Light splitting prism, detection device, on-board system, and transportation means

Abstract

The present application provides a light splitting prism, a detection device, an on-board system, and a transportation means. The detection device comprises: an emission module, used for emitting infrared light; and a receiving module, used for receiving reflected light, the reflected light corresponding to the infrared light. The receiving module comprises: a light splitting prism, used for splitting the reflected light; a first-type photosensitive element, used for sensing light emitted from a first emission surface of the light splitting prism after the reflected light is split, so as to acquire point cloud data; a second-type photosensitive element, used for sensing light emitted from at least one second emission surface of the light splitting prism after the reflected light is split, so as to acquire image data, the image data comprising intensity information of first polarized light having a first polarization state and / or intensity information of second polarized light having a second polarization state, and the first polarization state being orthogonal to the second polarization state. The described technical solution can improve the richness of detection information while satisfying miniaturization requirements.

Description

Spectrometer prisms, detection devices, vehicle-mounted systems, and vehicles Technical Field

[0001] This application relates to the fields of sensing technology and intelligent transportation technology, and more specifically, to a beam splitter, a detection device, an in-vehicle system, and a vehicle. Background Technology

[0002] Sensing and detection technologies are key technologies supporting intelligent technologies, providing crucial data support and information for decision-making in the operation of intelligent systems. Among them, optical signal-based sensing and detection technologies, due to their non-contact detection capabilities and advantages such as high sensitivity and accuracy, have wide applications in many fields, including smart homes, smart cities, intelligent transportation, environmental protection, and security.

[0003] With the rapid development of technology, optical signal-based detection devices are also moving towards miniaturization, intelligence, and integration. Therefore, to adapt to this trend, there is an urgent need to provide a detection device that can meet the requirements of miniaturization while detecting rich information. Summary of the Invention

[0004] This application provides a beam splitter, a detection device, a vehicle-mounted system, and a vehicle that can improve the richness of detection information while meeting the requirements of miniaturization.

[0005] In a first aspect, a light-sensing component is provided, comprising: a beam splitter for receiving and splitting reflected light, wherein the reflected light is reflected light corresponding to infrared light; a first type of photosensitive element for sensing light rays emitted from a first exit surface of the beam splitter after the reflected light is split, thereby acquiring point cloud data; and a second type of photosensitive element for sensing light rays emitted from at least one second exit surface of the beam splitter after the reflected light is split, thereby acquiring image data, wherein the image data includes intensity information of a first polarized light having a first polarization state and / or intensity information of a second polarized light having a second polarization state, wherein the first polarization state and the second polarization state are orthogonal.

[0006] In this application, the photosensitive component can simultaneously acquire point cloud data and image data by receiving the reflected light corresponding to infrared light, resulting in richer detection information and more reliable infrared light detection. Furthermore, by using a beam splitter to distribute the reflected light onto a first-type and a second-type photosensitive element to acquire different detection data, the device achieves high integration, reducing its size while realizing multifunctionality, thus facilitating miniaturization. In addition, using infrared light as the detection signal enables all-weather, high-confidence, and low-cost detection.

[0007] In conjunction with the first aspect, in one possible implementation, the energy of the light emitted from the first exiting surface after the reflected light is split is greater than the energy of the light emitted from the at least one second exiting surface after the reflected light is split.

[0008] Infrared light emitted from the first exit surface is used to acquire point cloud data, while the beam splitter can distribute most of the energy of the reflected light to the first type of sensing element when splitting the light, thus ensuring detection distance and detection accuracy.

[0009] In conjunction with the first aspect, in one possible implementation, the energy ratio of the light emitted from the first exit surface after the reflected light is split to the energy of the reflected light is greater than or equal to 90%; and / or the energy ratio of the light emitted from the at least one second exit surface after the reflected light is split to the energy of the reflected light is less than or equal to 10%.

[0010] The energy of the infrared light emitted from the first emitting surface is greater than the energy of the infrared light emitted from at least one second emitting surface 2232, which ensures that most of the energy of the reflected light reaches the first type of photosensitive element.

[0011] In conjunction with the first aspect, in one possible implementation, the beam splitter is also used to separate the first polarized light and / or the second polarized light from the reflected light.

[0012] When the first polarized light and / or the second polarized light are directly separated by a beam splitter, the photosensitive element used to sense the first polarized light and / or the second polarized light can be an existing ordinary image sensor capable of infrared imaging, which can reduce both cost and computational complexity.

[0013] In conjunction with the first aspect, in one possible implementation, the beam splitter includes two second exit surfaces, one of which is used to exit the first polarized light, and the other of which is used to exit the second polarized light.

[0014] By emitting first-polarized light and second-polarized light from different exit surfaces, interference between light rays can be reduced.

[0015] In conjunction with the first aspect, in one possible implementation, the beam-splitting prism includes one or more of the following: a cemented or optical surface having a first beam-splitting film, a cemented or optical surface having a second beam-splitting film, a cemented or optical surface having a third beam-splitting film, and a cemented or optical surface having a fourth beam-splitting film; wherein,

[0016] The first beam splitter is used to perform energy splitting on light rays with the first polarization state incident on the first beam splitter;

[0017] The second beam splitter is used to perform energy splitting on light rays with the second polarization state incident on the second beam splitter;

[0018] The third beam splitter is used to polarize and split the light incident on it.

[0019] The fourth beam splitter is used to perform energy-based beam splitting on the light incident on it.

[0020] By selecting and combining one or more of the above functional surfaces, a beam splitter can separate first polarized light and / or second polarized light from reflected light.

[0021] In conjunction with the first aspect, in one possible implementation, the beam splitter includes at least one mirror body, one of which is used to emit light toward the first type of photosensitive element, and one or more of the at least one mirror body is used to emit light toward the second type of photosensitive element.

[0022] In conjunction with the first aspect, in one possible implementation, the beam splitter includes a plurality of mirrors, which form one or more of a first cemented surface, a second cemented surface, a third cemented surface, a fourth cemented surface, a fifth cemented surface, a sixth cemented surface, and a seventh cemented surface; wherein,

[0023] The first adhesive surface is used to reflect a portion of the first light ray incident on the first adhesive surface that has the first polarization state, and to transmit the remaining light ray in the first light ray except for the portion of the first polarization state;

[0024] The second adhesive surface is used to transmit a portion of the second light rays incident on the second adhesive surface that has the second polarization state, and to reflect the remaining light rays in the second light rays other than the portion of the second polarization state;

[0025] The third adhesive surface is used to reflect all rays of the third ray incident on the third adhesive surface that have the first polarization state, and to transmit all rays of the third ray that have the second polarization state;

[0026] The fourth adhesive surface is used to transmit a portion of the fourth light rays incident on the fourth adhesive surface, and to reflect the remaining light rays in the fourth light rays except for that portion of the light rays;

[0027] The fifth adhesive surface is used to transmit a portion of the fifth light ray incident on the fifth adhesive surface that has the first polarization state, and to reflect the remaining light rays in the fifth light ray except for the portion of the fifth light ray that has the first polarization state;

[0028] The sixth adhesive surface is used to reflect a portion of the sixth ray incident on the sixth adhesive surface that has the second polarization state, and to transmit the remaining rays of the sixth ray except for the portion that has the second polarization state;

[0029] The seventh adhesive surface is used to transmit all rays of the seventh ray incident on the seventh adhesive surface that have the first polarization state, and to reflect all rays of the seventh ray that have the second polarization state.

[0030] The optical properties of the different adhesive surfaces mentioned above are different. By selecting one or more of them and combining them, the energy splitting and polarization splitting of the beam splitter can be realized, thereby separating the first polarized light and the second polarized light from the reflected light.

[0031] In conjunction with the first aspect, in one possible implementation, the ratio of the energy of the light rays having the first polarization state reflected by the first adhesive surface to the energy of the light rays having the first polarization state in the first light ray is a first value;

[0032] The ratio of the energy of the light rays with the second polarization state transmitted through the second adhesive surface to the energy of the light rays with the second polarization state in the second light ray is a second value;

[0033] The ratio of the energy of the light transmitted through the fourth adhesive surface to the energy of the fourth light ray is the third value;

[0034] The ratio of the energy of the light rays with the first polarization state transmitted through the fifth adhesive surface to the energy of the light rays with the first polarization state in the fifth light ray is the fourth value;

[0035] The ratio of the energy of the light with the second polarization reflected by the sixth adhesive surface to the energy of the light with the second polarization in the sixth ray is the fifth value;

[0036] Wherein, at least one of the first value, the second value, the third value, the fourth value, and the fifth value is greater than or equal to 1% and less than or equal to 10%.

[0037] By limiting the ranges of the first, second, third, fourth, and fifth values, it can be ensured that when the corresponding cemented surface is applied in the beam splitter, most of the energy of the reflected light is sensed by the first type of photosensitive element, and a small portion of the energy is sensed by the second type of photosensitive element. This ensures that the distance detected by the point cloud data is maintained while acquiring polarization information.

[0038] In conjunction with the first aspect, in one possible implementation, at least two of the first value, the second value, the third value, the fourth value, and the fifth value are equal.

[0039] Thus, by applying the appropriate cemented surface in the beam splitter, the difference in the intensity ratio of light sensed by different photosensitive elements in the second type of photosensitive element can be minimized, thereby improving the detection accuracy.

[0040] In conjunction with the first aspect, in one possible implementation, at least two of the reflectivity of the first adhesive surface to light having the first polarization state, the transmittance of the second adhesive surface to light having the second polarization state, the transmittance of the fifth adhesive surface to light having the first polarization state, and the reflectivity of the sixth adhesive surface to light having the second polarization state are equal.

[0041] Thus, by applying the appropriate cemented surface in the beam splitter, the difference in the intensity ratio of light sensed by different photosensitive elements in the second type of photosensitive element can be minimized, thereby improving the detection accuracy.

[0042] In conjunction with the first aspect, in one possible implementation, the beam splitter includes a first mirror, a second mirror, a third mirror, and a fourth mirror. The first mirror is used to receive the reflected light, and the second, third, and fourth mirrors are used to emit the beam of light after the reflected light has been split, wherein the beam of light after the reflected light has been split includes the first polarized light and the second polarized light.

[0043] By receiving reflected light through a single mirror and emitting first polarized light, second polarized light, and light rays other than the first and second polarized light from the reflected light through different mirrors, the design of the beam-splitting path of the beam-splitting prism is beneficial.

[0044] In conjunction with the first aspect, in one possible implementation, the first mirror body and the third mirror body are disposed opposite each other in a first direction, and the second mirror body and the fourth mirror body are disposed opposite each other in a second direction, the second direction being perpendicular to the first direction.

[0045] This allows for the formation of more bonding surfaces through the first, second, third, and fourth mirrors, which is beneficial for beam splitting path design.

[0046] In conjunction with the first aspect, in one possible implementation, the first mirror body, the second mirror body, the third mirror body, and the fourth mirror body each include a first optical surface, a second optical surface, and a third optical surface that intersect each other in pairs, wherein the third optical surfaces of the first mirror body and the third optical surfaces of the third mirror body are arranged opposite each other in a first direction, and the third optical surfaces of the second mirror body and the third optical surfaces of the fourth mirror body are arranged opposite each other in a second direction; the first optical surfaces and the second optical surfaces of the first mirror body are respectively bonded to the first optical surfaces of the second mirror body and the first optical surfaces of the fourth mirror body, and the first optical surfaces and the second optical surfaces of the third mirror body are respectively bonded to the second optical surfaces of the second mirror body and the second optical surfaces of the fourth mirror body.

[0047] The beam splitter can generally be in a relatively regular shape, which facilitates its fabrication, installation and layout.

[0048] In conjunction with the first aspect, in one possible implementation, the third optical surface of the first mirror body is parallel to the third optical surface of the third mirror body and perpendicular to the first direction, and / or, the third optical surface of the second mirror body is parallel to the third optical surface of the fourth mirror body and perpendicular to the second direction.

[0049] Beam splitters can have a relatively regular shape, such as a parallelepiped, which facilitates their fabrication, installation, and optical path design.

[0050] In conjunction with the first aspect, in one possible implementation, a first adhesive surface is formed between the first mirror and the second mirror, a second adhesive surface is formed between the second mirror and the third mirror, a third adhesive surface is formed between the third mirror and the fourth mirror, and a fourth adhesive surface is formed between the fourth mirror and the first mirror; the first mirror is used to receive the reflected light, the second mirror is used to emit light to the first type of photosensitive element, the third mirror is used to emit the second polarized light, and the fourth mirror is used to emit the first polarized light.

[0051] Both the photosensitive element used to sense the first polarized light and the photosensitive element used to sense the second polarized light can acquire polarization images of the entire area illuminated by infrared light.

[0052] In conjunction with the first aspect, in one possible implementation, the first polarized light includes: light rays in the first ray that are reflected by the first adhesive surface to the fourth adhesive surface and transmitted through the fourth adhesive surface, and light rays in the third ray that are reflected by the third adhesive surface; the second polarized light includes: light rays in the second ray that are transmitted through the second adhesive surface, and light rays in the third ray that are transmitted through the third adhesive surface.

[0053] In conjunction with the first aspect, in one possible implementation, the first adhesive surface is formed between the first mirror and the second mirror, and between the third mirror and the fourth mirror, respectively; the sixth adhesive surface is formed between the second mirror and the third mirror, and between the fourth mirror and the first mirror, respectively; the first mirror is used to receive the reflected light, the third mirror is used to emit light to the first type of photosensitive element, the second mirror is used to emit the second polarized light, and the fourth mirror is used to emit the first polarized light.

[0054] In this way, both the photosensitive element used to sense the first polarized light and the photosensitive element used to sense the second polarized light can acquire polarization images of the entire region illuminated by infrared light. This structure prevents light incident on the beam splitter from escaping from the incident surface, reducing stray light.

[0055] In conjunction with the first aspect, in one possible implementation, the first polarized light is the light reflected by the first adhesive surface in the first ray; the second polarized light is the light reflected by the sixth adhesive surface in the sixth ray.

[0056] In conjunction with the first aspect, in one possible implementation, the first mirror body, the second mirror body, the third mirror body, and the fourth mirror body are all isosceles prisms or right-angle prisms.

[0057] In this way, the individual mirrors can be combined into a more regular shape, which facilitates optical path design and the installation of beam splitters.

[0058] In conjunction with the first aspect, in one possible implementation, the second type of photosensitive element includes a photosensitive element for sensing the first polarized light and a photosensitive element for sensing the second polarized light.

[0059] The photosensitive element used to sense the first polarized light and the photosensitive element used to sense the second polarized light are relatively independent devices, which facilitates the layout of the second type of photosensitive element.

[0060] In conjunction with the first aspect, in one possible implementation, the photosensitive element for sensing the first polarized light is used to acquire a first polarized image based on the first polarized light, and the photosensitive element for sensing the second polarized light is used to acquire a second polarized image based on the second polarized light, wherein the pixels of the first polarized image correspond one-to-one with the pixels of the second polarized image.

[0061] The corresponding pixels represent the same point on the target under test. By establishing the positional correspondence between the pixels in the first polarization image and the second polarization image, the intensity of the corresponding pixels can be calculated when processing the first and second polarization images. The result can reflect the difference between the first and second polarization states in the light reflected by the target under test.

[0062] In conjunction with the first aspect, in one possible implementation, the second type of photosensitive element is also used to separate the first polarized light and / or the second polarized light from the light received from the at least one second emitting surface.

[0063] Beam splitters do not require polarization beam splitting, which simplifies the manufacturing process of beam splitters.

[0064] In conjunction with the first aspect, in one possible implementation, the infrared light has the first polarization state or the second polarization state, or the infrared light is unpolarized light.

[0065] In conjunction with the first aspect, in one possible implementation, the receiving module is further configured to receive visible light, wherein the visible light is emitted from one or more of the at least one second emitting surface; the second type of photosensitive element is further configured to sense the visible light emitted from the one or more second emitting surfaces to acquire a visible light image.

[0066] The visible light images acquired by the second type of photosensitive element can realistically reproduce the scene, providing a clear and intuitive view. Visible light images can be fused with polarized images, thus providing more comprehensive detection information.

[0067] In conjunction with the first aspect, in one possible implementation, the beam splitter includes at least one of a cemented or optical surface having a visible light antireflection coating, a cemented or optical surface having a visible light total reflection coating, or a cemented or optical surface having a visible light semi-transparent and semi-reflective coating.

[0068] In a second aspect, a detection device is provided, the detection device including a transmitting module and a receiving module, the reflecting module being used to emit infrared light, and the receiving module being used to receive reflected light, the reflected light corresponding to the infrared light; the receiving module includes the light-sensing component in the first aspect and any implementation thereof.

[0069] The detection device provided in this application utilizes infrared light emitted by the transmitting module to simultaneously acquire point cloud data and image data, resulting in richer detection information and more reliable infrared light detection. Furthermore, the receiving module employs a beam splitter to divide the reflected light onto a first-type and a second-type photosensitive element to acquire different detection data respectively. This high level of device integration reduces the size of the detection device while achieving multifunctionality, thus facilitating miniaturization. In addition, the use of infrared light as the detection signal enables all-weather, high-confidence, and low-cost detection.

[0070] In conjunction with the second aspect, in one possible implementation, the receiving module is further configured to receive visible light, wherein the visible light is emitted from one or more of the at least one second emitting surface; the second type of photosensitive element is further configured to sense the visible light emitted from the one or more second emitting surfaces to acquire a visible light image.

[0071] In conjunction with the second aspect, in one possible implementation, the detection device further includes a processing module for fusing the image data with the visible light image to obtain a fused image, wherein the fused image contains multiple regions, each of the multiple regions having a corresponding surface state.

[0072] By fusing visible light images and image data, more accurate and comprehensive information can be provided to identify the surface condition of objects.

[0073] In conjunction with the second aspect, in one possible implementation, the detection device further includes: a display module and / or a transmission interface; the display module is used to display the fused image, wherein when the surface state corresponding to the first region in the plurality of regions is smooth, the first region is highlighted in the fused image; the transmission interface is used for the detection device to transmit the fused image.

[0074] The fused image can be displayed on other devices by means of a display module and / or a transmission interface, thus enabling visualization.

[0075] In conjunction with the second aspect, in one possible implementation, the transmitting module is used to transmit the infrared light toward the road surface to be tested, and the receiving module is used to receive the reflected light from the road surface to be tested, wherein the intensity information of the first polarized light and / or the intensity information of the second polarized light are used to obtain the road surface characteristics of the road surface to be tested.

[0076] The detection device can effectively detect road surface water and ice accumulation while acquiring point cloud data. This can expand the intelligent driving system's ability to process and make decisions in such scenarios, improve the vehicle's ability to cope with complex and severe weather, ensure driving safety, and enhance the intelligent driving experience.

[0077] Thirdly, a beam splitter is provided for receiving infrared light and splitting the infrared light, wherein the beam splitter includes at least one mirror body, one or more of the at least one mirror body is used to emit a first polarized light having a first polarization state and a second polarized light having a second polarization state, and one of the at least one mirror body is used to emit the remaining light rays in the infrared light other than the first polarized light and the second polarized light, wherein the first polarization state and the second polarization state are orthogonal.

[0078] In conjunction with the third aspect, in one possible implementation, the beam-splitting prism includes one or more of the following: a cemented or optical surface having a first beam-splitting film, a cemented or optical surface having a second beam-splitting film, a cemented or optical surface having a third beam-splitting film, and a cemented or optical surface having a fourth beam-splitting film; wherein,

[0079] The first beam splitter is used to perform energy splitting on light rays with the first polarization state incident on the first beam splitter;

[0080] The second beam splitter is used to perform energy splitting on light rays with the second polarization state incident on the second beam splitter;

[0081] The third beam splitter is used to polarize and split the light incident on it.

