting optical component, and extends to the outside of the lens barrel. The port of the lens barrel closest to the emitting optical component is the light-emitting port.

[0103] Referring to Figures 9 and 10, using an exemplary coordinate system, the light outlet of the transmitting module 10 faces the positive Z-axis, while the light inlet of the first receiving module 21 faces the positive X-axis. In this case, the optical axes of the first beam emitted by the transmitting module 10 and the second beam received by the first receiving module are different. A reflector 40 can be designed between the scanning module 30 and the first receiving module 21. The reflector 40 can refract the beam from the transmitting module 10, making the direction of the first beam opposite to the direction of the second beam after passing through the scanning module 30. Furthermore, the first and second beams after passing through the reflector 40 are coaxial. With the first and second beams coaxial, the emission field of view of the transmitting module 10 and the reception field of view of the first receiving module 21 are aligned, without introducing parallax, thus improving the accuracy of the detection results obtained by the first receiving module 21.

[0104] Furthermore, the light inlet of the first receiving module 21 is opposite to the reflective surface of the scanning module 30. The light beam passing through the scanning module 30 can directly reach the first receiving module 21 without being refracted by a reflector. In this way, the components in the detection device can be simplified, achieving optimal size and cost of the detection device.

[0105] In some possible implementations, along the first direction, the orthographic projection of the reflector 40 onto the first plane coincides with the orthographic projection of the first receiving module 21 onto the first plane. Further, the orthographic projection of the first receiving module 21 onto the first plane partially or completely covers the orthographic projection of the reflector 40 onto the first plane. The first direction is the direction in which the first light beam exits from the reflector, and the first plane is a plane perpendicular to the first direction.

[0106] Referring to Figures 10 and 11, the first direction is the X direction, which is the direction in which the first beam exits from the reflector. The third direction (Y direction) is the direction that extends parallel to the rotation axis and is perpendicular to the first direction. The second direction (Z direction) is the direction that is perpendicular to both the first and third directions. The first plane is the YOZ plane. Along the X direction, the orthographic projection of the first receiving module 21 in the YOZ direction covers the orthographic projection of the reflector in the YOZ direction.

[0107] Optionally, the field of view of the first receiving module 21 is greater than that of the second receiving module 22. Alternatively, the distance measurement capability of the first receiving module 21 is lower than that of the second receiving module 22. Alternatively, the aperture of the first receiving module 21 is smaller than that of the second receiving module 22. In the above cases, the aperture of the first receiving module 21 is smaller than that of the second receiving module 22, and the second receiving module 22 is used to achieve high resolution, which is more affected by the amount of light received. The influence of placing a reflector in front of the first receiving module 21 is smaller than the influence of placing a reflector in front of the second receiving module 22, which can ensure the optimal overall performance of the detection device.

[0108] In some possible implementations, the orientation of the light outlet of the transmitting module 10 is different from the orientation of the light inlet of the first receiving module 21. The reflector 40 is disposed between the first receiving module 21 and the scanning module 30, or between the second receiving module 22 and the scanning module 30. The principal optical axes of the first beam and the second beam after passing through the reflector are not coaxial. That is, the transmitting module 10 and the first receiving module 21 can also be designed as a bypass. In this way, the reflector does not need to be disposed on the optical axis of the first receiving module 21 and the second receiving module 22, which can reduce the influence of the reflector on the amount of light entering the first receiving module 21 and the second receiving module 22, reduce stray light inside the detection device 100, and help improve the effectiveness of the beam received by the detection device 100.

[0109] As one possible implementation, as shown in Figure 12, the reflector 40 is disposed between the entire first receiving module 21 and the second receiving module 22 and the scanning module 30. Of course, this situation can also be viewed as the reflector 40 being disposed between the first receiving module 21 and the scanning module 30, or as the reflector 40 being disposed between the second receiving module 22 and the scanning module 30.