[0082] The fourth beam splitter is used to perform energy-based beam splitting on the light incident on it.

[0083] In conjunction with the third aspect, in one possible implementation, the beam splitter includes a plurality of mirrors, which form one or more of a first cemented surface, a second cemented surface, a third cemented surface, a fourth cemented surface, a fifth cemented surface, a sixth cemented surface, and a seventh cemented surface; wherein,

[0084] The first adhesive surface is used to reflect a portion of the first light ray incident on the first adhesive surface that has the first polarization state, and to transmit the remaining light ray in the first light ray except for the portion of the first polarization state;

[0085] The second adhesive surface is used to transmit a portion of the second light rays incident on the second adhesive surface that has the second polarization state, and to reflect the remaining light rays in the second light rays other than the portion of the second polarization state;

[0086] The third adhesive surface is used to reflect all rays of the third ray incident on the third adhesive surface that have the first polarization state, and to transmit all rays of the third ray that have the second polarization state;

[0087] The fourth adhesive surface is used to transmit a portion of the fourth light rays incident on the fourth adhesive surface, and to reflect the remaining light rays in the fourth light rays except for that portion of the light rays;

[0088] The fifth adhesive surface is used to transmit a portion of the fifth light ray incident on the fifth adhesive surface that has the first polarization state, and to reflect the remaining light rays in the fifth light ray except for the portion of the fifth light ray that has the first polarization state;

[0089] The sixth adhesive surface is used to reflect a portion of the sixth ray incident on the sixth adhesive surface that has the second polarization state, and to transmit the remaining rays of the sixth ray except for the portion that has the second polarization state;

[0090] The seventh adhesive surface is used to transmit all rays of the seventh ray incident on the seventh adhesive surface that have the first polarization state, and to reflect all rays of the seventh ray that have the second polarization state.

[0091] In conjunction with the third aspect, in one possible implementation, the ratio of the energy of the light rays having the first polarization state reflected by the first adhesive surface to the energy of the light rays having the first polarization state in the first light ray is a first value;

[0092] The ratio of the energy of the light rays with the second polarization state transmitted through the second adhesive surface to the energy of the light rays with the second polarization state in the second light rays is a second value;

[0093] The ratio of the energy of the light transmitted through the fourth adhesive surface to the energy of the fourth light ray is the third value;

[0094] The ratio of the energy of the light rays with the first polarization state transmitted through the fifth adhesive surface to the energy of the light rays with the first polarization state in the fifth light ray is the fourth value;

[0095] The ratio of the energy of the light with the second polarization reflected by the sixth adhesive surface to the energy of the light with the second polarization in the sixth ray is the fifth value;

[0096] Wherein, at least one of the first value, the second value, the third value, the fourth value, and the fifth value is greater than or equal to 1% and less than or equal to 10%.

[0097] In conjunction with the third aspect, in one possible implementation, at least two of the first value, the second value, the third value, the fourth value, and the fifth value are equal.

[0098] In conjunction with the third aspect, in one possible implementation, at least two of the reflectivity of the first adhesive surface to light having the first polarization state, the transmittance of the second adhesive surface to light having the second polarization state, the transmittance of the fifth adhesive surface to light having the first polarization state, and the reflectivity of the sixth adhesive surface to light having the second polarization state are equal.

[0099] In conjunction with the third aspect, in one possible implementation, the beam splitter includes a first mirror, a second mirror, a third mirror, and a fourth mirror. The first mirror is used to receive the infrared light, and the second, third, and fourth mirrors are used to emit the beam of the infrared light after it has been split, wherein the beam of the infrared light after it has been split includes the first polarized light and the second polarized light.

[0100] In conjunction with the third aspect, in one possible implementation, the first mirror body and the third mirror body are disposed opposite each other in a first direction, and the second mirror body and the fourth mirror body are disposed opposite each other in a second direction, the second direction being perpendicular to the first direction.

[0101] In conjunction with the third aspect, in one possible implementation, the first mirror body, the second mirror body, the third mirror body, and the fourth mirror body each include a first optical surface, a second optical surface, and a third optical surface that intersect each other in pairs, wherein the third optical surfaces of the first mirror body and the third optical surfaces of the third mirror body are arranged opposite each other in a first direction, and the third optical surfaces of the second mirror body and the third optical surfaces of the fourth mirror body are arranged opposite each other in a second direction; the first optical surfaces and the second optical surfaces of the first mirror body are respectively bonded to the first optical surfaces of the second mirror body and the first optical surfaces of the fourth mirror body, and the first optical surfaces and the second optical surfaces of the third mirror body are respectively bonded to the second optical surfaces of the second mirror body and the second optical surfaces of the fourth mirror body.

[0102] In conjunction with the third aspect, in one possible implementation, the third optical surface of the first mirror is parallel to the third optical surface of the third mirror and perpendicular to the first direction, and / or, the third optical surface of the second mirror is parallel to the third optical surface of the fourth mirror and perpendicular to the second direction.

[0103] In conjunction with the third aspect, in one possible implementation, a first adhesive surface is formed between the first mirror body and the second mirror body, a second adhesive surface is formed between the second mirror body and the third mirror body, a third adhesive surface is formed between the third mirror body and the fourth mirror body, and a fourth adhesive surface is formed between the fourth mirror body and the first mirror body; the first mirror body is used to receive the infrared light, the second mirror body is used to emit the remaining light rays in the infrared light except for the first polarized light and the second polarized light, the third mirror body is used to emit the second polarized light, and the fourth mirror body is used to emit the first polarized light.

[0104] In conjunction with the third aspect, in one possible implementation, the first polarized light includes: light rays in the first ray that are reflected by the first adhesive surface to the fourth adhesive surface and transmitted through the fourth adhesive surface, and light rays in the third ray that are reflected by the third adhesive surface; the second polarized light includes: light rays in the second ray that are transmitted through the second adhesive surface, and light rays in the third ray that are transmitted through the third adhesive surface.

[0105] In conjunction with the third aspect, in one possible implementation, the first adhesive surface is formed between the first mirror body and the second mirror body, and between the third mirror body and the fourth mirror body, respectively; the sixth adhesive surface is formed between the second mirror body and the third mirror body, and between the fourth mirror body and the first mirror body, respectively; the first mirror body is used to receive the infrared light, the third mirror body is used to emit the remaining light rays in the infrared light except for the first polarized light and the second polarized light, the second mirror body is used to emit the second polarized light, and the fourth mirror body is used to emit the first polarized light.

[0106] In conjunction with the third aspect, in one possible implementation, the first polarized light is the light reflected by the first adhesive surface in the first ray; the second polarized light is the light reflected by the sixth adhesive surface in the sixth ray.

[0107] In conjunction with the third aspect, in one possible implementation, the beam splitter includes a first exit surface and two second exit surfaces, one of which is used to exit the first polarized light, the other of which is used to exit the second polarized light, and the first exit surface is used to exit the remaining light rays in the infrared light other than the first polarized light and the second polarized light.

[0108] In conjunction with the third aspect, in one possible implementation, the first mirror body, the second mirror body, the third mirror body, and the fourth mirror body are all isosceles prisms or right-angle prisms.

[0109] In conjunction with the third aspect, in one possible implementation, the energy of the remaining light rays in the infrared light, excluding the first polarized light and the second polarized light, is greater than or equal to 90% of the energy of the infrared light; and / or the sum of the energies of the first polarized light and the second polarized light is less than or equal to 10% of the energy of the infrared light.

[0110] In conjunction with the third aspect, in one possible implementation, the infrared light has the first polarization state or the second polarization state, or the infrared light is unpolarized light.

[0111] In conjunction with the third aspect, in one possible implementation, the beam splitter is also used to receive visible light, wherein the beam splitter includes at least one of a cemented or optical surface having a visible light antireflection coating, a cemented or optical surface having a visible light total reflection coating, or a cemented or optical surface having a visible light semi-transparent and semi-reflective coating.

[0112] Fourthly, a light-sensing component is provided, comprising: a first image sensor for receiving visible light and first polarized light having a first polarization state to acquire a first image, the first image including intensity information of the first polarized light; and a second image sensor for receiving visible light and second polarized light having a second polarization state to acquire a second image, the second image including intensity information of the second polarized light, the second polarization state being orthogonal to the first polarization state, and the first polarized light and the second polarized light being infrared light.

[0113] The photosensitive component provided in this application can acquire multiple detection information simultaneously. It has a high degree of device integration, which reduces the size of the device while achieving multifunctionality, thus facilitating miniaturization.

[0114] In conjunction with the fourth aspect, in one possible implementation, the light-sensing component further includes: a first polarization element disposed in the receiving optical path of the first image sensor, the first polarization element being used to transmit light rays having the first polarization state in the reflected light; and a second polarization element disposed in the receiving optical path of the second image sensor, the second polarization element being used to transmit light rays having the second polarization state in the reflected light.

[0115] In conjunction with the fourth aspect, in one possible implementation, the transmission direction of the first polarizing element is the same as the vibration direction of the first polarized light, and the transmission direction of the second polarizing element is the same as the vibration direction of the second polarized light.

[0116] In conjunction with the fourth aspect, in one possible implementation, the light-sensing component further includes: a first optical lens for projecting the visible light and the first polarized light onto the first image sensor; and a second optical lens for projecting the visible light and the second polarized light onto the second image sensor.

[0117] In conjunction with the fourth aspect, in one possible implementation, the first polarizing element is disposed in the optical path between the first optical lens and the first image sensor, or in the optical path on the side of the first optical lens away from the first image sensor; the second polarizing element is disposed in the optical path between the second optical lens and the second image sensor, or in the optical path on the side of the second optical lens away from the second image sensor.

[0118] In conjunction with the fourth aspect, in one possible implementation, the light-sensing component further includes: a first protective lens disposed on the optical path of the first optical lens away from the first image sensor, and a first polarizing element disposed on the first protective lens; and a second protective lens disposed on the optical path of the second optical lens away from the second image sensor, and a second polarizing element disposed on the second protective lens.

[0119] In conjunction with the fourth aspect, in one possible implementation, the first polarizing element and / or the second polarizing element is a coating.

[0120] In conjunction with the fourth aspect, in one possible implementation, the light-sensing component further includes: a first filter element for transmitting visible light and the first polarized light; and a second filter element for transmitting visible light and the second polarized light.

[0121] In conjunction with the fourth aspect, in one possible implementation, the first filter element and the second filter element are optical films.

[0122] Fifthly, a detection device is provided, comprising a transmitting module and a receiving module, wherein the transmitting module is used to emit infrared light, and the receiving module is used to receive reflected light corresponding to the infrared light, wherein the receiving module includes the light-sensing component described in the fourth aspect and any implementation thereof.

[0123] A sixth aspect provides a light-sensing component, comprising: a beam splitter for receiving visible light and reflected light, and splitting the reflected light; a first image sensor for sensing first polarized light emitted from a first exit surface of the beam splitter after the reflected light is split, and acquiring a first image, the first image including intensity information of the first polarized light; and a second image sensor for sensing second polarized light emitted from a second exit surface of the beam splitter after the reflected light is split, and acquiring a second image, the second image including intensity information of the second polarized light, wherein the polarization state of the second polarized light is orthogonal to that of the first polarized light, and the first polarized light and the second polarized light are infrared light.

[0124] The photosensitive component provided in this application can acquire multiple detection information simultaneously. It has a high degree of device integration, which reduces the size of the device while achieving multifunctionality, thus facilitating miniaturization.

[0125] In conjunction with the sixth aspect, in one possible implementation, the first image sensor is further configured to sense visible light emitted from the first exit surface and / or the second image sensor is further configured to sense visible light emitted from the second exit surface.

[0126] In conjunction with the sixth aspect, in one possible implementation, the beam-splitting prism includes an incident surface, a beam-splitting surface, a first exiting surface, and a second exiting surface. The incident surface is used to receive the visible light and the reflected light. The beam-splitting surface is used to transmit the second polarized light and reflect the first polarized light to the first exiting surface. The beam-splitting surface is also used to transmit a second portion of the visible light and reflect a first portion of the visible light to the first exiting surface. The first exiting surface is used to exit the first polarized light and the first portion of the light. The second exiting surface is used to exit the second polarized light and the second portion of the light.

[0127] In conjunction with the sixth aspect, in one possible implementation, the beam-splitting surface is coated with a visible light semi-transparent and semi-reflective film.

[0128] In a seventh aspect, a detection device is provided, comprising a transmitting module and a receiving module, the transmitting module being used to emit infrared light, and the receiving module being used to receive reflected light corresponding to the infrared light, wherein the receiving module includes the light-sensing component described in the sixth aspect and any implementation thereof.

[0129] Eighthly, a vehicle-mounted system is provided, comprising a light-sensing component as described in the first, fourth, and sixth aspects and any implementation thereof; or comprising a detection device as described in the second, fifth, and seventh aspects and any implementation thereof; or comprising a beam-splitting prism as described in the third aspect and any implementation thereof.

[0130] Ninth aspect, a means of transportation is provided, including the light-sensing component of the first, fourth, and sixth aspects and any implementation thereof; or including the detection device of the second, fifth, and seventh aspects and any implementation thereof; or including the beam-splitting prism of the third aspect and any implementation thereof; or including the vehicle-mounted system of the eighth aspect. Attached Figure Description

[0131] Figure 1 is a schematic diagram of a detection scenario provided in an embodiment of this application.

[0132] Figure 2 is a schematic architecture diagram of a detection device provided in an embodiment of this application.

[0133] Figure 3 is a schematic diagram of the working principle of a detection device provided in an embodiment of this application.

[0134] Figure 4 is a schematic diagram of the reflectivity of P-polarized and S-polarized light incident on a water / ice surface.

[0135] Figure 5 is a schematic architecture diagram of the receiving module in Figure 2.

[0136] Figure 6 shows the structure and optical path of several beam-splitting prisms provided in the embodiments of this application.

[0137] Figure 7 is a three-dimensional schematic diagram of several beam splitters shown in Figure 6.

[0138] Figure 8 is another schematic architecture diagram of the receiving module in Figure 2.

[0139] Figure 9 is another schematic structural diagram of the receiving module in Figure 2.

[0140] Figure 10 is a schematic diagram of the structure and beam splitting optical path of a beam splitter provided in an embodiment of this application.

[0141] Figure 11 is a schematic diagram of the structure and beam splitting path of another beam splitting prism provided in an embodiment of this application.

[0142] Figure 12 is a schematic diagram of the structure and beam splitting path of another beam splitting prism provided in an embodiment of this application.

[0143] Figure 13 is a schematic diagram of the structure of a beam splitter provided in an embodiment of this application.

[0144] Figure 14 is a three-dimensional schematic diagram of the beam splitter in Figure 13.

[0145] Figure 15 is a schematic diagram of the structure and beam splitting optical path of a beam splitter provided in an embodiment of this application.

[0146] Figure 16 is a three-dimensional schematic diagram of the beam splitter in Figure 15.

[0147] Figure 17 is a schematic diagram of the surface condition division of an object provided in an embodiment of this application.

[0148] Figure 18 is a schematic architecture diagram of a detection device provided in an embodiment of this application.

[0149] Figure 19 shows the structure and optical path of several beam-splitting prisms provided in the embodiments of this application.

[0150] Figure 20 is a three-dimensional schematic diagram of several beam splitters shown in Figure 19.

[0151] Figure 21 is a schematic architecture diagram of a detection device provided in an embodiment of this application.

[0152] Figure 22 is a schematic diagram of the functional framework of a means of transportation provided in an embodiment of this application.

[0153] Figure 23 is a schematic functional block diagram of a mobile carrier provided in an embodiment of this application.

[0154] Reference numerals: 100-Detection system; 110, 200, 300, 400-Detection device; 120-Detection platform; 130-Environment; 131, 132, 13n-Detection target; 201-Target to be measured; 202-Infrared light; 203-Reflected light; 210-Emitting module; 220-Receiving module; 221-First type of photosensitive element; 222-Second type of photosensitive element; 222a, 222e-Photosensitive elements for sensing first polarized light; 222b, 222f-Photosensitive elements for sensing second polarized light; 222c-First photosensitive area; 222d-Second photosensitive area; 223, 225-Beam splitter prism; 2231-First exit surface; 2232-Second exit surface; 223a, 223e-For exiting... 223b, 223f - Second exit surface for emitting second polarized light; 2233 - Cemented surface; 2234, 224a, 224b - Incident surface; 2235 - Reflecting surface; 224 - Second optical component; 31 - First mirror body; 32 - Second mirror body; 33 - Third mirror body; 34 - Fourth mirror body; 35 - Fifth mirror body; M11, M21, M31, M41 - First optical surface; M12, M22, M32, M42 - Second optical surface; M13, M23, M33, M43 - Third optical surface J1, J2, J3, J4 - Adhesive surfaces; 401, 401a, 401b, 402, 403, 404, 406, 406a, 406b, 408, 409 - Light rays; 501 - First adhesive surface; 502 - Second adhesive surface; 503 - Third adhesive surface; 504 - Fourth adhesive surface; 506 - Sixth adhesive surface; Q1, Q2, Q3, Q4, Q5 - Adhesive surfaces; 230 - First receiving module; 240, 250 - Second receiving module; 260 - Third receiving module; 241, 251 - First image sensor; 242, 261 - Second image sensor; 252 - First optical lens; 253 - First polarizing element; 262 - Second optical lens; 263 - Second polarizing element; 500 - Vehicle; 510 - Sensor system; 520 - Display system; 530 - Peripheral equipment; 540 - Control system; 550 - Power supply; 560 - Computer system; 561 - Processor; 562 - Memory; 600 - Mobile carrier; 610 - Sensing system; 620 - Display device; 630 - Computing platform; 631, 632, 63n - Processors. Detailed Implementation

[0155] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0156] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0157] In the embodiments of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "this," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.

[0158] References to "one embodiment" or "some embodiments" as used in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in still other embodiments" appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0159] In the description of the embodiments of this application, the terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., indicate orientations or positional relationships relative to the indicated placement of components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and not to indicate or imply a specific orientation that the device or component must have, or its construction and operation in a specific orientation. They can change accordingly depending on the orientation of the components in the accompanying drawings, and therefore should not be construed as limiting this application. Furthermore, "vertical" in this application is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0160] In the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the fact that the device will take corresponding actions under certain objective circumstances, and are not limited to a specific time. They do not require the device to perform a judgment action during implementation, nor do they imply any other limitations. The terms "approximately," "roughly," or "approximately" used in the embodiments of this application include the stated value and the average value within an acceptable deviation range of a specific value. This acceptable deviation range is determined by those skilled in the art taking into account the measurement under discussion and the errors associated with the measurement of the specific quantity, i.e., the limitations of the measurement system.

[0161] In addition, the components in the accompanying drawings are not drawn to actual scale, and the dimensions and sizes of the components shown in the drawings are merely illustrative and should not be construed as limiting this application.

[0162] To facilitate understanding, the technical terms used in this application will be explained and described below.

[0163] Laser radar (LiDAR) is a radar system that detects the position, velocity, and other characteristics of a target by emitting a laser beam. The working principle of LiDAR is to emit a detection signal (laser beam) towards the target, then compare the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as distance, azimuth, altitude, velocity, attitude, and even shape parameters, thereby enabling target detection, tracking, and identification.

[0164] Avalanche photodiode (APD): A high-sensitivity photodetector that converts incident light signals into electrical signals and significantly amplifies weak photocurrents through a built-in gain mechanism (avalanche effect), and can be used as a photosensitive element in lidar.

[0165] Single photon avalanche diode (SPAD): A high-sensitivity photodetector that utilizes avalanche breakdown to achieve single-photon detection capability, and can be used as a photosensitive element in lidar.