[0110] Furthermore, referring to Figures 12 and 13, along the first direction (the X direction as shown in Figure 11), the orthographic projection of the reflector 40 on the first plane (the YOZ plane as shown in Figure 12) coincides with the orthographic projection of the first receiving module 21 on the first plane, and the orthographic projection of the reflector 40 on the first plane coincides with the orthographic projection of the second receiving module 22 on the first plane. Furthermore, the first direction can be the direction in which the first beam exits from the reflector 40, and the first plane can be a plane perpendicular to the first direction. In summary, by placing the reflector 40 in the middle of the optical path of the first receiving module 21 and the second receiving module 22, both the emission and the two sets of receivers form a paraxial optical path. The influence of the reflector 40 on the receiving aperture of a single receiving module is reduced, and the influence on the amount of light entering the receiving module is also reduced, which helps to ensure the ranging capability of the detection device 100.

[0111] Alternatively, the position of the reflector 40 can also be designed in a variety of other ways. For example, referring to Figure 14, the reflector can be positioned between the first receiving module 21 and the scanning module 30, and along the Y direction, the reflector 40 is positioned at the end of the first receiving module 21 away from the second receiving module 22.

[0112] In the example above, only the light path of the transmitting module 10 is deflected by the reflector 40. In a specific implementation, the light beams received by the first receiving module 21 and / or the second receiving module 22 are also deflected by the reflector 40. Two more possible designs are described below:

[0113] In another possible design, as shown in Figure 15, the light beam emitted by the transmitting module 10, the light beam received by the first receiving module 21, and the light beam received by the second receiving module 22 are all deflected by the reflector 40. In this case, the light-transmitting ports of the transmitting module 10, the first receiving module 21, and the second receiving module 22 all face the same direction. By deflecting the light with the reflector, the width of the detection device 100 can be reduced, and the dimension in the X direction, as shown in Figure 15, can be reduced, thereby adapting to various possible appearance or installation designs of the detection device.

[0114] In another possible design, as shown in Figure 16, the light beam emitted by the transmitting module 10 and the light beam received by the second receiving module 22 are deflected by the reflector 40, while the light beam received by the first receiving module 21 is not deflected by the reflector 40. In this case, the light-transmitting ports of the transmitting module 10 and the second receiving module 22 face the same direction, but their light-transmitting ports face different directions than those of the first receiving module 21. By deflecting the light paths of the transmitting module and the receiving module using a reflector, the optical path design, appearance design, or installation design of various possible detection devices can be adapted.

[0115] The second receiving module 22 and the first receiving module 21 shown in Figure 16 can be interchanged.

[0116] In some other possible designs, the reflector 40 is used to deflect the light beam received by the first receiving module 21 and / or the light beam received by the second receiving module 22; that is, the light beam emitted by the transmitting module 10 does not undergo deflection before reaching the scanning module 30. As shown in Figures 17 and 18, alternatively, the positions of the first receiving module 21 and the second receiving module 22 in Figure 18 can be interchanged. There are various possibilities regarding the position of the reflector 40; the transmitting module 10 may be coaxially designed with one of the receiving modules (e.g., the first receiving module 21), or both may be off-axis designed, as described above.

[0117] The foregoing has described some possible implementations of using a reflector to deflect the beam of the transmitting module. In other schemes, the optical paths of the transmitting module 10, the first receiving module 21, and the second receiving module 22 do not pass through a reflector, as shown in the embodiments in Figures 19 and 20.

[0118] Please refer to Figure 19, which is a schematic diagram of another detection device provided in an embodiment of this application. The light-transmitting ports of the transmitting module 10, the first receiving module 21, and the second receiving module 22 in the detection device 100 face the same direction. Furthermore, the light-transmitting ports of the transmitting module 10, the first receiving module 21, and the second receiving module 22 are all relative to the scanning module 30. This reduces the need for reflectors and other deflecting elements, reduces stray light inside the detection device, minimizes the impact on the aperture of the receiving module, and ensures the ranging capability of the receiving module.

[0119] In some possible implementations, referring to FIG19, the transmitting module 10, the first receiving module 21 and the second receiving module 22 are arranged along a second direction (such as the Z direction), which is perpendicular to the rotation axis of the scanning module 30.