[0166] Silicon photomultiplier (SiPM): A pixelated photodetector consisting of an array of avalanche diodes (APDs) operating in Geiger mode. It features high sensitivity and low voltage operation and can be used as a photosensitive element in lidar.

[0167] Vertical-cavity surface-emitting laser (VCSEL): This is a semiconductor laser in which the laser beam is emitted perpendicular to the top surface, making the output beam easier to control and focus, and allowing for high integration.

[0168] Edge-emitting laser (EEL): This is a type of semiconductor laser, also known as an end-face emitting laser, in which the laser is emitted from the edge and has a high power density.

[0169] Fiber laser: refers to a laser that uses rare-earth-doped glass fiber as the gain medium, and has good beam quality and high output power.

[0170] Complementary metal oxide semiconductor (CMOS): refers to a technology used to manufacture large-scale integrated circuit chips or chips manufactured using this technology, which can be used as photosensitive elements in camera modules.

[0171] Charge-coupled device (CCD): A type of integrated circuit with many neatly arranged capacitors that can sense light and can be used as a photosensitive element in a camera module.

[0172] Image sensor: A functional device that uses the photoelectric conversion function of optoelectronic devices to convert an optical image on a photosensitive surface into an electrical signal that is proportional to the optical image. It mainly includes CMOS image sensor (CIS) and CCD image sensor.

[0173] Light waves are electromagnetic waves, and electromagnetic waves are transverse waves. In light waves, the directions of the electric and magnetic fields are perpendicular to each other and both perpendicular to the direction of propagation. Light waves have three fundamental characteristics: wavelength, intensity, and polarization.

[0174] Wavelength: Light waves have different names depending on their wavelength. Generally, light waves with wavelengths between 380 nanometers (nm) and 750 nm are called visible light; light waves with wavelengths shorter than 380 nm (approximately between 10 nm and 380 nm) are called ultraviolet light; and light waves with wavelengths longer than 750 nm (approximately between 750 nm and 1000 micrometers (μm)) are called infrared light. Infrared light can be further divided into near-infrared, mid-infrared, far-infrared, etc. For example, the wavelength range of near-infrared (NIR) light is typically 750 nm to 3000 nm.

[0175] Polarization refers to the phenomenon where the vibration vector of a light wave (specifically, the electric field vector of the light wave, which is perpendicular to the direction of wave propagation) is deflected in certain directions; the corresponding light wave is called polarized light. Based on polarization characteristics, light waves can be divided into unpolarized light and polarized light, with polarized light including linearly polarized light, circularly polarized light, elliptically polarized light, and partially polarized light.

[0176] Linearly polarized light: Light that contains only one type of vibration during its propagation, and whose vibration direction always remains in the same plane, is called linearly polarized light (or plane-polarized light).

[0177] Elliptically polarized light: In the propagation of light, the electric vector at every point in space rotates about the ray as an axis, and the endpoints of the electric vector trace an elliptical trajectory. This type of light is called elliptically polarized light. Looking towards the ray, light with a clockwise rotating electric vector is called right-handed elliptically polarized light, and light with a counter-clockwise rotating electric vector is called left-handed elliptically polarized light. The rotating electric vector in elliptically polarized light is the result of the synthesis of two electric vectors with the same frequency, perpendicular vibration directions, and a fixed phase difference.

[0178] Circularly polarized light: Light whose circular trajectory is traced by the endpoint of the rotating electric vector is called circularly polarized light. It is a special case of elliptically polarized light, in which the electric field of the light consists of two mutually perpendicular linear components with equal amplitude and a phase difference of π / 2.

[0179] Partially polarized light: Light waves contain vibrations in all possible directions, but the amplitudes in different directions are not equal. The amplitude has a maximum and a minimum value in two mutually perpendicular directions. This type of light is called partially polarized light.

[0180] Unpolarized light: Light waves contain light that vibrates in all directions perpendicular to the direction of propagation, and the intensity of the light waves vibrating in all directions is the same. This type of light is called unpolarized light. For example, the light emitted by ordinary light sources such as the sun and electric lights is unpolarized light, also known as natural light.

[0181] The plane of incidence is the plane formed by the incident ray and the normal at the point of incidence (i.e., the normal to the interface between the media). The angle between the incident ray and the normal is called the angle of incidence.

[0182] P-polarization (abbreviation of the German word parallel) and S-polarization (abbreviation of the German word senkrecht): Polarization can be decomposed into two orthogonal linear polarization states relative to the plane of incidence. The polarization vector parallel to the plane of incidence is called P-polarization (also known as P-polarized light, P-beam, P-polarized state, P-polarized component, or parallel polarized light), and the polarization vector perpendicular to the plane of incidence is called S-polarization (also known as S-polarized light, S-beam, S-polarized state, S-polarized component, or perpendicular polarized light).

[0183] Diffuse reflection is the phenomenon of light projected onto a rough surface being reflected in all directions. Specifically, it refers to the isotropic reflection of incident energy radiating isotropically throughout the entire hemispherical space centered on the point of incidence. When a beam of parallel incident light strikes a rough surface, the surface reflects the light in all directions. Therefore, although the incident rays are parallel, the reflections occur irregularly in different directions due to the inconsistent normal directions at each point. This reflected light is called diffuse light.

[0184] A Lambertian surface is a surface that produces diffuse reflection. It is also called an ideal diffuse reflector or a Lambertian reflector. Energy incident on a Lambertian surface is reflected uniformly in all directions.

[0185] Specular reflection refers to the phenomenon where light rays are incident parallel to each other and reflected in parallel on a smooth reflective surface.

[0186] Refraction of light: The phenomenon that light is deflected when it travels from one medium to another at an angle.

[0187] Infrared (IR) image: An image obtained by capturing the intensity of infrared light radiated or reflected by a target object.

[0188] Polarization image: An image obtained by capturing the intensity of polarized light reflected or transmitted by a target object.

[0189] Point cloud data, also known as 3D point cloud or simply point cloud, is a discrete dataset composed of a series of 3D coordinate points. Each coordinate point includes coordinate values ​​in the X, Y, and Z directions, used to describe the geometric features of an object, such as its surface shape, spatial location, and size. Some points may also contain color information (RGB) or reflectivity information. Taking lidar as an example of acquiring point cloud data, lidar emits laser pulses, some of which are reflected off the ground surface and received by a receiver. The system calculates the distance between the laser and the target by recording the time interval between the laser pulse's emission and return. Using this distance and scanning angle, combined with the measured position and attitude data of the lidar system, the 3D coordinates of the measured object and its surrounding environment can be obtained under a geographic spatial reference. These points with X, Y, and Z coordinates are discretely distributed in 3D space, forming a "point cloud."

[0190] It should be noted that the above-described terms and concepts are for illustrative purposes only and should not be construed as limiting the embodiments of this application.

[0191] Sensing and detection technologies are key technologies supporting intelligent technologies, providing crucial data support and information for decision-making in the operation of intelligent systems. Sensing technology can detect and measure physical, chemical, or biological quantities in the environment, while detection technology can extract useful information through analysis and processing.

[0192] Optical signal-based sensing and detection technologies are widely used in smart homes, smart cities, intelligent transportation, environmental protection, and security due to their non-contact detection capabilities and advantages such as high sensitivity and accuracy. With the rapid development of technologies (such as the Internet of Things, big data, and artificial intelligence), optical signal-based detection devices are also evolving towards miniaturization, intelligence, and integration.

[0193] Therefore, embodiments of this application will provide a detection device that can improve the richness of detection information while meeting the requirements of miniaturization.

[0194] Figure 1 shows a schematic diagram of a detection scenario provided in an embodiment of this application.

[0195] As shown in Figure 1, the detection system 100 includes a detection device 110 and a detection platform 120, with the detection device 110 mounted on the detection platform 120.

[0196] The detection device 110 is used to detect the environment 130 to collect detection data. The environment 130 includes detection targets, such as targets 131, 132, ..., 13n (n is a positive integer), wherein targets 131 to 13n can be objects of the same type or different types of objects, and this application does not limit this. For example, the detection data collected by the detection device 110 includes point cloud data and image data of the environment 130.

[0197] Point cloud data is a collection of discrete points on the surface of an object, which can be used for 3D modeling or scene reconstruction, for example, point cloud data can be used to construct a 3D map of environment 130. In some embodiments, if the detection platform 120 is movable, the 3D map can be used for the positioning and navigation of the detection platform 120. In some embodiments, the point cloud data can be used to determine the similarity of various detection targets in environment 130, such as the sky, ground, pedestrians, vehicles, traffic signs, lane lines, fixed buildings, etc.

[0198] Image data is a collection of grayscale values ​​of each pixel, represented numerically. It can be used for object detection, object surface condition determination, etc. For example, image data can be used to determine whether an object surface includes smooth pixels, or to determine the category of an object. In some embodiments, the image data can be used to determine the characteristics of a road surface, such as whether it is a dry road surface or a wet road surface (e.g., a flooded road surface or an icy road surface). Furthermore, if the detection platform 120 is movable, the detected road surface characteristics can be used by the detection platform 120 to make appropriate driving decisions based on different road conditions, such as controlling vehicle speed, changing driving routes, driving smoothly, maintaining a safe distance, and turning on headlights. In some embodiments, the image data can be used to determine the category of various detected targets in the environment 130, such as the ground, sky, traffic signs, lane lines, etc.

[0199] The detection platform 120 can be fixed or movable relative to the ground. For example, the detection platform 120 can be a monitoring pole, street light pole, road sign pole, or other object fixed relative to the road surface. Alternatively, the detection platform 120 can be a vehicle, drone, robot, or other carrier that can move on the ground or fly at low altitudes. In this embodiment, the detection platform 120 is optional.

[0200] In some embodiments, the detection platform 120 can acquire detection data collected by the detection device 110. For example, the detection platform 120 can be used to store and process the detection data, and / or the detection platform 120 can send the detection data to the cloud.

[0201] Figure 2 shows a schematic architecture diagram of a detection device provided in an embodiment of this application.

[0202] The detection device 200 shown in Figure 2 can be applied to the detection system 100 shown in Figure 1. For example, the detection device 200 can be a specific example of the detection device 110 shown in Figure 1.

[0203] As shown in Figure 2, the detection device 200 includes a transmitting module 210 and a receiving module 220. The transmitting module 210 emits infrared light 202. For example, the transmitting module 210 emits infrared light towards a target 201 located in front of the transmitting module 210. The target 201 can be the environment 130 in Figure 1 or a specific example of a detection target within the environment 130. The receiving module 220 receives optical signals and converts them into electrical signals. For example, the receiving module 220 receives reflected light 203, which corresponds to the infrared light 202; that is, the reflected light of the infrared light 202 includes the reflected light 203. For example, the receiving module 220 receives the reflected light 203 from the target 201. Accordingly, the reflected light 203 is the light reflected by the target 201 after the infrared light 202 is incident on it.

[0204] In some embodiments, the emitting module 210 includes a laser for emitting infrared light 202. For example, the laser can emit near-infrared light, meaning the wavelength of the light source emitted by the laser is approximately in the range of 750nm-3000nm. For instance, the laser can emit a single-wavelength beam, such as light with wavelengths of 810nm, 850nm, 905nm, 940nm, 1310nm, 1550nm, or other near-infrared wavelengths. It should be noted that the values ​​mentioned above refer to the center wavelength of the laser emitted by the laser; therefore, the description "single-wavelength beam" refers to a light wave with a narrow wavelength range, such as a narrow band with a center wavelength ±10nm.

[0205] In some embodiments, the laser can be a fiber laser or a semiconductor laser (such as a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting laser (EEL). Fiber lasers or semiconductor lasers are smaller in size, have lower power, and are capable of long-term stable operation.

[0206] In some embodiments, the infrared light 202 emitted by the emitting module 210 can be polarized or unpolarized light. For example, the emitting module 210 can mix the light emitted by one or more lasers to form infrared light 202. Generally, a single laser can maintain a specific polarization state and has coherence, enabling it to be used to form polarized light. Different lasers can have the same polarization state or different polarization states and lack coherence, enabling them to be used to form polarized or unpolarized light. Examples are given below.

[0207] For example, the transmitting module 210 may include a laser. This laser, because it can maintain a specific polarization state, can be used to emit plane-polarized light (i.e., linearly polarized light), such as P-polarized light or S-polarized light.

[0208] For example, the transmitting module 210 may include multiple lasers (such as a laser array). In one example, the polarization states of the multiple lasers can be consistent, so the light source from which the multiple lasers are mixed can be plane-polarized light. In another example, the polarization states of the multiple lasers can have a fixed phase difference, so the light source from which the multiple lasers are mixed can be elliptically polarized light or circularly polarized light. In yet another example, the polarization states of the multiple lasers can be inconsistent (e.g., random vibration directions), so the light source from which the multiple lasers are mixed may not have a specific polarization state, thus forming unpolarized light.

[0209] In some embodiments, if the emitting module 210 includes multiple lasers, the emission modes of the multiple lasers can be synchronous emission, sequential emission, or alternating emission, etc.

[0210] In some embodiments, the emitting module 210 may further include a first optical component, which is used to ensure the performance and application effect of the laser emitted by the laser.

[0211] For example, the first optical component may include a diffuser. A diffuser, also known as a beam shaper or beam homogenizer, is a beam shaping element that can form a specific shape and angle. For instance, a diffuser can convert point laser light emitted by a laser into surface laser light, achieving a uniform distribution of light.

[0212] For example, the first optical component may include a lens that can be used to adjust and shape the beam output by the laser.

[0213] For example, the first optical component may include a waveguide for guiding the laser beam emitted by the laser to other optical elements.

[0214] It is understood that the above description of the optical elements included in the first optical assembly is merely exemplary. In practical applications, those skilled in the art can select appropriate optical elements to constitute the first optical assembly as needed.

[0215] In some embodiments, the emitting module 210 may further include a driving component for controlling the operation of the laser.

[0216] For example, the driving component may include a driving chip for directly controlling the operating state of the laser, such as turning the laser on / off and controlling the polarization direction of the light emitted by the laser. If the emitting module 210 includes multiple lasers, the driving component may include multiple driving chips, each corresponding to one of the multiple lasers.

[0217] For example, the driving component may include a driving circuit for providing the current and voltage signals required by the driving chip.

[0218] For example, the driving component may include a temperature control system for detecting the operating temperature of the driving chip to ensure its stability and reliability.

[0219] It is understood that the above description of the components included in the drive assembly is merely exemplary. In practical applications, those skilled in the art can design the configuration of the drive assembly as needed.

[0220] In some embodiments, the transmitting module 210 can be the transmitting part of a conventional lidar. In some embodiments, the transmitting module 210 may also have other names, such as a transmitting system.

[0221] In some embodiments, the infrared light emitted by the transmitting module 210 covers a field of view greater than or equal to 30° and less than or equal to 120°.

[0222] In this embodiment of the application, the receiving module 220 includes a first type of photosensitive element 221, a second type of photosensitive element 222, and a beam splitter 223.

[0223] The beam splitter 223 is used to split the reflected light 203 received by the receiving module 220, wherein the beams after the reflected light 203 is split are emitted from the first exit surface 2231 and at least one second exit surface 2232 of the beam splitter 223.

[0224] The first type of photosensitive element 221 is used to sense the light emitted from the first emitting surface 2231 after the reflected light 203 is split, in order to acquire point cloud data. For example, the first type of photosensitive element 221 can convert the received photons into charge or current signals and count the photons. The data acquired by the first type of photosensitive element 221 can be further processed to obtain point cloud data. The acquisition of point cloud data based on the sensing information of the first type of photosensitive element 221 is the same as the technology for acquiring point cloud data using lidar, and will not be described in detail here.

[0225] In some embodiments, the first type of photosensitive element 221 can be an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), or a silicon photomultiplier tube (SiPM), etc. The first type of photosensitive element 221 can sense infrared light 202 emitted by the emitting module 210.

[0226] The second type of photosensitive element 222 is used to sense the light emitted from at least one second emitting surface 2232 after the reflected light 203 has been split, in order to acquire image data. For example, the second type of photosensitive element 222 can receive the light emitted from at least one second emitting surface 2232 and form an image, thereby acquiring image data. The acquisition of image data based on the sensing information of the second type of photosensitive element 222 is the same as the technology for acquiring image data by existing image sensors, and will not be described in detail here.

[0227] In some embodiments, the second type of photosensitive element 222 can be a charge-coupled device (CCD) image sensor or a complementary metal-oxide-semiconductor (CMOS) image sensor, etc. The second type of photosensitive element 222 can sense the infrared light 202 emitted by the emitting module 210. Therefore, the second type of photosensitive element 222 can acquire infrared images based on the infrared light 202.

[0228] It should be noted that the "emission" involved in the embodiments of this application includes transmission emission and reflection emission.

[0229] In this application, the image data acquired by the second type of photosensitive element 222 includes intensity information of first polarized light and / or intensity information of second polarized light. The first polarized light has a first polarization state, and the second polarized light has a second polarization state, wherein the first polarization state and the second polarization state are orthogonal to each other, that is, the polarization direction of the first polarized light is orthogonal to the polarization direction of the second polarized light. For example, the image data may include a first polarization image based on the first polarized light and / or a second polarization image based on the second polarized light.

[0230] For example, the first polarization state can be P-polarized and the second polarization state can be S-polarized; or, the first polarization state is S-polarized and the second polarization state is P-polarized. Here, P-polarization and S-polarization are defined relative to the incident plane when the infrared light 202 is incident on the target 201, wherein P-polarization is parallel to the incident plane and S-polarization is perpendicular to the incident plane. In this application, light with P-polarization can also be called P-polarized light, parallel polarized light, P-polarized component, etc., and light with S-polarization can also be called S-polarized light, perpendicular polarized light, S-polarized component, etc.

[0231] In this application, for ease of understanding and distinction, in some of the accompanying drawings provided below, taking the first polarized light as S-polarized and the second polarized light as P-polarized as an example, "·" and "|" are used to mark part of the optical path, where "·" represents the S-polarized component and "|" represents the P-polarized component. It is understood that the polarization states marked in the figures are only exemplary, and in some other embodiments, the polarization states of the first polarized light and the second polarized light can be interchanged.

[0232] Generally, different objects have different surface conditions (such as roughness, smoothness, texture, etc.), resulting in different polarization characteristics of reflected light. Therefore, the surface condition of an object can be detected, identified, or judged based on the polarization characteristics of the light reflected from it. Specifically, in reflection and transmission systems, any ray of light can be decomposed into two orthogonal linear polarization states. For ease of understanding, the following example uses P-polarization and S-polarization. Different surface conditions have significant differences in reflectivity for P-polarization and / or S-polarization, leading to differences in the intensity of S-polarized light and / or P-polarized light when the photosensitive element senses the P-polarization and / or S-polarization reflected from different surface conditions. Therefore, in this application, different surface conditions can be distinguished based on the intensity of the S-polarized light in the reflected light 203 (hereinafter referred to as Is for ease of description), or the intensity of the P-polarized light (hereinafter referred to as Ip for ease of description), or the intensity difference between the S-polarized light and the P-polarized light (e.g., Is-Ip, Ip-Is, |Is-Ip|, Is / Ip, Ip / Is, (Is-Ip) / (Is+Ip), (Is+Ip) / (Is-Ip), Ip-k·Is (k is a coefficient), Is-m·Ip (m is a coefficient), etc.).

[0233] For example, referring to Figure 3(a), if the target 201 has a rough surface, then the target 201 is a Lambertian material, and the infrared light 202 incident on the target 201 will undergo diffuse reflection directly. That is, the incident light incident on the target 201 will be uniformly reflected in all directions by the rough surface. In diffuse reflection, the reflectivity of the diffuse light is consistent in all directions, and the reflectivity of each polarization state in the diffuse light is consistent. This can be understood as the proportions of the P-polarized component and the S-polarized component in the diffuse light being approximately equal. Therefore, the P-polarized light and the S-polarized light will exhibit consistent intensity on the photosensitive element side.

[0234] For example, referring to Figure 3(b), if the target 201 has a smooth surface, the infrared light 202 will undergo specular reflection after being incident on the target 201. The reflectivity of S-polarized light in the reflected light is significantly higher than that of P-polarized light. If the photosensitive element receives the reflected light, the P-polarized light and S-polarized light will exhibit different intensities on one side of the photosensitive element; for example, the intensity of S-polarized light will be greater than that of P-polarized light.

[0235] When the target 201 is a rough, bare surface with a transparent medium (such as water or ice) attached, when infrared light 202 is incident on the target 201, specular reflection and refraction will first occur at the air-transparent medium interface. That is, part of the incident light incident on the target 201 will be specularly reflected to form reflected light, and part will enter the transparent medium to form refracted light. The refracted light will continue to be incident on the rough, bare surface with the transparent medium attached, and will be reflected by the rough, bare surface to form diffuse light. In the reflected light, the reflectivity of S-polarized light is higher than that of P-polarized light, so the S-polarized component is more than the P-polarized component; in the refracted light, the transmittance of P-polarized light is higher than that of S-polarized light, so the P-polarized component is more than the S-polarized component; in the diffuse light formed by the reflection of the refracted light on the rough, bare surface, the P-polarized component will also be higher than the S-polarized component. If the photosensitive element receives the diffuse light reflected by the rough, bare surface, the P-polarized light and S-polarized light will also exhibit different intensities on the photosensitive element side, for example, the intensity of P-polarized light will be greater than that of S-polarized light.

[0236] For example, taking incident light at the interface between air and water / ice as an example, the reflectance of P-polarized and S-polarized light can be obtained using Fresnel's formula, as shown in Figure 4(a). It can be seen that within the incident angle range of 0°-90°, the reflectance Rs of S-polarized light is always higher than that of P-polarized light. Furthermore, the reflectance of S-polarized light is positively correlated with the incident angle; as the incident angle increases, the reflectance of S-polarized light increases accordingly. As the incident angle increases, the reflectance of P-polarized light first decreases and then increases. Referring to the magnified view A in Figure 4(b), when the incident angle is the Brewster angle (approximately 53.7°), the reflectance of P-polarized light is 0.

[0237] The reflectivity Rp of P-polarized light, calculated using Fresnel's formula, is as follows:

[0238] The reflectivity Rs of S-polarized light, calculated using Fresnel's formula, is as follows:

[0239] In the two formulas above, n1 is the refractive index of the medium in which the incident light is located (air as shown in Figure 4); n2 is the refractive index of the object (water or ice as shown in Figure 4); θ i The angle of incidence (e.g., the horizontal axis value shown in Figure 4).

[0240] To further understand, we will use the detection of water / ice accumulation on the road surface as an example for more detailed explanation.

[0241] Different road surface characteristics result in significant differences in the reflectivity of S-polarized and P-polarized light. This leads to differences in the intensity of S-polarized light and P-polarized light when the photosensitive element receives infrared light reflected from dry and wet road surfaces. Therefore, different road surface characteristics can be distinguished based on the intensity of S-polarized light and / or P-polarized light.

[0242] For example, if the target 201 is a dry road surface, such as an asphalt road, cement road, or dirt road, then the target 201 can diffusely reflect the incident infrared light 202. Correspondingly, the reflected light 203 received by the receiving module 220 is the light diffusely reflected from the infrared light 202 by the target 201. In this diffused light, the S-polarized light and the P-polarized light exhibit essentially the same intensity on the photosensitive element side.

[0243] For example, if the target 201 is a slippery road surface, such as a flooded or icy surface, the target 201 can specularly reflect and refract the incident infrared light 202. A bare road surface can also diffuse the refracted light. The ratio of S-polarized to P-polarized components in the reflected and refracted light differs significantly. Therefore, the S-polarized and P-polarized light in the reflected light exhibit different intensities on the photosensitive element side, and the S-polarized and P-polarized light in the refracted light diffused by the bare road surface also exhibit different intensities on the photosensitive element side.

[0244] Accordingly, in some embodiments, if the intensity difference between P-polarized light and S-polarized light (e.g., |Is-Ip|) is greater than a first threshold, the target 201 to be tested can be determined to be a wet and slippery road surface; if the intensity difference between P-polarized light and S-polarized light is less than the first threshold, the target 201 to be tested can be determined to be a dry road surface.

[0245] It is understood that the above example uses infrared light 202 as an example of unpolarized light. If the transmitting module 210 emits polarized light, such as P-polarized light or S-polarized light, the judgment principle is similar to that described above.

[0246] Specifically, compared to a dry road surface, a wet road surface exhibits greater specular reflection of S-polarized light and greater transmission of P-polarized light. Correspondingly, taking the case where the receiving module 220 receives incident light that has been refracted by water / ice and then diffused by the bare road surface as an example, the receiving module 220 receives less S-polarized light and more P-polarized light. Therefore, when the emission intensity of infrared light 202 is constant, when the photosensitive element receives infrared light reflected from a wet road surface, the intensity of S-polarized light is lower than that reflected from a dry road surface, and the difference in intensity between the S-polarized light and the emitted light is greater than that on a dry road surface; or the intensity of P-polarized light is higher than that reflected from a dry road surface, and the difference in intensity between the P-polarized light and the emitted light is smaller than that on a dry road surface. Similarly, the intensity difference between S-polarized and P-polarized light in the infrared light reflected from a wet road surface also differs from that on a dry road surface. Therefore, when the reflection module 210 emits polarized light, the road characteristics of the road surface under test can also be determined based on the intensity of the S-polarized light and / or the intensity of the P-polarized light.

[0247] For example, if the intensity of P-polarized light is greater than the second threshold, or the intensity of S-polarized light is less than the third threshold, or the difference in intensity between P-polarized light and S-polarized light is greater than the fourth threshold, the target 201 is determined to be a wet and slippery road surface; if the intensity of P-polarized light is less than the second threshold, or the intensity of S-polarized light is greater than the third threshold, or the difference in intensity between P-polarized light and S-polarized light is less than the fourth threshold, the target 201 is determined to be a dry road surface.

[0248] It is understandable that the source of the light reflected from the wet road surface received by the receiving module 220 will vary depending on the different positions of the receiving module 220 and the transmitting module 210. For example, if the receiving module 220 and the transmitting module 210 are close together, and the transmitting module 210 emits infrared light 202 forward, then the reflected light 203 received by the receiving module 220 is the light diffusely reflected from the bare road surface after the infrared light 202 is refracted into water or ice. Conversely, if the receiving module 220 and the transmitting module 210 are far apart, and the transmitting module 210 emits infrared light 202 towards the side where the receiving module 220 is located, then the reflected light 203 received by the receiving module 220 is the light reflected from the infrared light 202 by water or ice. However, in either case, the road surface characteristics can be determined based on the intensity of the S-polarized light and / or the P-polarized light in the received light. The difference lies in the fact that the set judgment threshold will vary depending on the specific circumstances.

[0249] For example, in practical applications, the threshold used to determine the surface condition of an object (such as the aforementioned first threshold, second threshold, third threshold, fourth threshold, or other thresholds corresponding to calculation formulas) can be determined based on the type of the target 201 (such as a road surface or traffic sign, specifically differentiated according to the purpose of the target 201), the polarization state and emission intensity of the infrared light 202 emitted by the transmitting module 210, the beam splitting situation of the beam splitter 223, the type of parameter formula used to determine the surface condition, and the source of the reflected light 203 received by the receiving module 220. This application does not impose further limitations here. In one example, the threshold used to determine the surface condition of an object can be calibrated using a simulated test environment.

[0250] In some embodiments, different road surface types (such as cement road surface, asphalt road surface, or dirt road surface) may have different thresholds applied to determine the surface condition of an object.

[0251] In some embodiments, if the target to be tested 201 is a waterlogged / icy road surface, the transmitting module 210 emits infrared light 202 at a distance (e.g., 5-50 meters) in front of the waterlogged / icy road surface at a position about 1.5m above the ground, and the incident angle of the infrared light 202 is in the range of about 70°-88°.

[0252] In some embodiments, the receiving module 220 may further include a second optical component 224, which is used to ensure the performance and application effect of the laser received by the receiving module 220.

[0253] For example, the second optical component may include a receiving mirror to ensure that the received beam has sufficient energy and resolution.

[0254] For example, the second optical component may include a filter used to filter out unwanted light, allowing only beams of specific wavelengths to pass through, thus avoiding interference from stray light.

[0255] For example, the second optical component may include a lens that can be used to adjust the focal length and direction of the beam, reduce the divergence angle of the beam, and enable the beam to maintain a high energy density and stability during transmission, thereby improving the anti-interference capability of the receiving module 220.

[0256] It is understood that the above description of the optical elements included in the second optical component 224 is merely exemplary. In practical applications, those skilled in the art can select appropriate optical elements to constitute the second optical component 224 as needed.

[0257] In some embodiments, the detection device 200 may further include a scanning device for changing the deflection angle of the beam emitted by the emission module 210 to scan the laser beam. For example, the scanning device may employ mechanical scanning (such as mirror scanning), solid-state scanning (such as optical phased array (OPA) scanning), micro-electro-mechanical system (MEMS) scanning, or other technologies to scan the laser beam.

[0258] In the detection device 200 provided in this application, the infrared light 202 emitted by the transmitting module 210 can simultaneously acquire point cloud data and image data, providing richer detection information and making infrared light detection more reliable. Furthermore, in the receiving module 220, a beam splitter 223 divides the reflected light 203 onto a first type of photosensitive element 221 and a second type of photosensitive element 222 to acquire different detection data respectively. This high level of device integration reduces the size of the detection device 200 while achieving multifunctionality, thus facilitating miniaturization. In addition, the detection device 200 uses infrared light as the detection signal, enabling all-weather, high-confidence, and low-cost detection.

[0259] In some embodiments, the detection device 200 provided in this application can be applied to vehicles. Through the detection device 200, vehicles can effectively detect road surface water and ice accumulation while acquiring point cloud data. This expands the intelligent driving system's processing and decision-making capabilities for this scenario, enhances the vehicle's ability to cope with complex and severe weather conditions, ensures driving safety, and improves the intelligent driving experience. Furthermore, the detection device 200 provided in this application can support a wide operating temperature range (e.g., -40°C to 125°C), enabling stable operation even when the vehicle is operating under harsh temperatures.

[0260] In some embodiments, the energy of the light emitted from the first emitting surface 2231 after the reflected light 203 is split is greater than the energy of the light emitted from at least one second emitting surface 2232 after the reflected light 203 is split. That is, the energy of the light sensed by the first type of photosensitive element 221 is greater than the energy of the light sensed by the second type of photosensitive element 222.

[0261] For example, if at least one second emitting surface 2232 is used to emit first polarized light and second polarized light, then the energy of the remaining light rays in the reflected light 203 other than the first polarized light and the second polarized light is greater than the sum of the energy of the first polarized light and the energy of the second polarized light.

[0262] As mentioned earlier, the infrared light emitted from the first emitting surface 2231 is used to acquire point cloud data. When the beam splitter prism 223 splits the light, it can direct most of the energy of the reflected light 203 to the first type of photosensitive element 221, enabling the detection device 200 to detect at a greater distance and with higher accuracy. Specifically, the amount of light energy sensed by the first type of photosensitive element 221 has a decisive influence on the detection distance and accuracy of the detection device 200; the greater the light energy received by the first type of photosensitive element 221, the higher the detection distance and accuracy. Therefore, directing most of the energy of the reflected light 203 to the first type of photosensitive element 221 ensures the advantage of the detection device 200 in distance detection.

[0263] It is understood that if the beam splitter 223 includes multiple second exit surfaces 2232, then the energy of the light emitted from the first exit surface 2231 after the reflected light 203 is split is greater than the energy of the light emitted from each of the second exit surfaces 2232 after the reflected light 203 is split, and is also greater than the sum of the energy of the light emitted from the multiple second exit surfaces 2232 after the reflected light 203 is split.

[0264] In some embodiments, the ratio of the energy of the light emitted from the first emitting surface 2231 after the reflected light 203 is split to the energy of the reflected light 203 is greater than or equal to a first preset value. That is, the ratio of the energy of the light sensed by the first type of photosensitive element 221 to the energy of the reflected light 203 is greater than or equal to the first preset value. For example, if at least one second emitting surface 2232 is used to emit first polarized light and second polarized light, then the ratio of the energy of the remaining light rays in the reflected light 203 other than the first polarized light and the second polarized light to the energy of the reflected light 203 is greater than or equal to the first preset value.

[0265] For example, the first preset value is greater than 50%, such as 70%, 80%, 85%, 90%, or 95%. It is understood that the aforementioned definition of the first preset value as a percentage is merely exemplary. In some other embodiments, the corresponding percentage can also be converted into other numerical forms (such as 0.7, 0.8, 0.85, 0.9, 0.95, etc.) to define the first preset value.

[0266] In some embodiments, the ratio of the energy of the light emitted from at least one second emitting surface 2232 after the reflected light 203 is split to the energy of the reflected light 203 is less than or equal to a second preset value. That is, the ratio of the energy of the light sensed by the second type of photosensitive element 222 to the energy of the reflected light 203 is less than or equal to the second preset value. For example, if at least one second emitting surface 2232 is used to emit first polarized light and second polarized light, then the ratio of the sum of the energies of the first polarized light and the second polarized light to the energy of the reflected light 203 is less than or equal to the second preset value.

[0267] For example, the second preset value is less than 50%, such as 30%, 20%, 15%, 10%, or 5%. It is understood that the aforementioned definition of the second preset value as a percentage is merely exemplary. In some other embodiments, the corresponding percentage can also be converted into other numerical forms (such as 0.3, 0.2, 0.15, 0.1, 0.05, etc.) to define the second preset value.

[0268] In some embodiments, the sum of the first preset value and the second preset value is 100%.

[0269] The energy of the infrared light emitted from the first emitting surface 2231 is greater than that of the infrared light emitted from at least one second emitting surface 2232, which ensures that most of the energy of the reflected light 203 reaches the first type of photosensitive element 221.

[0270] In some embodiments, the beam splitter 223 is also used to separate the first polarized light and / or the second polarized light from the reflected light 203.

[0271] When the first polarized light and / or the second polarized light are directly separated by the beam splitter 223, the photosensitive element used to sense the first polarized light and / or the second polarized light can be an existing ordinary image sensor capable of infrared imaging, which can reduce costs and computational complexity.

[0272] For example, if the detection device 200 only needs to acquire the intensity of light with one polarization state, the beam splitter 223 can be used to separate either the first polarized light or the second polarized light from the reflected light 203. If the detection device 200 needs to acquire the intensity of light with two polarization states, the beam splitter 223 can be used to separate the first polarized light and the second polarized light from the reflected light 203. Of course, in the latter case, even if the beam splitter 223 separates the first polarized light and the second polarized light from the reflected light 203, the surface condition of the object can be determined using only one of the light intensities.

[0273] In some embodiments, to achieve the separation of first polarized light and / or second polarized light by the beam splitter 223 and to emit light to the first type of photosensitive element 221 and the second type of photosensitive element 222, the beam splitter 223 may include one or more of the following functional surfaces (referring to cemented surfaces or optical surfaces):

[0274] It has a functional surface with a first beam splitter, which is used to perform energy splitting on light rays with a first polarization state incident on the first beam splitter;

[0275] The device has a functional surface with a second beam splitter, which is used to split the energy of light rays with a second polarization state in the light rays incident on the second beam splitter.

[0276] It has a functional surface with a third beam splitter, which is used to polarize and split the light incident on the third beam splitter.

[0277] It has a functional surface with a fourth beam splitter, which is used to perform energy-based beam splitting on light incident on the fourth beam splitter.

[0278] Since the first beam splitter can perform energy beam splitting on light with the first polarization state, that is, the first beam splitter is used for energy beam splitting and polarization beam splitting, the functional surface of the first beam splitter can be used to separate the first polarized light from the reflected light 203.

[0279] For example, if the reflected light 203 has a first polarization state and the beam splitter 223 only needs to separate the first polarized light, the beam splitter 223 may only include the functional surface with the first beam splitting film.

[0280] Since the second beam splitter can perform energy beam splitting on light with a second polarization state, that is, the second beam splitter is used for energy beam splitting and polarization beam splitting, the functional surface with the second beam splitter can be used to separate the second polarized light from the reflected light 203.

[0281] For example, if the reflected light 203 has a second polarization state and the beam splitter 223 only needs to separate the second polarized light, the beam splitter 223 may only include the functional surface with the second beam splitting film.

[0282] For example, the functional surface having the first beam splitter and the functional surface having the second beam splitter can be combined to separate the first polarized light and the second polarized light from the reflected light 203. For instance, the functional surface having the first beam splitter separates the first polarized light from the reflected light 203, and the functional surface having the second beam splitter separates the second polarized light from the light transmitted through the first beam splitter. Alternatively, the functional surface having the second beam splitter separates the second polarized light from the reflected light 203, and the functional surface having the first beam splitter separates the first polarized light from the light transmitted through the second beam splitter.

[0283] Since the fourth beam splitter can split the energy of light, the energy of the light incident on the first type of photosensitive element 221 and the second type of photosensitive element 222 can be distributed by using the functional surface of the fourth beam splitter, or the first polarized light or the second polarized light can be separated.

[0284] For example, if the reflected light 203 has a first polarization state and the beam splitter 223 only needs to separate the first polarized light, the beam splitter 223 may only include the functional surface with the fourth beam splitting film.

[0285] For example, if the reflected light 203 has a second polarization state and the beam splitter 223 only needs to separate the second polarized light, the beam splitter 223 may only include the functional surface with the fourth beam splitting film.

[0286] Since the third beam splitter can separate light with a first polarization state and light with a second polarization state (i.e., the third beam splitter is used for polarization beam splitting) and the fourth beam splitter can perform energy beam splitting, the first polarized light and the second polarized light can be separated from the reflected light 203 by combining the functional surfaces of the third beam splitter and the fourth beam splitter.

[0287] For example, the surface with the fourth beam splitter can be used to perform energy beam splitting on the reflected light 203, and then the surface with the third beam splitter can be used to separate the polarization state of a portion of the energy-split light, thereby obtaining first polarized light and second polarized light. Alternatively, the surface with the third beam splitter can be used to perform polarization beam splitting on the reflected light 203 to obtain light with a first polarization state and light with a second polarization state, and then the surface with the fourth beam splitter can be used to perform energy beam splitting on the polarized light, such as separating a portion of the light with the first polarization state to form first polarized light, and separating a portion of the light with the second polarization state to form second polarized light.

[0288] It is understandable that the functional surface with the third beam splitter can also be combined with other means that can perform energy beam splitting, or the functional surface with the fourth beam splitter can also be combined with other means that can perform polarization beam splitting, so as to achieve the purpose of separating the first polarized light and the second polarized light from the reflected light 203.

[0289] For example, the beam splitter 223 may include at least three of the following: a functional surface having a first beam splitter film, a functional surface having a second beam splitter film, a functional surface having a third beam splitter film, and a functional surface having a fourth beam splitter film.

[0290] It is understood that different functional surfaces have different optical properties. In practical applications, one or more of them can be selected and combined as needed to achieve the separation of first polarized light and / or second polarized light from reflected light 203 by the beam splitter 223. The above example is only for illustrative purposes. For example, the type of functional surfaces included in the beam splitter 223 can be determined based on the polarization state of infrared light 202, the calculation formula used to determine the surface condition of an object, and the architecture of the beam splitter 223. Of course, for further understanding, more specific examples will be given below in conjunction with the accompanying drawings. Details can be found in the relevant description below, and will not be elaborated further here.