[0120] In some possible implementations, referring to Figure 20, the transmitting module and the second receiving module are arranged along a second direction (e.g., the Z direction). The first receiving module and the second receiving module are arranged along the second direction (e.g., the Z direction), and the transmitting module and the first receiving module are arranged along a third direction (e.g., the Y direction), which is parallel to the movable axis of the scanning module, such as the rotation axis of a rotating mirror or the swing axis of a tilting mirror. Referring to Figure 20, along the third direction, the orthographic projection of the transmitting module 10 on the XOY plane partially coincides with the orthographic projection of the first receiving module 21 on the XOY plane, while the orthographic projection of the second receiving module 22 on the XOY plane partially coincides with the orthographic projection of the first receiving module 21 on the XOY plane. In this way, the three modules are arranged in a two-dimensional staggered manner, which can reduce the problem of increased height or depth caused by single-direction arrangement, and at the same time reduce the size requirements of the scanning module, which is in line with the miniaturization and high integration development direction of detection devices.

[0121] It should be understood that when all three modules pass through the scanning module, as shown in Figure 15, the arrangement shown in Figure 19 or Figure 20 can also be used. Taking the arrangement shown in Figure 20 as an example, combined with Figure 15, the transmitting module and the second receiving module are first arranged along one direction, and then the transmitting module and the second receiving module as a whole are arranged with the first receiving module along another direction, forming a two-dimensional arrangement.

[0122] In some possible implementations, the detection device includes a lidar, which also includes a base housing. In the Y direction, a transmitting module and a first receiving module are stacked. The transmitting module is closer to the lidar's base housing than the first receiving module. Because the transmitting module has higher power, designing it closer to the base housing improves heat dissipation and reduces heat dissipation pressure.

[0123] The positional relationship between the transmitting module 10, the first receiving module 21, and the second receiving module 22 has been described above. The following section will introduce some possible implementations of this application.

[0124] As mentioned above, the transmitting module 10, the first receiving module 21, and the second receiving module 22 are disposed on the same side of the scanning module. In one possible embodiment, referring to Figures 9, 19, and 20, the extension direction of the active axis of the scanning module is the Y direction, the direction in which the first beam enters the scanning module is the X direction, and the Z direction is a direction perpendicular to both the Y and X directions. Along the X-axis, relative to the YZ plane, the transmitting module, the first receiving module, and the second receiving module are located on the same side of the scanning module.

[0125] In some scenarios, the transmitting and receiving modules are electrically driven. These modules can be electrically connected to or fixed to the circuit board; in the latter case, they can be mounted on the circuit board. The following describes the possible positional relationships between the transmitting and receiving modules and the circuit board.

[0126] In one possible implementation, the transmitting module 10 is disposed on the first circuit board, and the first receiving module 21 is disposed on the second circuit board. That is, the transmitting module 10 and the first receiving module 21 are not connected to the same circuit board. For example, in the embodiments of FIG9, FIG10, FIG14, FIG16, FIG17, etc., the light transmission ports of the transmitting module 10 and the first receiving module 21 have different orientations, and can be disposed separately on multiple circuit boards.

[0127] In some other possible implementations, the second receiving module 22 is also not located on the first circuit board. Since the transmitting module has high power, driving the transmitting module separately using the first circuit board can reduce the heat dissipation pressure on the detection device.

[0128] In some other possible implementations, the first receiving module 21 and the second receiving module 22 are disposed on the same circuit board. Alternatively, the first receiving module 21 and the second receiving module 22 are not disposed on the same circuit board.

[0129] Optionally, when the first receiving module 21 and the second receiving module 22 are disposed on the same circuit board, the focal plane of the first receiving optical component in the first receiving module 21 and the focal plane of the second receiving optical component in the second receiving module 22 are coplanar.