[0291] In some embodiments, the first, second, third, or fourth beam-splitting films may be deposited on the corresponding functional surfaces.

[0292] In other embodiments, the first, second, third, or fourth beam-splitting film may be replaced with other optical elements having the same function, such as beam splitters, etc., and this application does not limit this.

[0293] In some embodiments, the beam splitter 223 may include a second exit surface 2232. When the second type of photosensitive element 222 is used to sense first polarized light, the second exit surface 2232 is used to exit the first polarized light. Alternatively, when the second type of photosensitive element 222 is used to sense second polarized light, the second exit surface 2232 is used to exit the second polarized light. Or, when the second type of photosensitive element 222 is used to sense both first and second polarized light, the second exit surface 2232 is used to exit both first and second polarized light.

[0294] In other embodiments, the beam splitter 223 may include a plurality of second exit surfaces 2232. When the second type of photosensitive element 222 is used to sense first polarized light and second polarized light, at least one of the plurality of second exit surfaces 2232 is used to exit the first polarized light, and at least one of the plurality of second exit surfaces 2232 is used to exit the second polarized light.

[0295] For example, the beam splitter 223 may include two second exit surfaces 2232, one of which is used to exit first polarized light, and the other of which is used to exit second polarized light.

[0296] In some embodiments, the second type of photosensitive element 222 may include a single photosensitive element. When the second type of photosensitive element 222 is used to sense first polarized light, this single photosensitive element is used to sense the first polarized light. Alternatively, when the second type of photosensitive element 222 is used to sense second polarized light, this single photosensitive element is used to sense the second polarized light. Or, when the second type of photosensitive element 222 is used to sense both first and second polarized light, this single photosensitive element is used to sense both first and second polarized light.

[0297] In other embodiments, the second type of photosensitive element 222 may include a plurality of photosensitive elements. When the second type of photosensitive element 222 is used to sense first polarized light and second polarized light, at least one of the plurality of photosensitive elements is used to sense the first polarized light, and at least one of the plurality of photosensitive elements is used to sense the second polarized light.

[0298] For example, the second type of photosensitive element 222 may include a photosensitive element for sensing first polarized light and a photosensitive element for sensing second polarized light.

[0299] In some embodiments, the beam splitter 223 may include at least one mirror body, one of which is used to emit light to a first type of photosensitive element 221, and one or more of the at least one mirror body is used to emit light to a second type of photosensitive element 222. For example, one or more of the at least one mirror body is used to emit first polarized light having a first polarization state and second polarized light having a second polarization state, and one of the at least one mirror body is used to emit the remaining light rays in the reflected light 203 other than the first polarized light and the second polarized light.

[0300] For example, when the beam splitter 223 includes a single mirror body, the mirror body used to emit light to the first type of photosensitive element 221 is also used to emit light to the second type of photosensitive element 222. When the beam splitter 223 includes multiple mirror bodies, the mirror body used to emit light to the first type of photosensitive element 221 and the mirror body used to emit light to the second type of photosensitive element 222 may be different.

[0301] In some embodiments, when the beam splitter 223 includes multiple mirrors, the beam splitter 223 can be an X-cube prism. For example, an X-cube prism can be coated with different films for beam splitting coupling.

[0302] In some embodiments, the beam splitter 223 includes a plurality of mirrors, wherein, in order to achieve beam splitting of the reflected light 203 by the beam splitter 223, one or more of the following first cemented surfaces, second cemented surfaces, third cemented surfaces, fourth cemented surfaces, fifth cemented surfaces, sixth cemented surfaces, and seventh cemented surfaces can be formed between the plurality of mirrors. The optical properties of the different cemented surfaces differ, and in practical applications, one or more of them can be selected and combined as needed to achieve energy beam splitting and polarization beam splitting by the beam splitter 223, thereby separating the first polarized light and the second polarized light from the reflected light 203.

[0303] The first adhesive surface is used to reflect a portion of the first light ray incident on the first adhesive surface that has a first polarization state, and to transmit the remaining light ray in the first light ray except for the portion with the first polarization state. Specifically, the first adhesive surface can reflect a portion of the light ray with the first polarization state in the first light ray and transmit the remaining light ray. It can be understood that the first adhesive surface can perform energy-based beam splitting and polarization-based beam splitting on the first light ray. Therefore, the first adhesive surface can be used to separate first polarized light. For example, the first adhesive surface is a specific example of the aforementioned functional surface with a first beam-splitting film.

[0304] The second adhesive surface is used to transmit a portion of the second light ray incident on the second adhesive surface that has a second polarization state, and to reflect the remaining light ray in the second light ray except for the portion with the second polarization state. Specifically, the second adhesive surface can transmit a portion of the light ray with the second polarization state in the second light ray and reflect the remaining light ray. It can be understood that the second adhesive surface can perform energy-based beam splitting and polarization-based beam splitting on the second light ray. Therefore, the second adhesive surface can be used to separate second polarized light. For example, the second adhesive surface is a specific example of the aforementioned functional surface with a second beam-splitting film.

[0305] The third cemented surface reflects all rays of the third ray incident on it that have the first polarization state, and transmits all rays of the third ray that have the second polarization state. This can be understood as the third cemented surface performing polarization splitting on the third ray, that is, separating the rays of the third ray that have the first polarization state from the rays that have the second polarization state. Therefore, the third cemented surface can be used to separate first-polarized light from second-polarized light. For example, the third cemented surface is a specific example of the aforementioned functional surface with a third beam-splitting film.

[0306] The fourth adhesive surface is used to transmit a portion of the fourth ray incident on it and reflect the remaining portion. Specifically, the fourth adhesive surface can reflect a portion of the fourth ray while transmitting another portion. This can be understood as the fourth adhesive surface performing energy splitting on the fourth ray. Therefore, the fourth adhesive surface can be used to separate the light sensed by the first type of photosensitive element 221, that is, to separate the light incident on the first type of photosensitive element 221 from the light incident on the second type of photosensitive element 222. For example, the fourth adhesive surface is a specific example of the aforementioned functional surface with a fourth beam-splitting film.

[0307] The fifth cemented surface is used to transmit a portion of the fifth ray incident on it that has a first polarization state, and to reflect the remaining portion of the fifth ray except for that portion. Specifically, the fifth cemented surface can transmit a portion of the fifth ray that has a first polarization state, and reflect the remaining portion. This can be understood as the fifth cemented surface performing energy-based and polarization-based beam splitting on the fifth ray. Therefore, the fifth cemented surface can be used to separate first polarized light. The fifth cemented surface functions similarly to the first cemented surface, the difference being that the reflective properties of the first cemented surface can be used to separate first polarized light, while the transmissive properties of the fifth cemented surface can be used. For example, the fifth cemented surface is a specific example of the aforementioned functional surface with a first beam-splitting film.

[0308] The sixth cemented surface reflects the portion of the sixth ray incident on it that has a second polarization state, and transmits the remaining portion of the sixth ray except for the portion with a second polarization state. Specifically, the sixth cemented surface can reflect a portion of the sixth ray with a second polarization state and transmit the remaining portion. This can be understood as the sixth cemented surface performing energy-based and polarization-based beam splitting on the sixth ray. Therefore, the sixth cemented surface can be used to separate second-polarized light. The sixth cemented surface functions similarly to the second cemented surface, the difference being that the second cemented surface's transmission properties can be used to separate second-polarized light, while the sixth cemented surface's reflection properties can be used. For example, the sixth cemented surface is a specific example of the aforementioned functional surface with a second beam-splitting film.

[0309] The seventh cemented surface transmits all rays of the seventh ray incident upon it that have the first polarization state, and reflects all rays of the seventh ray that have the second polarization state. This can be understood as the seventh cemented surface performing polarization splitting on the seventh ray, that is, separating the rays of the seventh ray that have the first polarization state from those that have the second polarization state. Therefore, the seventh cemented surface can be used to separate first-polarized light from second-polarized light. The function of the seventh cemented surface is similar to that of the third cemented surface, the difference being that the third cemented surface can be used to separate first-polarized light using its reflective properties and second-polarized light using its transmissive properties; similarly, the seventh cemented surface can be used to separate first-polarized light using its transmissive properties and second-polarized light using its reflective properties. For example, the seventh cemented surface is a specific example of the aforementioned functional surface with a third beam-splitting film.

[0310] In some embodiments, the ratio of the energy of light with a first polarization state reflected by the first adhesive surface to the energy of light with the first polarization state in the first ray is a first value, which may be greater than or equal to a threshold #1 and less than or equal to a threshold #2. For example, threshold #1 may be less than or equal to 10%, such as 1%, 3%, 5%, or 7%. Threshold #2 may be less than or equal to 20%, such as 18%, 15%, 12%, 10%, or 8%. By way of example and not limitation, the first value may be greater than or equal to 1% and less than or equal to 10%.

[0311] Thus, the light reflected from the first adhesive surface has relatively low energy, and when the reflected light is used to obtain the first polarized light, it can ensure that most of the energy of the reflected light 203 reaches the first type of photosensitive element 221.

[0312] In some embodiments, the ratio of the energy of the light rays with a second polarization state transmitted through the second adhesive surface to the energy of the light rays with a second polarization state in the second ray is a second value, which may be greater than or equal to a threshold #3 and less than or equal to a threshold #4. For example, threshold #3 may be less than or equal to 10%, such as 2%, 4%, 6%, or 8%. Threshold #4 may be less than or equal to 20%, such as 19%, 17%, 14%, 9%, or 7%. By way of example and not limitation, the second value may be greater than or equal to 1% and less than or equal to 10%.

[0313] Thus, the light transmitted through the second adhesive surface has less energy, and when the transmitted light is used to obtain the second polarized light, it can ensure that most of the energy of the reflected light 203 reaches the first type of photosensitive element 221.

[0314] In some embodiments, the ratio of the energy of the light transmitted through the fourth adhesive surface to the energy of the fourth light ray is a third value, which can be greater than or equal to threshold #5 and less than or equal to threshold #6. For example, threshold #5 can be less than or equal to 10%, such as 1%, 4%, 7%, or 9%. Threshold #6 can be less than or equal to 20%, such as 16%, 13%, 11%, 9%, or 7%. By way of example and not limitation, the third value can be greater than or equal to 1% and less than or equal to 10%.

[0315] Thus, the energy of the light transmitted through the fourth adhesive surface is relatively small, which ensures that most of the energy of the reflected light 203 reaches the first type of photosensitive element 221.

[0316] In some embodiments, the ratio of the energy of the light rays with the first polarization state transmitted through the fifth adhesive surface to the energy of the light rays with the first polarization state in the fifth ray is a fourth value, which can be greater than or equal to threshold #7 and less than or equal to threshold #8. For example, threshold #7 can be less than or equal to 10%, such as 1%, 3%, 5%, or 7%. Threshold #8 can be less than or equal to 20%, such as 18%, 15%, 12%, 10%, or 8%. By way of example and not limitation, the fourth value can be greater than or equal to 1% and less than or equal to 10%.

[0317] Thus, the light transmitted through the fifth adhesive surface has relatively low energy, and when the transmitted light is used to obtain the first polarized light, it can ensure that most of the energy of the reflected light 203 reaches the first type of photosensitive element 221.

[0318] In some embodiments, the ratio of the energy of the light rays with a second polarization state reflected from the sixth adhesive surface to the energy of the light rays with a second polarization state in the sixth ray is a fifth value, which can be greater than or equal to threshold #9 and less than or equal to threshold #10. For example, threshold #9 can be less than or equal to 10%, such as 2%, 4%, 6%, or 8%. Threshold #10 can be less than or equal to 20%, such as 19%, 17%, 14%, 9%, or 7%. By way of example and not limitation, the fifth value can be greater than or equal to 1% and less than or equal to 10%.

[0319] In some embodiments, at least two of the aforementioned first, second, third, fourth, and fifth values ​​are equal. Thus, when the beam-splitting prism 223 includes multiple of the first, second, fourth, fifth, and sixth adhesive surfaces, the beam-splitting ratios of the different adhesive surfaces are substantially equal. When the second type of photosensitive element 222 includes multiple photosensitive elements, the difference in light energy sensed by these multiple photosensitive elements can be minimized, which is beneficial for improving detection accuracy.

[0320] In some embodiments, the reflectivity of the first adhesive surface to light having a first polarization state is a sixth value, which can be greater than or equal to a threshold #11 and less than or equal to a threshold #12. Exemplarily, threshold #11 can be less than or equal to 10%, such as 1%, 3%, 5%, or 7%. Threshold #12 can be less than or equal to 20%, such as 18%, 15%, 12%, 10%, or 8%. By way of example and not limitation, the sixth value can be greater than or equal to 1% and less than or equal to 10%.

[0321] The reflectivity of the first adhesive surface for light with the first polarization state is within a suitable range. When the reflected light is used to acquire the first polarized light, it can not only meet the intensity requirements of the second type of photosensitive element 222 for the sensed first polarized light to ensure detection accuracy, but also ensure that the light energy sensed by the first type of photosensitive element 221 meets the requirements to ensure detection distance.

[0322] In some embodiments, the transmittance of the second adhesive surface to light having a second polarization state is a seventh value, which can be greater than or equal to threshold #13 and less than or equal to threshold #14. Exemplarily, threshold #13 can be less than or equal to 10%, such as 2%, 4%, 6%, or 9%. Threshold #14 can be less than or equal to 20%, such as 17.5%, 16%, 11%, 10%, 7%, etc. By way of example and not limitation, the seventh value can be greater than or equal to 1% and less than or equal to 10%.

[0323] The transmittance of the second adhesive surface for light with the second polarization state is within a suitable range. When the transmitted light is used to acquire the second polarized light, it can not only meet the intensity requirements of the second type of photosensitive element 222 for the sensed second polarized light to ensure detection accuracy, but also ensure that the light energy sensed by the first type of photosensitive element 221 meets the requirements to ensure detection distance.

[0324] In some embodiments, the transmittance of the fifth adhesive surface to light having a first polarization state is an eighth value, which can be greater than or equal to a threshold #15 and less than or equal to a threshold #16. Exemplarily, threshold #15 can be less than or equal to 10%, such as 1%, 3%, 5%, or 7%. Threshold #16 can be less than or equal to 20%, such as 18%, 15%, 12%, 10%, or 8%. By way of example and not limitation, the eighth value can be greater than or equal to 1% and less than or equal to 10%.

[0325] The transmittance of the fifth adhesive surface for light with the first polarization state is within a suitable range. When the transmitted light is used to obtain the first polarized light, it can not only meet the intensity requirements of the second type of photosensitive element 222 for the sensed first polarized light to ensure detection accuracy, but also ensure that the light energy sensed by the first type of photosensitive element 221 meets the requirements to ensure detection distance.

[0326] In some embodiments, the reflectivity of the sixth adhesive surface to light having a second polarization state is a ninth value, which can be greater than or equal to threshold #17 and less than or equal to threshold #18. Exemplarily, threshold #17 can be less than or equal to 10%, such as 2%, 4%, 6%, or 9%. Threshold #18 can be less than or equal to 20%, such as 17.5%, 16%, 11%, 10%, 7%, etc. By way of example and not limitation, the ninth value can be greater than or equal to 1% and less than or equal to 10%.

[0327] The sixth adhesive surface has a reflectivity for light with a second polarization state within a suitable range. When the reflected light is used to acquire second polarized light, it can not only meet the intensity requirements of the second type of photosensitive element 222 for the second polarized light it senses, thus ensuring detection accuracy, but also ensure that the light energy sensed by the first type of photosensitive element 221 meets the requirements, thus ensuring detection distance.

[0328] In some embodiments, at least two of the reflectivity of the first adhesive surface to light having a first polarization state, the transmittance of the second adhesive surface to light having a second polarization state, the transmittance of the fifth adhesive surface to light having a first polarization state, and the reflectivity of the sixth adhesive surface to light having a second polarization state are equal.

[0329] In this way, the energy ratios of the first and second polarized light are basically the same, which helps to reduce the energy ratio difference between the first and second polarized light.

[0330] Based on the above description, for further understanding, the following uses the beam splitter 223 for separating the first polarized light and the second polarized light as an example, and describes some specific, but not limiting, structures of the beam splitter 223 and the corresponding receiving module 220 provided in the embodiments of this application in conjunction with the accompanying drawings.

[0331] As an example, referring to Figure 5, the beam splitter 223 may include a second exit surface 2232, and the second type of photosensitive element 222 may include a photosensitive element 222a for sensing first polarized light and a photosensitive element 222b for sensing second polarized light, wherein both photosensitive elements 222a and 222b are located on the light-emitting side of the second exit surface 2232. Accordingly, after the beam splitter 223 splits the reflected light 203, the split beam may include first polarized light and second polarized light, wherein both the first polarized light and the second polarized light exit from the second exit surface 2232 and are incident on photosensitive elements 222a and 222b, respectively.

[0332] The photosensitive element used to sense the first polarized light and the photosensitive element used to sense the second polarized light are relatively independent devices, which facilitates the layout of the second type of photosensitive element 222.

[0333] For ease of understanding, Figures 6 and 7 show several possible specific structural examples of the beam splitter 223 in Figure 5. Among them, (a), (b), and (c) in Figure 7 are three-dimensional schematic diagrams of the beam splitter shown in (a), (b), and (c) in Figure 6, respectively.

[0334] For example, referring to Figures 6(a) and 7(a), the second exit surface 2232 of the beam-splitting prism 223 also serves as both the incident surface and the beam-splitting surface. That is, the second exit surface 2232 is used to receive the reflected light 203 and also to split the received light. For example, the second exit surface 2232 can be provided with a polarizing beam-splitting element #1 (e.g., a polarizing beam-splitting film coated on the second exit surface 2232 or a polarizing beam-splitting sheet adhered to the second exit surface 2232). This polarizing beam-splitting element #1 can reflect a portion of the reflected light 203 with a first polarization state (i.e., a portion of the reflected light 203 with a first polarization state) and transmit the remaining light. Specifically, the light transmitted by the second exit surface 2232 includes the reflected light 203 with a second polarization state and another portion of the light with a first polarization state.

[0335] The first exit surface 2231 of the beam splitter 223 is used to receive light transmitted from the second exit surface 2232 and split the received light. For example, the first exit surface 2231 can be provided with a polarizing beam splitter element #2 (e.g., a polarizing beam splitting film coated on the first exit surface 2231 or a polarizing beam splitter sheet bonded to the first exit surface 2231). This polarizing beam splitter element #2 can reflect a portion of the received light with a second polarization state (i.e., a portion of the light with a second polarization state in the reflected light 203) and transmit the remaining light. The light reflected by the polarizing beam splitter element #2 has only the second polarization state and can pass through the second exit surface 2232, thus exiting from the second exit surface 2232.

[0336] Thus, the light reflected by the second exit surface 2232 has a first polarization state and can be incident on the photosensitive element 222a. The light reflected by the first exit surface 2231 has a second polarization state and can exit from the second exit surface 2232 and be incident on the photosensitive element 222b. The light transmitted from the first exit surface 2231 can be incident on the first type of photosensitive element 221.

[0337] For example, the second emitting surface 2232 can be the aforementioned functional surface with the first beam-splitting film, such as an optical surface with the same function as the first adhesive surface. The first emitting surface 2231 can be the aforementioned functional surface with the second optical film, such as an optical surface with the same function as the sixth adhesive surface.

[0338] In some embodiments, the second exit surface 2232 has a reflectivity for light having a first polarization state that is greater than or equal to 1% and less than or equal to 10%.

[0339] The second exit surface 2232 has a low reflectivity for light with the first polarization state, which ensures that most of the energy in the reflected light 203 can reach the first type of photosensitive element 221.

[0340] In some embodiments, the first exit surface 2231 has a reflectivity for light having a second polarization state that is greater than or equal to 1% and less than or equal to 10%.

[0341] The first exit surface 2231 has a low reflectivity for light with a second polarization state, which ensures that most of the energy in the reflected light 203 can reach the first type of photosensitive element 221.

[0342] In some embodiments, the reflectivity of the second exiting surface 2232 for light with a first polarization state is equal to the reflectivity of the first exiting surface 2231 for light with a second polarization state.

[0343] This ensures that the energy ratios of the first and second polarized light are basically the same, which can more realistically reflect the difference between the light rays with the first polarization state and the light rays with the second polarization state in the reflected light 203, facilitating subsequent processing of the intensity information of the first polarized light and / or the intensity information of the second polarized light.

[0344] It is understood that in some other embodiments, based on the structure shown in FIG6(a), the reflection performance of the second emitting surface 2232 for light with a first polarization state is interchangeable with the reflection performance of the first emitting surface 2231 for light with a second polarization state. Specifically, the second emitting surface 2232 can reflect a portion of the reflected light 203 with a second polarization state and transmit the remaining light. The first emitting surface 2231 can reflect a portion of the received light with a first polarization state and transmit the remaining light.

[0345] Accordingly, the second exit surface 2232 can be an optical surface with the same function as the sixth bonding surface. The first exit surface 2231 can be an optical surface with the same function as the first bonding surface.

[0346] For example, referring to Figures 6(b) and 7(b), the beam splitter 223 may include a first mirror body 31 and a second mirror body 32, with a bonding surface 2233 between the first mirror body 31 and the second mirror body 32. The polarizing beam splitter element #2 described in Figure 6(a) is disposed on the bonding surface 2233. Correspondingly, the first mirror body 31 includes a second exit surface 2232, on which the polarizing beam splitter element #1 described in Figure 6(a) is disposed. The second exit surface 2232 also serves as both the incident surface and the beam splitter surface, i.e., receiving the reflected light 203 and splitting the received light. The second mirror body 32 includes a first exit surface 2231, which is used only for emitting light.

[0347] The beam-splitting principle of the beam-splitting prism 223 shown in Figure 6(b) is the same as that in Figure 6(a), except that the specific structure of the beam-splitting prism 223 is different. Specifically, the function of the first exit surface 2231 shown in Figure 6(a) can be divided into the first exit surface 2231 and the adhesive surface 2233 shown in Figure 6(b).

[0348] Specifically, as shown in Figure 6(b), the second emitting surface 2232 receives the reflected light 203. Due to the presence of the polarizing beam splitter #1, the second emitting surface 2232 can reflect a portion of the reflected light 203 with the first polarization state to the photosensitive element 222a and transmit the remaining light. The adhesive surface 2233 receives the light transmitted from the second emitting surface 2232. Due to the presence of the polarizing beam splitter #2, the adhesive surface 2233 can reflect a portion of the received light with the second polarization state and transmit the remaining light. The light reflected by the adhesive surface 2233 can exit through the second emitting surface 2232 and enter the photosensitive element 222b. The light transmitted by the adhesive surface 2233 can exit through the first emitting surface 2231 and enter the first type of photosensitive element 221.

[0349] It is understood that in the embodiment involved in Figure 6(a), the limitation on the reflection characteristics of the first emitting surface 2231 also applies to the adhesive surface 2233. For example, the reflectivity of the second emitting surface 2232 for light with the first polarization state is equal to the reflectivity of the adhesive surface 2233 for light with the second polarization state. For simplicity, the rest will not be described in detail.

[0350] For example, referring to Figures 6(c) and 7(c), the beam splitter 223 may include a first mirror body 31 and a second mirror body 32, with a bonding surface 2233 between the first mirror body 31 and the second mirror body 32. The polarization beam splitting element #1 described in Figure 6(a) is disposed on the bonding surface 2233. Correspondingly, the first mirror body 31 includes a second exit surface 2232 and an incident surface 2234. The incident surface 2234 is used to receive reflected light 203, and the second exit surface 2232 is only used to emit the beam after the reflected light 203 has been split, such as first polarized light and second polarized light. The second mirror body 32 includes a first exit surface 2231, on which the polarization beam splitting element #2 described in Figure 6(a) is disposed. Therefore, the first exit surface 2231 can split the received light.

[0351] The beam-splitting principle of the beam-splitting prism 223 shown in Figure 6(c) is the same as that in Figure 6(a), except that the specific structure of the beam-splitting prism 223 is different. Specifically, the function of the second exit surface 2232 shown in Figure 6(a) can be divided into the function of the incident surface 2234, the cemented surface 2233, and the second exit surface 2232 shown in Figure 6(c).

[0352] Specifically, as shown in Figure 6(c), the incident surface 2234 is used to receive reflected light 203. The adhesive surface 2233 is used to receive light from the incident surface 2234. Due to the presence of the polarizing beam splitter #1, the adhesive surface 2233 can reflect a portion of the received light (which can be considered as reflected light 203) having a first polarization state and transmit the remaining light. The first exit surface 2231 is used to receive light transmitted from the second exit surface 2232. Due to the presence of the polarizing beam splitter #2, the first exit surface 2231 can reflect a portion of the received light having a second polarization state and transmit the remaining light. The light reflected by the first exit surface 2231 can pass through the adhesive surface 2233 and then enter the second exit surface 2232. The light reflected by the adhesive surface 2233 can enter the second exit surface 2232. Light rays emitted from the second emitting surface 2232, such as first polarized light and second polarized light, are incident on photosensitive elements 222a and 222b, respectively. Light rays emitted from the first emitting surface 2231 can be incident on the first type of photosensitive element 221.

[0353] It is understood that in the embodiment involved in Figure 6(a), the limitation on the reflection characteristics of the second emitting surface 2232 also applies to the adhesive surface 2233. For example, the reflectivity of the adhesive surface 2233 for light with the first polarization state is equal to the reflectivity of the first emitting surface 2231 for light with the second polarization state. For simplicity, the rest will not be described in detail.

[0354] As another example, referring to FIG8, the beam splitter 223 may include a second exit surface 2232, and the second type of photosensitive element 222 may include a photosensitive element for sensing the first polarized light and the second polarized light. This photosensitive element may be located on the light-emitting side of the second exit surface 2232. Specifically, the photosensitive element may include a first photosensitive region 222c and a second photosensitive region 222d, wherein the first photosensitive region 222c is used to sense the first polarized light, and the second photosensitive region 222d is used to sense the second polarized light. Accordingly, after the beam splitter 223 splits the reflected light 203, the split beam may include the first polarized light and the second polarized light, wherein both the first polarized light and the second polarized light exit from the second exit surface 2232 and are respectively incident on different regions of the second type of photosensitive element 222, namely the first photosensitive region 222c and the second photosensitive region 222d.

[0355] The specific structure of the beam splitter 223 shown in Figures 6 and 7 is also applicable to Figure 8. The difference lies in the number of photosensitive elements included in the second type of photosensitive element 222. For details, please refer to the relevant descriptions in Figures 6 and 7. For the sake of brevity, it will not be repeated.

[0356] When the same photosensitive element is used to sense the first polarized light and the second polarized light, the number of second-type photosensitive elements 222 is smaller, and the corresponding number of supporting components is smaller, which can save space.

[0357] As another example, referring to Figure 9, the beam splitter 223 may include two second exit surfaces 2232, one of which, 223a, is used to exit first polarized light, and the other, 223b, is used to exit second polarized light.

[0358] The second type of photosensitive element 222 may include a photosensitive element 222a for sensing first polarized light and a photosensitive element 222b for sensing second polarized light. The photosensitive element 222a is located on the light-emitting side of the second emitting surface 223a, and the photosensitive element 222b is located on the light-emitting side of the second emitting surface 223b.

[0359] Accordingly, after the beam splitter 223 splits the reflected light 203, the split beam can include first polarized light and second polarized light. The first polarized light exits from the second exit surface 223a and is incident on the photosensitive element 222a, while the second polarized light exits from the second exit surface 223b and is incident on the photosensitive element 222b.

[0360] By emitting first polarized light and second polarized light through different second emitting surfaces 2232, the problem of positional interference when arranging the second type of photosensitive element 222 can be avoided.

[0361] For ease of understanding, Figures 10 to 12 show several possible specific structural examples of the beam-splitting prism 223 in Figure 9. These will be described in detail below with reference to the accompanying drawings.

[0362] In some embodiments, referring to Figures 10, 11, or 12, the beam splitter 223 may include a first mirror 31, a second mirror 32, a third mirror 33, and a fourth mirror 34. The first mirror 31 receives the reflected light 203, and the second, third, and fourth mirrors 32 and 33 and 34 emit the beam of light after the reflected light 203 has been split, wherein the beam of light after the reflected light 203 has been split includes first polarized light and second polarized light. In other words, two of the second, third, and fourth mirrors 32 and 33 are used to emit the first and second polarized light, respectively, and the other mirror is used to emit the remaining light rays in the reflected light 203 other than the first and second polarized light.

[0363] For example, referring to Figure 10, the first mirror body 31 and the third mirror body 33 are arranged opposite each other in a first direction (the horizontal direction shown in the figure), and the second mirror body 32 and the fourth mirror body 34 are arranged opposite each other in a second direction (the vertical direction shown in the figure), with the first direction perpendicular to the second direction. The beam splitter 223 may include an incident surface 2234, a first exit surface 2231, and two second exit surfaces 2232 (referred to as second exit surface 223a and second exit surface 223b for distinction). The incident surface 2234 is an optical surface of the first mirror body 31, used by the first mirror body 31 to receive reflected light 203. The first exit surface 2231 is an optical surface of the second mirror body 32, used by the second mirror body 32 to emit light to the first type of photosensitive element 221. The second exit surface 223a is an optical surface of the fourth mirror body 34, used by the fourth mirror body 34 to emit first polarized light to the photosensitive element 222a. The second exit surface 223b is an optical surface of the third mirror body 33, used by the third mirror body 33 to emit second polarized light to the photosensitive element 222b.

[0364] For example, referring to Figure 11 or Figure 12, the relative positions of the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34 are the same as in Figure 10. The difference between the structure shown in Figure 11 or Figure 12 and that in Figure 10 is that the positions of the first emitting surface 2231 and the second emitting surface 223b are interchanged. Correspondingly, the positions of the first type of photosensitive element 221 and the photosensitive element 222b used to sense the second polarized light are interchanged. That is, the first emitting surface 2231 is an optical surface of the third mirror body 33, used by the third mirror body 33 to emit light to the first type of photosensitive element 221. The second emitting surface 223b is an optical surface of the second mirror body 32, used by the second mirror body 32 to emit the second polarized light to the photosensitive element 222b.

[0365] In some embodiments, the first direction is parallel to the optical axis when the reflected light 203 is incident on the beam splitter 223.

[0366] In some embodiments, referring to Figures 13 and 14, where Figure 14 is a perspective view of the beam splitter shown in Figure 13, the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34 each include a first optical surface, a second optical surface, and a third optical surface that intersect each other. As shown in Figure 13, the third optical surface M13 of the first mirror body 31 and the third optical surface M33 of the third mirror body 33 are disposed opposite each other in a first direction, and the third optical surface M23 of the second mirror body 32 and the third optical surface M43 of the fourth mirror body 34 are disposed opposite each other in a second direction. The first optical surface M11 and the second optical surface M12 of the first mirror body 31 are bonded to the first optical surface M21 of the second mirror body 32 and the first optical surface M41 of the fourth mirror body 34, respectively, and the first optical surface M31 and the second optical surface M32 of the third mirror body 33 are bonded to the second optical surface M22 of the second mirror body 32 and the second optical surface M42 of the fourth mirror body 34, respectively.

[0367] Accordingly, after the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34 are glued together, four glued surfaces can be formed, such as glued surface J1, glued surface J2, glued surface J3, and glued surface J4. As an example and not a limitation, glued surface J1 can be the glued surface between the first mirror body 31 and the second mirror body 32; glued surface J2 can be the glued surface between the second mirror body 32 and the third mirror body 33; glued surface J3 can be the glued surface between the third mirror body 33 and the fourth mirror body 34; and glued surface J4 can be the glued surface between the fourth mirror body 34 and the first mirror body 31.

[0368] It is understood that the specific positions of the adhesive surfaces J1 to J4 may vary depending on the adhesive method used between the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34. The above is merely an illustrative example for ease of understanding.

[0369] In some embodiments, the third optical surface M13 of the first mirror body 31 is parallel to the third optical surface M33 of the third mirror body 33, and / or the third optical surface M23 of the second mirror body 32 is parallel to the third optical surface M43 of the fourth mirror body 34.

[0370] Thus, the beam splitter 223 can generally take on a relatively regular shape, such as a parallelepiped, which facilitates the fabrication, installation and layout of the beam splitter 223.

[0371] In some embodiments, the third optical surface M13 of the first mirror body 31 or the third optical surface M33 of the third mirror body 33 is perpendicular to the first direction; and / or the third optical surface M23 of the second mirror body 32 or the third optical surface M43 of the fourth mirror body 34 is perpendicular to the second direction.

[0372] In this way, the beam splitter 223 can have a relatively regular shape, which facilitates the fabrication and installation of the beam splitter 223. In addition, the first type of photosensitive element 221 or the second type of photosensitive element 222 can be arranged opposite to the third optical surface of the corresponding mirror body, which also facilitates the installation and layout of the photosensitive elements.

[0373] In one example, referring to FIG10, the beam splitter 223 has the structure shown in FIG13, wherein the first mirror body 31, the second mirror body 32, the third mirror body 33 and the fourth mirror body 34 form adhesive surfaces J1, J2, J3 and J4. Among them, adhesive surface J1 is an example of the aforementioned first adhesive surface (denoted as 501 for ease of description), adhesive surface J2 is an example of the aforementioned second adhesive surface (denoted as 502 for ease of description), adhesive surface J3 is an example of the aforementioned third adhesive surface (denoted as 503 for ease of description), and adhesive surface J4 is an example of the aforementioned fourth adhesive surface (denoted as 504 for ease of description). Accordingly, the first mirror 31 is used to receive the reflected light 203, the second mirror 32 is used to emit light (i.e., emit the remaining light in the reflected light 203 other than the first polarized light and the second polarized light) to the first type of photosensitive element 221, the third mirror 33 is used to emit the second polarized light, and the fourth mirror 34 is used to emit the first polarized light.

[0374] More specifically, as shown in FIG10, the first adhesive surface 501 is used to receive light 401 (an example of the aforementioned first light ray) and to split the light ray 401. Specifically, the first adhesive surface 501 can reflect a portion of the light ray 401 that has a first polarization state and transmit the remaining light ray 401 except for the light reflected by the first adhesive surface 501. For example, if the light ray 401 comes from the incident surface 2234, the first adhesive surface 501 reflects the portion of the light ray 401 that has a first polarization state to the fourth adhesive surface 504 and transmits the remaining light ray 401 except for the light reflected by the first adhesive surface 501 to the second adhesive surface 502. If the light 401 comes from the fourth adhesive surface 504 (for example, the light reflected by the fourth adhesive surface 504), then the first adhesive surface 501 reflects the portion of the light 401 with the first polarization state out of the first mirror body 31, and transmits the remaining light 401 except for the light reflected by the first adhesive surface 501 to the first exit surface 2231 of the second mirror body 32.

[0375] The second adhesive surface 502 is used to receive light 402 (an example of the aforementioned second light ray) and to split the light ray 402. Specifically, the second adhesive surface 502 can transmit a portion of the light ray 402 that has a second polarization state and reflect the remaining light ray 402 other than the light transmitted by the second adhesive surface 502. Here, the light ray 402 is the portion of the light ray 401 from the incident surface 2234 that is transmitted from the first adhesive surface 501. Specifically, the light ray 402 may include the light ray 401 that has a second polarization state and another portion of the light ray 401 that has a first polarization state. The light ray transmitted by the second adhesive surface 502 can be transmitted in the third mirror 33 and incident on the second exit surface 223b corresponding to the photosensitive element 222b used to sense the second polarized light. The light ray reflected by the second adhesive surface 502 can be transmitted in the second mirror 32 and incident on the first exit surface 2231 corresponding to the first type of photosensitive element 221.

[0376] The fourth adhesive surface 504 is used to receive the light ray 404 (an example of the aforementioned fourth light ray) and to split the light ray 404. Specifically, the fourth adhesive surface 504 can transmit a portion of the light ray 404 and reflect the remaining light ray 404. The fourth adhesive surface 504 is used only for energy splitting and not for polarization splitting. For example, if the light ray 404 comes from the incident surface 2234, the fourth adhesive surface 504 reflects a portion of the light ray 404 to the first adhesive surface 501 and transmits the remaining light ray 404, except for the light reflected by the fourth adhesive surface 504, to the third adhesive surface 503. If the light 404 comes from the first adhesive surface 501 (e.g., the light reflected by the first adhesive surface 501), then the fourth adhesive surface 504 reflects a portion of the light 404 out of the first mirror body 31, and transmits the remaining light 404, except for the light reflected by the fourth adhesive surface 504, to the fourth mirror body 34 and can be incident on the second exiting surface 223a corresponding to the photosensitive element 222a used to sense the first polarized light.

[0377] The third adhesive surface 503 is used to receive light ray 403 (an example of the aforementioned third light ray) and to split the light ray 403. Specifically, the third adhesive surface 503 can reflect light ray 403 having a first polarization state and transmit light ray 403 having a second polarization state. Here, light ray 403 is the portion of light ray 404 from incident surface 2234 that is transmitted through the fourth adhesive surface 504. Specifically, light ray 403 includes light ray 404 having a first polarization state and light ray 404 having a second polarization state in the transmitted portion. Light ray reflected by the third adhesive surface 503 can be transmitted in the fourth mirror body 34 and incident on the second exit surface 223a for emitting first polarized light. Light ray transmitted by the third adhesive surface 503 can be transmitted in the third mirror body 33 and incident on the second exit surface 223b for emitting second polarized light.

[0378] In some embodiments, based on the structure of FIG10, the light 402 incident on the second adhesive surface 502 is a portion of the light received by the first adhesive surface 501 that has been transmitted through the first adhesive surface 501. Specifically, all the light received by the first adhesive surface 501 includes light from the incident surface 2234 and light from the fourth adhesive surface 504. After these light rays are transmitted through the first adhesive surface 501, a portion of the transmitted light is incident on the second adhesive surface 502 as light 402, while a portion of the transmitted light is incident on the first exit surface 2231 and cannot be received by the second adhesive surface 502.

[0379] In some embodiments, based on the structure of FIG10, the light 403 incident on the third adhesive surface 503 is a portion of the light received by the fourth adhesive surface 504 that is transmitted through the fourth adhesive surface 504. Specifically, all the light received by the fourth adhesive surface 504 includes light from the incident surface 2234 and light from the first adhesive surface 501. After these light rays are transmitted through the fourth adhesive surface 504, a portion of the transmitted light is incident on the third adhesive surface 503 as light 403, while a portion of the transmitted light is incident on the second exit surface 223a and cannot be received by the third adhesive surface 503.

[0380] In some embodiments, the ratio of the energy of the light with a first polarization state reflected by the first adhesive surface 501 to the energy of the light received by the first adhesive surface 501 is a first value, which is greater than or equal to 1% and less than or equal to 10%.

[0381] Thus, the light energy reflected from the first adhesive surface 501 to the photosensitive element 222a used to sense the first polarized light is relatively small, which can ensure that most of the energy of the light received by the first adhesive surface 501 reaches the first type of photosensitive element 221.