[0130] In other possible implementations, the transmitting module, the first receiving module, and the second receiving module are disposed on the same circuit board. For example, in the embodiments of Figures 9, 15, 19, and 20, the transmitting module, the first receiving module, and the second receiving module can be disposed on the same circuit board. This design simplifies the components in the detection device, improves the integration of the detection device, and achieves optimal size and cost. Of course, in the embodiments of Figures 8, 15, 19, and 20, the transmitting module, the first receiving module, and the second receiving module can also be disposed on multiple circuit boards.

[0131] Optionally, when the transmitting module, the first receiving module, and the second receiving module are disposed on the same circuit board, the focal planes of the transmitting module, the first receiving module, and the second receiving module are coplanar.

[0132] As mentioned earlier, the fields of view of the first receiving module and the second receiving module do not overlap at least partially. That is, the area detected by the first receiving module is not entirely the same as the area detected by the second receiving module. In some cases, the field of view of a receiving module refers to the range of light beams that the receiving optical components in the receiving module can capture. In other cases, the field of view of a receiving module refers to the range that the detector in the receiving module can detect. The embodiments of this application apply to both of these situations.

[0133] For ease of description, the field of view of the first receiving module will be referred to as the first field of view, and the field of view of the second receiving module will be referred to as the second field of view. Several possible scenarios with different fields of view are described below:

[0134] In scenario one, the first receiving module includes a first detector (including a detector array) and a first receiving optical component, while the second receiving module includes a second detector (including a detector array) and a second receiving optical component. The focal lengths of the first and second receiving optical components are different, and the first and second fields of view overlap in angular space.

[0135] In one possible example, the focal length of the first receiving optical component in the first receiving module 21 is smaller than the focal length of the second receiving optical component in the second receiving module 22. In this case, the first receiving module 21 covers a larger FOV (field of view) but has lower resolution, making it suitable for short-range ranging. The second receiving module 22 covers a smaller FOV (field of view) but has higher resolution, making it suitable for long-range ranging. As shown in Figure 21, the overlapping area of ​​the first and second fields of view can simultaneously satisfy the requirements of a large FOV and high resolution. Of course, the first and second fields of view must at least partially not overlap.

[0136] Optionally, the first field of view and the second field of view overlap in angular space. This can be because the first field of view includes the second field of view (in which case the region corresponding to the first field of view can be regarded as the ROI), or the second field of view includes the first field of view (in which case the region corresponding to the second field of view can be regarded as the ROI), or the first field of view and the second field of view have an intersection but there is no inclusion relationship. This application does not limit this.

[0137] Optionally, there may be a Region of Interest (ROI) in the overlapping area of ​​the first and second fields of view. For details, please refer to Figure 22, which is a schematic diagram of a field of view stitching provided by an embodiment of this application.

[0138] As shown in Figure 22, the focal length of the first receiving optical component in the first receiving module 21 is shorter than that of the second receiving optical component in the second receiving module 22. Therefore, the first receiving module 21 covers a larger FOV (i.e., the first field of view) but has a lower angular resolution, making it suitable for short-range ranging. Conversely, the second receiving module 22 covers a smaller FOV (i.e., the second field of view) but has a higher angular resolution, making it suitable for long-range ranging. Furthermore, the first field of view is contained within the second field of view (the area corresponding to the first field of view can be considered the ROI), which improves the resolution of the ROI (i.e., the area corresponding to the second field of view). This allows the transceiver device to simultaneously possess both a large FOV and a high ROI resolution.

[0139] In scenario two, the first receiving module 21 includes a first detector and a first receiving optical component, and the second receiving module 22 includes a second detector and a second receiving optical component. Furthermore, the focal lengths of the first and second receiving optical components are the same, the optical centers of the first and second detectors are offset relative to the optical centers of the first and second receiving optical components, and the first and second fields of view are continuous and do not overlap in angular space. Alternatively, the focal lengths of the first and second receiving optical components are the same, the optical axes of the first and second receiving modules are not parallel, and the first and second fields of view are continuous and do not overlap in angular space.