[0382] In some embodiments, the ratio of the energy of the light with a second polarization state transmitted through the second adhesive surface 502 to the energy of the light with a second polarization state in the light ray 402 is a second value, which is greater than or equal to 1% and less than or equal to 10%.

[0383] Thus, the light energy transmitted from the second adhesive surface 502 to the photosensitive element 222b used to sense the second polarized light is relatively small, which can ensure that most of the energy of the light 402 reaches the first type of photosensitive element 221.

[0384] In some embodiments, the ratio of the energy of the light transmitted through the fourth adhesive surface 504 to the energy of the light received by the fourth adhesive surface 504 is a third value, which is greater than or equal to 1% and less than or equal to 10%.

[0385] Thus, the energy of the light transmitted through the fourth adhesive surface 504 is relatively small, and the energy of the light distributed to the photosensitive element 222a for sensing the first polarized light and the photosensitive element 222b for sensing the second polarized light is relatively small, which can ensure that most of the energy of the light received by the fourth adhesive surface 504 reaches the first type of photosensitive element 221.

[0386] In some embodiments, the first value, the second value, and the third value are equal.

[0387] The first adhesive surface 501, the second adhesive surface 502, and the fourth adhesive surface 504 have the same spectral splitting ratio, which can minimize the difference in light energy reaching the photosensitive element 222a and the photosensitive element 222b, thus improving detection accuracy.

[0388] In some embodiments, the first adhesive surface 501 has a reflectivity to light having a first polarization state that is greater than or equal to 1% and less than or equal to 10%.

[0389] The first adhesive surface 501 has a reflectivity for light with a first polarization state within a suitable range, which can not only meet the intensity requirements of the second type of photosensitive element 222 for the first polarized light it senses, thus ensuring detection accuracy, but also ensure that the light energy sensed by the first type of photosensitive element 221 meets the requirements, thus ensuring detection distance.

[0390] In some embodiments, the transmittance of the second adhesive surface 502 to light having a second polarization state is greater than or equal to 1% and less than or equal to 10%.

[0391] The second adhesive surface 502 has a transmittance of light with a second polarization state within a suitable range, which can not only meet the intensity requirements of the second type of photosensitive element 222 for the second polarized light it senses, thus ensuring detection accuracy, but also ensure that the light energy sensed by the first type of photosensitive element 221 meets the requirements, thus ensuring detection distance.

[0392] In some embodiments, the reflectivity of the first adhesive surface 501 for light rays having a first polarization state in the light ray 401 is the same as the transmittance of the second adhesive surface 502 for light rays having a second polarization state in the light ray 402.

[0393] The ray 401 transmitted from the first cemented surface 501 to the second cemented surface 502 is ray 402. The energy of the ray 402 with the second polarization state is essentially equal to the energy of the ray 401 with the second polarization state. Therefore, the transmittance of the second cemented surface 502 for the ray 402 with the second polarization state can be considered as the transmittance of the second cemented surface 502 for the ray 401 with the second polarization state. This can be understood as the reflectance of the first cemented surface 501 for the ray 401 with the first polarization state being the same as the transmittance of the second cemented surface 502 for the ray 401 with the second polarization state. Thus, the energy splitting ratio of the beam splitter 223 for the ray 401 with the first polarization state is essentially consistent with the energy splitting ratio for the ray 401 with the second polarization state, which helps to reduce the energy ratio difference between the first and second polarized light.

[0394] In some embodiments, based on the structure shown in FIG10, the first polarized light emitted from the second emitting surface 223a includes the light ray 401 that is reflected by the first adhesive surface 501 to the fourth adhesive surface 504 and transmitted through the fourth adhesive surface 504, and the light ray 403 that is reflected by the third adhesive surface 503. The second polarized light emitted from the second emitting surface 223b includes the light ray 402 that is transmitted through the second adhesive surface 502 and the light ray 403 that is transmitted through the third adhesive surface 503.

[0395] Thus, both the photosensitive element 222a used to sense the first polarized light and the photosensitive element 222b used to sense the second polarized light can acquire polarization images of the entire area illuminated by infrared light, making it convenient to identify or judge the surface condition of the target under test by using the intensity difference between the first polarized light and the second polarized light.

[0396] In some embodiments, the photosensitive element 222a for sensing the first polarized light is used to acquire a first polarized image based on the first polarized light, and the photosensitive element 222b for sensing the second polarized light is used to acquire a second polarized image based on the second polarized light, wherein the pixels of the first polarized image correspond one-to-one with the pixels of the second polarized image.

[0397] The corresponding pixels represent the same point on the target under test. By establishing the positional correspondence between the pixels in the first polarization image and the second polarization image, the intensity of the corresponding pixels can be calculated when processing the first and second polarization images. The result can reflect the difference between the first and second polarization states in the light reflected by the target under test.

[0398] In some embodiments, based on the first polarization image and the second polarization image, pixel-level intensity differences can be calculated or pixel intensity differences can be discarded (binning). Pixel-level intensity difference involves subtracting the light intensity of corresponding pixels in the first and second polarization images. Discarding pixel intensity differences involves subtracting the sum of the light intensities of several adjacent pixels in the first polarization image from the sum of the light intensities of corresponding pixels in the second polarization image.

[0399] In some other embodiments, the transmission and reflection properties of the adhesive surfaces J1, J2, and J3 in the structure shown in FIG10 can be interchanged. For example, adhesive surface J1 can be an example of the aforementioned sixth adhesive surface, adhesive surface J2 can be an example of the aforementioned fifth adhesive surface, adhesive surface J3 can be an example of the aforementioned seventh adhesive surface, and adhesive surface J4 can be an example of the aforementioned fourth adhesive surface. Accordingly, the positions of photosensitive elements 222a and 222b are interchanged. The first mirror 31 is used to receive reflected light 203, the second mirror 32 is used to emit light (i.e., emit the remaining light in the reflected light 203 other than the first polarized light and the second polarized light) to the first type of photosensitive element 221, the third mirror 33 is used to emit the first polarized light, and the fourth mirror 34 is used to emit the second polarized light.

[0400] In another example, referring to FIG11, the beam splitter 223 has the structure shown in FIG13, wherein the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34 form cemented surfaces J1, J2, J3, and J4. Cemented surfaces J1 and J3 are examples of the first cemented surfaces (denoted as 501 for ease of description), and cemented surfaces J2 and J4 are examples of the sixth cemented surfaces (denoted as 506 for ease of description). Accordingly, the first mirror body 31 is used to receive reflected light 203, the third mirror body 33 is used to emit light to the first type of photosensitive element 221, the second mirror body 32 is used to emit second polarized light, and the fourth mirror body 34 is used to emit first polarized light.

[0401] More specifically, as shown in Figure 11, the first adhesive surface 501 corresponding to the adhesive surface J1 is used to receive light ray 401a (an example of the aforementioned first light ray) and to split the light ray 401a. Specifically, the adhesive surface J1 can reflect a portion of the light ray 401a that has a first polarization state and transmit the remaining light ray ray 401a except for the light ray reflected by the adhesive surface J1. For example, if the light ray 401a comes from the incident surface 2234, the adhesive surface J1 reflects the portion of the light ray 401a that has a first polarization state to the adhesive surface J4 and transmits the remaining light ray ray 401a except for the light ray reflected by the adhesive surface J1 to the adhesive surface J2. If the light ray 401a comes from the adhesive surface J4 (for example, the light ray reflected by the adhesive surface J4), the adhesive surface J1 directly transmits the light ray 401a to the second exit surface 223b of the second mirror body 32.

[0402] The sixth adhesive surface 506 corresponding to the adhesive surface J2 is used to receive light ray 406a (an example of the aforementioned sixth light ray) and to split the light ray 406a. Specifically, the adhesive surface J2 can reflect a portion of the light ray 406a that has a second polarization state and transmit the remaining light ray 406a except for the light reflected by the adhesive surface J2. Here, the light ray 406a is the portion of the light ray 401a from the incident surface 2234 that is transmitted from the adhesive surface J1. Specifically, the light ray 406a may include the light ray 401a that has a second polarization state and another portion of the light ray 401a that has a first polarization state. The light ray transmitted by the adhesive surface J2 can be transmitted in the third mirror 33 and incident on the first exit surface 2231 corresponding to the first type of photosensitive element 221. The light ray reflected by the adhesive surface J2 can be transmitted in the second mirror 32 and incident on the second exit surface 223b.

[0403] The sixth adhesive surface 506 corresponding to the adhesive surface J4 is used to receive the light ray 406b (an example of the aforementioned sixth light ray) and to split the light ray 406b. Specifically, the adhesive surface J4 can reflect a portion of the light ray 406b that has a second polarization state and transmit the remaining light ray 406b except for the light ray reflected by the adhesive surface J4. For example, if the light ray 406b comes from the incident surface 2234, the adhesive surface J4 reflects the portion of the light ray 406b that has a second polarization state to the adhesive surface J1 and transmits the remaining light ray 406b except for the light ray reflected by the adhesive surface J4 to the adhesive surface J3. If the light ray 406b comes from the adhesive surface J1 (for example, the light ray reflected by the adhesive surface J1), the adhesive surface J4 directly transmits the light ray 406b to the second exit surface 223a of the fourth mirror body 34.

[0404] The first adhesive surface 501 corresponding to the adhesive surface J3 is used to receive the light ray 401b (an example of the aforementioned first light ray) and to split the light ray 401b. Specifically, the adhesive surface J3 can reflect the light ray 401b with a first polarization state and transmit the remaining light ray 401b except for the light ray reflected by the adhesive surface J3. Here, the light ray 401b is the portion of the light ray 406b from the incident surface 2234 that is transmitted through the adhesive surface J4. Specifically, the light ray 401b includes the light ray 406b with a first polarization state and another portion of the light ray 406b with a second polarization state. The light ray reflected by the adhesive surface J3 can be transmitted in the fourth mirror 34 and incident on the second exit surface 223a for emitting the first polarized light. The light ray transmitted by the adhesive surface J3 can be transmitted in the third mirror 33 and incident on the first exit surface 2231.

[0405] In some embodiments, based on the structure of FIG11, the light 406a incident on the adhesive surface J2 is a portion of the light received by the adhesive surface J1 that has been transmitted through the adhesive surface J1. Specifically, all the light received by the adhesive surface J1 includes light from the incident surface 2234 and light from the adhesive surface J4. After being transmitted through the adhesive surface J1, a portion of the transmitted light is incident on the adhesive surface J2 as light 406a, while a portion of the transmitted light is incident on the second exit surface 223b and cannot be received by the adhesive surface J2.

[0406] In some embodiments, based on the structure of FIG11, the light 401b incident on the adhesive surface J3 is a portion of the light received by the adhesive surface J4 that is transmitted through the adhesive surface J4. Specifically, all the light received by the adhesive surface J4 includes light from the incident surface 2234 and light from the adhesive surface J1. After being transmitted through the adhesive surface J4, a portion of the transmitted light is incident on the adhesive surface J3 as light 401b, while a portion of the transmitted light is incident on the second exit surface 223a and cannot be received by the adhesive surface J3.

[0407] In some embodiments, the first adhesive surface 501 is coated with the aforementioned first beam-splitting film, which is used to perform energy splitting on the light rays (such as light rays 401a and 401b) incident on the first adhesive surface 501 that have a first polarization state. For example, the ratio of the energy of the light rays with the first polarization state reflected by the first adhesive surface 501 to the energy of the light rays with the first polarization state incident on the first adhesive surface 501 is a first value, which can be greater than or equal to 1% and less than or equal to 10%.

[0408] Thus, the light energy reflected from the first adhesive surface 501 to the photosensitive element 222a used to sense the first polarized light is relatively small, which can ensure that most of the energy of the light received by the first adhesive surface 501 reaches the first type of photosensitive element 221.

[0409] In some embodiments, the sixth adhesive surface 506 is coated with a second beam-splitting film, which is used to perform energy splitting on the light rays (such as light rays 406a and 406b) incident on the sixth adhesive surface 506 that have a second polarization state. For example, the ratio of the energy of the light rays with a second polarization state reflected by the sixth adhesive surface 506 to the energy of the light rays with a second polarization state incident on the sixth adhesive surface 506 is a fifth value, which can be greater than or equal to 1% and less than or equal to 10%.

[0410] Thus, the light energy reflected from the sixth adhesive surface 506 to the photosensitive element 222b used to sense the second polarized light is relatively small, which can ensure that most of the energy of the light received by the sixth adhesive surface 506 reaches the first type of photosensitive element 221.

[0411] In some embodiments, the first value and the fifth value may be equal. The first adhesive surface 501 and the sixth adhesive surface 506 have the same spectral splitting ratio, which can minimize the difference in light energy reaching the photosensitive element 222a and the photosensitive element 222b, and is beneficial to improving detection accuracy.

[0412] In some embodiments, the adhesive surfaces J1 and J3 have the same coating, and the adhesive surfaces J2 and J4 have the same coating.

[0413] In some embodiments, the reflectivity of the first adhesive surface 501 to light rays having a first polarization state incident on the first adhesive surface 501 is greater than or equal to 1% and less than or equal to 10%.

[0414] In some embodiments, the reflectivity of the sixth adhesive surface 506 to light rays having a second polarization state incident on the sixth adhesive surface 506 is greater than or equal to 1% and less than or equal to 10%.

[0415] In some embodiments, the reflectivity of the first adhesive surface 501 to light rays having a first polarization state incident on the first adhesive surface 501 is the same as the reflectivity of the sixth adhesive surface 506 to light rays having a second polarization state incident on the sixth adhesive surface 506.

[0416] In some embodiments, based on the structure shown in FIG11, the first polarized light emitted from the second emitting surface 223a is the light received by the first adhesive surface 501 and reflected by the first adhesive surface 501. Specifically, it includes the light in light 401a that is reflected by adhesive surface J1 to adhesive surface J4 and passes through adhesive surface J4, and the light in light 401b that is reflected by adhesive surface J3. The second polarized light emitted from the second emitting surface 223b is the light received by the sixth adhesive surface 506 and reflected by the sixth adhesive surface 506. Specifically, it includes the light in light 406a that is reflected by adhesive surface J2 and the light in light 406b that is reflected by adhesive surface J4 to adhesive surface J1 and passes through adhesive surface J1.

[0417] Thus, both the photosensitive element 222a used to sense the first polarized light and the photosensitive element 222b used to sense the second polarized light can acquire polarization images of the entire area illuminated by infrared light, making it convenient to identify or judge the surface condition of the target under test by using the intensity difference between the first polarized light and the second polarized light.

[0418] In some embodiments, based on the structure of FIG11, the photosensitive element 222a for sensing the first polarized light is used to acquire a first polarized image based on the first polarized light, and the photosensitive element 222b for sensing the second polarized light is used to acquire a second polarized image based on the second polarized light, wherein the pixels of the first polarized image correspond one-to-one with the pixels of the second polarized image.

[0419] In some other embodiments, the transmission and reflection properties of the adhesive surfaces J1, J2, J3 and J4 in the structure shown in FIG11 can be interchanged. For example, adhesive surfaces J1 and J3 can be examples of the aforementioned sixth adhesive surface, and adhesive surfaces J2 and J4 can be examples of the aforementioned first adhesive surface.

[0420] In the structure shown in Figure 11, light reflected from the glued surface J1 is incident on the glued surface J4 and can be transmitted through the glued surface J4. Light reflected from the glued surface J4 is incident on the glued surface J1 and can be transmitted through the glued surface J1. This structure prevents light incident on the beam splitter 223 from exiting from the incident surface 2234, thus reducing stray light.

[0421] In another example, referring to Figure 12, the beam splitter 223 has the structure shown in Figure 13, where the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34 form cemented surfaces J1, J2, J3, and J4. Cemented surface J2 is an example of a sixth cemented surface (denoted as 506 for ease of description), and cemented surface J3 is an example of a first cemented surface (denoted as 501 for ease of description). Accordingly, the first mirror body 31 is used to receive reflected light 203, the third mirror body 33 is used to emit light to the first type of photosensitive element 221, the second mirror body 32 is used to emit second polarized light, and the fourth mirror body 34 is used to emit first polarized light.

[0422] More specifically, as shown in Figure 12, the glued surface J1 is used to receive light 408 and transmit light 408 to the glued surface J2.

[0423] The adhesive surface J2 (i.e., the sixth adhesive surface 506) is used to receive light ray 406 (an example of the aforementioned sixth light ray) and to split the light ray 406. Specifically, the adhesive surface J2 can reflect a portion of the light ray 406 that has a second polarization state and transmit the remaining light ray 406 except for the light ray reflected by the adhesive surface J2. Here, light ray 406 is the portion of light ray 408 transmitted from the adhesive surface J1. Specifically, light ray 406 can include light ray 408 having a second polarization state and light ray 408 having a first polarization state. The light ray transmitted by the adhesive surface J2 can be transmitted in the third mirror 33 and incident on the first exit surface 2231 corresponding to the first type of photosensitive element 221. The light ray reflected by the adhesive surface J2 can be transmitted in the second mirror 32 and incident on the second exit surface 223b.

[0424] The adhesive surface J4 is used to receive light 409 and transmit light 409 to the adhesive surface J3.

[0425] The adhesive surface J3 (i.e., the first adhesive surface 501) is used to receive light ray 401 (an example of the aforementioned first light ray) and to split the light ray 401. Specifically, the adhesive surface J3 can reflect light rays with a first polarization state in the light ray 401 and transmit the remaining light rays in the light ray 401 except for the light rays reflected by the adhesive surface J3. Here, light ray 401 is the portion of light ray 409 transmitted from the adhesive surface J4. Specifically, light ray 401 includes light rays with a first polarization state and light rays with a second polarization state in the light ray 409. The light rays reflected by the adhesive surface J3 can be transmitted in the fourth mirror 34 and incident on the second exit surface 223a for emitting the first polarized light. The light rays transmitted by the adhesive surface J3 can be transmitted in the third mirror 33 and incident on the first exit surface 2231.

[0426] In some embodiments, the first adhesive surface 501 is coated with a first beam-splitting film, which is used to split the energy of light rays (such as light ray 401) incident on the first adhesive surface 501 that have a first polarization state. For example, the ratio of the energy of the light rays with the first polarization state reflected by the first adhesive surface 501 to the energy of the light rays with the first polarization state incident on the first adhesive surface 501 is a first value, which may be greater than or equal to 1% and less than or equal to 10%.

[0427] Thus, the light energy reflected from the first adhesive surface 501 to the photosensitive element 222a used to sense the first polarized light is relatively small, which can ensure that most of the energy of the light received by the first adhesive surface 501 reaches the first type of photosensitive element 221.

[0428] In some embodiments, the sixth adhesive surface 506 is coated with a second beam-splitting film, which is used to perform energy splitting on the light rays (such as light ray 406) incident on the sixth adhesive surface 506 that have a second polarization state. Exemplarily, the ratio of the energy of the light rays with a second polarization state reflected by the sixth adhesive surface 506 to the energy of the light rays with a second polarization state incident on the sixth adhesive surface 506 is a fifth value, which can be greater than or equal to 1% and less than or equal to 10%.

[0429] Thus, the light energy reflected from the sixth adhesive surface 506 to the photosensitive element 222b used to sense the second polarized light is relatively small, which can ensure that most of the energy of the light received by the sixth adhesive surface 506 reaches the first type of photosensitive element 221.

[0430] In some embodiments, the first value and the fifth value may be equal.

[0431] In some embodiments, based on the structure shown in FIG12, the first polarized light emitted from the second exit surface 223a is the light ray 401 reflected by the adhesive surface J3. The second polarized light emitted from the second exit surface 223b includes the light ray 406 reflected by the adhesive surface J2.