[0140] Please refer to Figure 23, which is a schematic diagram of a field of view stitching provided in an embodiment of this application. As shown in Figure 23, the focal length of the first receiving optical component in the first receiving module 21 is the same as that of the second receiving optical component in the second receiving module 22. The FOV (i.e., the first field of view) covered by the first receiving module and the FOV (i.e., the second field of view) covered by the second receiving module are both relatively small and have high resolution. By setting the detector to be off-center relative to the receiving optical component, or by setting the two receiving modules to be tilted in different directions, the first field of view and the second field of view can be made to be continuous and non-overlapping in angular space (optionally, they can be designed to overlap). That is, the first field of view and the second field of view are seamlessly stitched together in angular space to form a large FOV, thereby enabling the transceiver device to have both a large FOV and high resolution performance.

[0141] Of course, in specific implementations, there may be more possible designs to achieve different fields of view for the first receiving module 21 and the second receiving module 22. The solution provided in this application embodiment can be combined with these solutions. For example, the positions of the detectors of the first receiving module 21 and the second receiving module 22 relative to the optical axis can be offset. For example, there is a first offset between the position of the first detector relative to the optical axis and the position of the second detector relative to the optical axis. The first offset is N+0.5 pixels, and the first field of view and the second field of view overlap in angular space.

[0142] This application embodiment also provides a lidar, which includes the aforementioned detection device 100. Further, the lidar also includes at least one circuit board, on which the transmitting module, the first receiving module, and the second receiving module of the detection device 100 are disposed.

[0143] Furthermore, the lidar also includes a housing, and the transmitting module, first receiving module, second receiving module and scanning module in the detection device are fixedly connected to the housing.

[0144] This application embodiment also provides a terminal, which includes the aforementioned detection device 100, or includes the aforementioned lidar. The terminal here can be a vehicle, drone, robot, or other intelligent terminal or means of transportation. It should be understood that "vehicle" here is a vehicle in a broad sense, and can be means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), etc. Similarly, a robot can be an automated guided vehicle (AGV), a walking conversational robot, a service robot, etc.

[0145] Taking a lidar as an example of a detection device, please refer to Figure 24. Figure 24 is a structural schematic diagram of a vehicle including a lidar according to this application. The lidar can sense the vehicle's surrounding environment and obtain relevant information about targets in the surrounding environment. This target information can be used to control the vehicle or assist the driver in driving.

[0146] It should be understood that the lidar installation location shown in Figure 24 is only an example. In actual implementation, the detection device can be installed in other locations, such as on the top of the cockpit, or it can also be installed at the front, side, or rear of the vehicle.

[0147] In addition, a few additional points need to be made regarding this application:

[0148] I. The terms "center," "upper," "lower," "vertical," "horizontal," "inner," "outer," "left," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. It should be understood that the X direction, Z direction, Y direction, etc., mentioned in some embodiments of this application are based on the XYZ rectangular coordinate system as a reference to facilitate the description of the features in this solution, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation.

[0149] Second, relative setting refers to relative orientation, and does not necessarily restrict the orientation of the two components to two completely opposite directions. For example, when the first component and the second component are set relative to each other, it means that the first component is roughly facing the first component, for example, roughly facing the positive direction of the X direction. However, in some cases, the orientation of the components may have a certain tilt angle.

[0150] 3. Unless otherwise stated, “multiple” means two or more.

[0151] IV. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments of this application are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0152] V. The various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of protection of this application. The magnitude of the serial numbers used in this application does not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic. For example, the terms "first," "second," "third," "fourth," and other various terminology (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0153] Furthermore, any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0154] VI. The terms “comprising” and “having” and any variations thereof are intended to cover non-exclusive inclusion, for example, a system, product or device that includes a series of units is not necessarily limited to those units that are explicitly listed, but may include other units that are not explicitly listed or that are inherent to such products or devices.

Claims

1. A detection device, characterized in that, include: The system includes a transmitting module, a first receiving module, a second receiving module, and a scanning module, wherein the scanning module includes at least one reflective surface. The transmitting module is used to emit a first beam, which is propagated into the object space through the scanning module. The first receiving module is used to receive a second beam from the object space. The second beam is propagated to the first receiving module through the scanning module. The second beam includes the echo of the first beam. The second receiving module is used to receive a third beam from the object space. The third beam is propagated to the second receiving module through the scanning module. The third beam includes the echo of the first beam. The first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module do not overlap at least partially. The scanning module is used to move around a movable axis to change the angle of the light beam passing through the reflective surface of the scanning module; The optical paths of the first beam, the second beam, and the third beam pass through the same reflective surface of the scanning module.

2. The probe device of claim 1, wherein, The scanning module includes a rotating mirror, which has multiple reflective surfaces.

3. The probe device according to claim 1 or 2, characterized in that The first receiving module includes a first detector and a first receiving optical component. The second light beam, after passing through the scanning module, propagates through the first receiving optical component to the first detector. The first receiving module includes a second detector and a second receiving optical component. The second receiving component is used to acquire the second light beam from the object space. The third light beam passing through the scanning module is propagated to the second detector through the second receiving optical component.

4. The probe device according to claim 1 or 2, characterized in that The focal length of the first receiving optical component is different from that of the first receiving optical component.

5. The detection device according to any one of claims 1 to 4, characterized in that The detection device further includes a reflector for reflecting the first light beam from the transmitting module to the reflecting surface of the scanning module.

6. The probe device of claim 5, wherein, The orientation of the light output port of the transmitting module is different from the orientation of the light input port of the first receiving module. The reflector is disposed in the optical path between the first receiving module and the scanning module. The first beam and the second beam are coaxial after passing through the reflector.

7. The probe device of claim 5, wherein, The orientation of the light output port of the transmitting module is different from the orientation of the light input port of the first receiving module. The reflector is disposed between the first receiving module and the scanning module. The principal optical axes of the first beam and the second beam are not coaxial after passing through the reflector.

8. The probe device of claim 7, wherein, Along the first direction, the orthographic projection of the reflector onto the first plane coincides with the orthographic projection of the first receiving module onto the first plane, and the orthographic projection of the reflector onto the first plane coincides with the orthographic projection of the second receiving module onto the first plane. The first direction is the direction in which the first light beam exits from the reflector; The first plane is a plane perpendicular to the first direction.

9. The probe device according to any one of claims 1-8, characterized in that, The transmitting module is disposed on the first circuit board, and the first receiving module is disposed on the second circuit board.

10. The probe device according to any one of claims 1-4, characterized in that, The light output port of the transmitting module, the light inlet port of the first receiving module, and the light inlet port of the second receiving module have the same orientation; The transmitting module, the first receiving module, and the second receiving module are arranged along the second direction; The second direction is perpendicular to the active axis of the scan.

11. The probe device of claim 10, wherein, The transmitting module and the second receiving module are arranged along the second direction; The first receiving module and the second receiving module are arranged along the second direction; The transmitting module and the first receiving module are arranged along a third direction. The second direction is perpendicular to the movable axis of the scanning module; The third direction is parallel to the active axis of the scanning module.

12. The probe device according to claim 10 or 11, characterized in that The light output port of the transmitting module, the light input port of the first receiving module, and the light input port of the second receiving module all face the scanning module.

13. The probe device according to any one of claims 10-12, characterized in that, The transmitting module, the first receiving module, and the second receiving module are mounted on the same circuit board.

14. The probe device according to any one of claims 1-13, characterized in that, Both the first receiving module and the second receiving module are mounted on the same circuit board.

15. The probe device according to any one of claims 1-14, characterized in that, The field of view of the first field of view is greater than the field of view of the second field of view.

16. A lidar, comprising: The lidar includes a detection device as described in any one of claims 1-15 and at least one circuit board, wherein the transmitting module, the first receiving module, and the second receiving module in the detection device are disposed on the at least one circuit board.

17. The lidar of claim 16, wherein, The lidar also includes a housing, and the transmitting module, the first receiving module, the second receiving module, and the scanning module in the detection device are fixed to the housing.

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

19. The terminal according to claim 18, characterized by The terminals include vehicles, drones, and robots.

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