[0432] In some other embodiments, the transmission and reflection properties of the adhesive surfaces J2 and J3 in the structure shown in FIG12 can be interchanged. For example, adhesive surface J2 can be an example of the aforementioned first adhesive surface, and adhesive surface J3 can be an example of the aforementioned sixth adhesive surface.

[0433] The structure shown in Figure 12 differs from those shown in Figure 10 or Figure 11 in the following ways. In the structure shown in Figure 12, the photosensitive element 222a for sensing the first polarized light and the photosensitive element 222b for sensing the second polarized light can each acquire a polarization image of half of the infrared light-illuminated area. Thus, in subsequent processing, the surface condition of the target can be determined based on the intensity of the first polarized light or the intensity of the second polarized light in different areas, achieving the same purpose of detecting surface conditions.

[0434] In some embodiments, the first mirror body 31, the second mirror body 32, the third mirror body 33, and the fourth mirror body 34 are all isosceles prisms or right-angle prisms. In this way, the various mirror bodies can be combined into a relatively regular shape, which facilitates optical path design and installation of the beam splitter 223.

[0435] In this application, a right-angle prism is a prism with a cross-section of a right-angled triangle, and its optical surfaces include two right-angled surfaces and one inclined surface. An isosceles prism is a prism with a cross-section of an isosceles triangle.

[0436] Of course, in other embodiments, the first mirror 31, the second mirror 32, the third mirror 33, or the fourth mirror 34 can also be other shapes, such as a rhomboid prism, a trapezoidal prism, a pentagonal prism, etc. Specifically, the shape of each mirror of the beam splitter 223 can be selected according to the actual optical path design.

[0437] It is understood that the above-described number of mirrors and their arrangement in relation to the beam splitter 223 are exemplary. In other embodiments, the beam splitter 223 may include other numbers of mirrors, such as three, five, or more, and the mirrors may be arranged in other ways. Similarly, the above-described number of second exit surfaces 2232, number of photosensitive elements in the second type of photosensitive element 222, and specific arrangement of the photosensitive elements are also exemplary. In other embodiments, the second exit surface 2232 may have other numbers, such as three, four, or more, and the second type of photosensitive element 222 may include other numbers of photosensitive elements, such as three, four, or more. In practical applications, the above parameters can be selected according to specific requirements.

[0438] To make it easier to understand, a specific example will be used below.

[0439] Referring to Figures 15 and 16, where Figure 16 shows a three-dimensional schematic diagram of the beam splitter prism in Figure 15, the beam splitter prism 223 may include a first mirror body 31, a second mirror body 32, a third mirror body 33, a fourth mirror body 34, and a fifth mirror body 35. The first mirror body 31 and the second mirror body 32 are right-angle prisms, the third mirror body 33 and the fourth mirror body 34 are rhomboid prisms, and the fifth mirror body 35 is an isosceles prism. The first mirror body 31 and the second mirror body 32 are arranged opposite each other in a second direction, and the third mirror body 33 and the fourth mirror body 34 are arranged opposite each other in a second direction. The first mirror body 31 and the third mirror body 33 are arranged in a first direction, and the second mirror body 32 and the fourth mirror body 34 are arranged in a first direction, with the second direction perpendicular to the first direction. The first mirror body 31 and the third mirror body 33 have an adhesive surface Q1, the second mirror body 32 and the fourth mirror body 34 have an adhesive surface Q2, the third mirror body 33 and the fourth mirror body 34 have an adhesive surface Q5, and the fifth mirror body 35 is located on one side of the third mirror body 33 and the fourth mirror body 34 in the first direction. The two optical surfaces of the fifth mirror body 35 are respectively adhesive to the third mirror body 33 and the fourth mirror body 34, thereby forming an adhesive surface Q3 between the third mirror body 33 and the fifth mirror body 35, and forming an adhesive surface Q4 between the fourth mirror body 34 and the fifth mirror body 35.

[0440] The first mirror body 31 includes an incident surface 224a and a second exiting surface 2232 (hereinafter referred to as 223a for easy distinction). The incident surface 224a is used to incident the received light onto the adhesive surface Q1. The adhesive surface Q1 is an example of the first adhesive surface (hereinafter referred to as 501 for easy distinction). The adhesive surface Q1 can reflect a portion of the received light with a first polarization state to the second exiting surface 223a and transmit the remaining light. A second type of photosensitive element 222 (hereinafter referred to as 222a for easy distinction) is provided on the light-emitting side of the second exiting surface 223a. The photosensitive element 222a is used to sense the light with a first polarization state emitted from the second exiting surface 223a.

[0441] The third mirror 33 includes a second emitting surface 2232 (hereinafter referred to as 223b for easy distinction). The adhesive surface Q3 is an example of a sixth adhesive surface (hereinafter referred to as 506 for easy distinction). The adhesive surface Q3 can reflect a portion of the received light with a second polarization state to the second emitting surface 223b and transmit the remaining light. A second type of photosensitive element 222 (hereinafter referred to as 222b for easy distinction) is provided on the light-emitting side of the second emitting surface 223b. The photosensitive element 222b is used to sense the light with a second polarization state emitted from the second emitting surface 223b.

[0442] The second mirror 32 includes an incident surface 224b and a second exit surface 2232 (hereinafter referred to as 223e for easy distinction). The incident surface 224b is used to incident the received light onto the adhesive surface Q2. The adhesive surface Q2 is an example of the first adhesive surface. The adhesive surface Q2 can reflect a portion of the received light with a first polarization state to the second exit surface 223e and transmit the remaining light. A second type of photosensitive element 222 (hereinafter referred to as 222e for easy distinction) is provided on the light-emitting side of the second exit surface 223e. The photosensitive element 222e is used to sense the light with a first polarization state emitted from the second exit surface 223e.

[0443] The fourth mirror body 34 includes a second emitting surface 2232 (hereinafter referred to as 223f for easy distinction). The adhesive surface Q4 is an example of the sixth adhesive surface. The adhesive surface Q4 can reflect a portion of the received light with a second polarization state to the second emitting surface 223f and transmit the remaining light. A second type of photosensitive element 222 (hereinafter referred to as 222f for easy distinction) is provided on the light-emitting side of the second emitting surface 223f. The photosensitive element 222f is used to sense the light with a second polarization state emitted from the second emitting surface 223f.

[0444] The fifth mirror body 35 includes a first exit surface 2231. A first type of photosensitive element 221 is disposed on the light-emitting side of the first exit surface 2231. Light transmitted from the adhesive surface Q3 and the adhesive surface Q4 both pass through the first exit surface 2231 and enter the first type of photosensitive element 221.

[0445] Thus, photosensitive elements 222a and 222b can respectively sense light rays with a first polarization state and light rays with a second polarization state reflected from a portion of the infrared-illuminated area. Photosensitive elements 222e and 222f can respectively sense light rays with a first polarization state and light rays with a second polarization state reflected from another portion of the infrared-illuminated area.

[0446] It is understood that, in the above embodiments, although the beam splitter 223 can separate the first polarized light and the second polarized light, when judging the surface condition of the target 201, only the intensity information of the first polarized light or the intensity information of the second polarized light may be used.

[0447] It can also be understood that if the beam-splitter 223 is only used to separate the first polarized light or the second polarized light, then in a specific implementation, it can be improved based on the structure shown in Figures 6, 10-12, and 15 to achieve this purpose. Specifically, the part for splitting light with the first polarization state or the part for splitting light with the second polarization state can be retained in the corresponding structure. For the sake of simplicity, it will not be described in detail here.

[0448] In addition, based on the beam splitter shown in Figures 6, 10, 11 or 15, any light ray can be split by the beam splitter 223 onto the first type of photosensitive element 221, the photosensitive element for sensing the second polarized light, and the photosensitive element for sensing the first polarized light. Therefore, there is a corresponding relationship between the pixel positions on each photosensitive element, and co-pixel imaging can be realized.

[0449] The above description, in conjunction with the accompanying drawings, illustrates a scheme for using the beam-splitting prism 223 to separate first polarized light and / or second polarized light. In some other embodiments, the beam-splitting prism 223 may not perform polarization separation, and instead, the first polarized light and / or second polarized light may be separated by a second type of photosensitive element 222.

[0450] For example, the second type of photosensitive element 222 is also used to separate first polarized light and / or second polarized light from light received from at least one second emitting surface 2232. For instance, a polarizer with the same transmission direction as the first polarization state and / or a polarizer with the same transmission direction as the second polarization state may be provided on the pixels of the second type of photosensitive element 222, allowing the first polarization state and / or second polarization state to be directly decomposed by the pixels of the second type of photosensitive element 222, thereby obtaining the first polarized light and / or second polarized light. In one implementation, the second type of photosensitive element 222 can be a polarization imaging sensor.

[0451] For example, a polarization imaging sensor can directly measure the degree of polarization of the received signal light. The degree of polarization is used to characterize the extent of polarization of the reflected light 203. The degree of polarization of the reflected light 203 is P = (Imax - Imin) / (Imax + Imin), where Imax and Imin represent the intensity of the reflected light in the direction of maximum polarization and the direction of minimum polarization, respectively.

[0452] Of course, in some embodiments, the polarization state of the infrared light emitted by the emitting module 210 can be controlled to be either a first polarization state or a second polarization state, thereby eliminating the need for polarization beam splitting. For example, the infrared light emitted by the emitting module 210 may have either a first polarization state or a second polarization state. Accordingly, the beam splitter 223 only receives light with either the first polarization state or the second polarization state, without needing to separate the light with the first polarization state and the light with the second polarization state from the reflected light 203. Of course, even when the infrared light 202 is in either a first polarization state or a second polarization state, polarization beam splitting can still be performed, for example, by using the beam splitter 223 or the second type of photosensitive element 222 to separate the light with the first polarization state and / or the light with the second polarization state.

[0453] The above, together with the accompanying drawings, mainly describes the beam splitting of infrared light by the beam splitter 223.

[0454] In some embodiments, the receiving module 220 is further configured to receive visible light, wherein the visible light is emitted from one or more of at least one second emitting surface 2232. Accordingly, the second type of photosensitive element 222 is further configured to sense the visible light emitted from the one or more second emitting surfaces 2232 to acquire a visible light image.

[0455] The visible light image acquired by the second-type photosensitive element 222 can realistically reproduce the scene, providing a clear and intuitive view. The visible light image can be fused with the polarization image, thus providing more comprehensive detection information. Furthermore, the second-type photosensitive element 222 can simultaneously acquire visible light and infrared polarization images. Fusing the visible light and polarization images allows for pixel-level matching, thereby achieving high-precision surface condition recognition.

[0456] In some embodiments, the beam splitter 223 may include at least one of a cemented surface (or optical surface) having a visible light antireflection coating, a cemented surface (or optical surface) having a visible light total reflection coating, or a cemented surface (or optical surface) having a visible light semi-transparent and semi-reflective coating. This allows visible light to exit through one or more second exiting surfaces 2232.

[0457] In this application, the visible light antireflection film can transmit visible light, reduce the reflection loss of visible light, and improve the light transmittance.

[0458] In this application, the visible light total reflection film can reflect all visible light, thereby improving the reflection efficiency of visible light.

[0459] In this application, a visible light transflective film can reflect a portion of visible light and transmit a portion of visible light, thereby achieving both anti-reflection and anti-transmission effects. For example, the visible light transflective film can reflect a first portion of the visible light incident upon it and transmit a second portion. The ratio of the energy of the reflected first portion of the light to the energy of the transmitted second portion can be determined according to actual conditions; for example, the energy of the first portion of the light may be greater than, less than, or equal to the energy of the second portion. By way of example and not limitation, the ratio of the energy of the first portion of the light to the energy of the second portion is 1:1; in other words, the first portion of the light and the second portion of the light each account for half of the visible light incident on the visible light transflective film.

[0460] To further understand, specific examples will be provided below.

[0461] For example, referring to Figure 6(a), the second exit surface 2232 (which is also the incident surface) is coated with a visible light total reflection film, thereby enabling visible light imaging on the photosensitive element 222a. Alternatively, the second exit surface 2232 is coated with a visible light anti-reflection film, and the first exit surface 2231 is coated with a visible light total reflection film, thereby enabling visible light imaging on the photosensitive element 222b.

[0462] For example, referring to Figure 6(b), the second exit surface 2232 (which is also the incident surface) is coated with a visible light total reflection film, thereby enabling visible light imaging on the photosensitive element 222a. Alternatively, the second exit surface 2232 is coated with a visible light anti-reflection film, and the adhesive surface 2233 is coated with a visible light total reflection film, thereby enabling visible light imaging on the photosensitive element 222b.

[0463] For example, referring to Figure 6(c), the adhesive surface 2233 is coated with a visible light total reflection film, thereby enabling visible light imaging on the photosensitive element 222a. Alternatively, the adhesive surface 2233 is coated with a visible light antireflection film, and the first emitting surface 2231 is coated with a visible light total reflection film, thereby enabling visible light imaging on the photosensitive element 222b. Alternatively, the adhesive surface 2233 is coated with a visible light semi-transparent and semi-reflective film, and the first emitting surface 2231 is coated with a visible light total reflection film, thereby enabling visible light imaging on both photosensitive elements 222a and 222b.

[0464] For example, referring to Figure 10, the adhesive surfaces J1, J2, J3, and J4 are all coated with a visible light antireflection film. Accordingly, all visible light incident from the incident surface 2234 will reach the photosensitive element 222b used to sense the second polarization.

[0465] For example, referring to Figure 10, the adhesive surfaces J1 and J3 are coated with a visible light total reflection film, and the adhesive surface J4 is coated with a visible light antireflection film. Accordingly, all visible light incident from the incident surface 2234 will reach the photosensitive element 222a used to sense the first polarized light.

[0466] For example, referring to Figure 10, adhesive surfaces J1 and J3 are coated with a visible light translucent and transflective film, while adhesive surfaces J2 and J4 are coated with a visible light antireflective film. Accordingly, of the visible light incident from the incident surface 2234, a portion of the visible light reaches the photosensitive element 222a used to sense the first polarized light, and a portion of the visible light reaches the photosensitive element 222b used to sense the second polarization.

[0467] For example, referring to Figure 11 or Figure 12, the adhesive surface J1 is coated with a visible light antireflection film, and the adhesive surfaces J2 and J4 are coated with visible light total reflection films. Accordingly, all visible light incident from the incident surface 2234 will reach the photosensitive element 222b used to sense the second polarized light.

[0468] For example, referring to Figure 11 or Figure 12, the adhesive surface J4 is coated with a visible light antireflection film, and the adhesive surfaces J1 and J3 are coated with visible light total reflection films. Accordingly, all visible light incident from the incident surface 2234 will reach the photosensitive element 222a used to sense the first polarized light.

[0469] For example, referring to Figure 11 or Figure 12, the adhesive surfaces J1 and J4 are coated with a visible light semi-transparent and semi-reflective film, while the adhesive surfaces J2 and J3 are coated with a visible light total reflective film. Accordingly, of the visible light incident from the incident surface 2234, a portion of the visible light reaches the photosensitive element 222a used to sense the first polarized light, and a portion of the visible light reaches the photosensitive element 222b used to sense the second polarization.

[0470] For example, referring to Figure 15, the adhesive surfaces Q1 and Q2 are coated with a visible light semi-transparent and semi-reflective film, while the adhesive surfaces Q3 and Q4 are coated with a visible light fully reflective film. Accordingly, the four photosensitive elements 222a, 222b, 222e, and 222f included in the second type of photosensitive element 222 can all be used for visible light imaging.

[0471] For example, referring to Figure 15, the adhesive surfaces Q1 and Q2 are coated with a visible light total reflection film; or the adhesive surfaces Q1 and Q2 are coated with a visible light anti-reflection film, and the adhesive surfaces Q3 and Q4 are coated with a visible light total reflection film. Accordingly, the two photosensitive elements in the second type of photosensitive element 222 can perform visible light imaging. In the former case, photosensitive elements 222a and 222e perform visible light imaging, and in the latter case, photosensitive elements 222b and 222f perform visible light imaging.

[0472] In some embodiments, the detection device 200 may further include a processing module for fusing image data acquired by the second type of photosensitive element 222 with a visible light image to obtain a fused image, wherein the fused image contains multiple regions, each of the multiple regions having a corresponding surface state.

[0473] For example, referring to Figure 17, the fused image can be divided into multiple regions, with the granularity of region division being one or more pixels. The surface state of the corresponding region can be determined based on its polarization characteristics, such as a rough surface or a smooth surface.

[0474] In some embodiments, the detection device 200 may further include a display module for displaying the fused image, wherein when the surface state corresponding to the first region in the plurality of regions is smooth, the first region is highlighted in the fused image. Exemplarily, the display module may be communicatively connected to the processing module.

[0475] In some embodiments, the detection device 200 may further include a transmission interface for transmitting the fused image. For example, the transmission interface may be used for transmitting the fused image to a cloud or a display module such as a display screen.

[0476] Figure 18 shows a schematic architecture diagram of the detection device provided in an embodiment of this application. The detection device 300 shown in Figure 18 can be applied to the detection system 100 shown in Figure 1. For example, the detection device 300 can be a specific example of the detection device 110 shown in Figure 1.

[0477] As shown in Figure 18, the detection device 300 includes a transmitting module 210, a first receiving module 230, and a second receiving module 240. The transmitting module 210 emits infrared light 202, for example, it emits infrared light towards a target 201 located in front of the transmitting module 210. The first receiving module 230 receives reflected light 203 to acquire point cloud data. The second receiving module 240 receives reflected light 203 to acquire image data, which includes intensity information of first polarized light with a first polarization state and / or intensity information of second polarized light with a second polarization state, wherein the first polarization state and the second polarization state are orthogonal.

[0478] In some embodiments, the first receiving module 230 may include the second optical component 224 involved in the detection device 200. For example, the first receiving module 230 may be the receiving part of a lidar.

[0479] In some embodiments, the first receiving module 230 may be a relatively independent module, or it may be integrated with the transmitting module 210, or it may be integrated with the second receiving module 240. It is understood that if the first receiving module 230 is integrated with the transmitting module 210, it can constitute a lidar.

[0480] In some embodiments, the second receiving module 240 may include a beam splitter 225, a first image sensor 241, and a second image sensor 242.

[0481] The beam splitter 225 is used to split the received reflected light 203 to obtain a first polarized light with a first polarization state and a second polarized light with a second polarization state, wherein the first polarization state and the second polarization state are orthogonal to each other. Specifically, the beam splitter 225 may include a first exit surface 2231 for emitting the first polarized light and a second exit surface 2232 for emitting the second polarized light.

[0482] In some embodiments, the first exit surface 2231 and the second exit surface 2232 can be the same optical surface of the beam splitter 225, or different optical surfaces of the beam splitter 225.

[0483] The first image sensor 241 is used to sense the first polarized light emitted from the first exit surface 2231 of the beam splitter 225 after the reflected light 203 is split, so as to obtain a first image, the first image including the intensity information of the first polarized light.

[0484] The second image sensor 242 is used to sense the second polarized light emitted from the second exit surface 2232 of the beam splitter 225 after the reflected light 203 is split, in order to obtain a second image, the second image including intensity information of the second polarized light.

[0485] Figures 19 and 20 show several possible specific structural examples of the beam splitter 225 shown in Figure 18. Among them, (a), (b), (c), and (d) in Figure 20 are three-dimensional schematic diagrams of the beam splitter shown in (a), (b), (c), and (d) in Figure 19, respectively.

[0486] Referring to Figures 19(a) and 20(a), the second exit surface 2232 of the beam splitter 225 (which shares the same optical surface as the first exit surface 2231) also serves as both the incident surface and the beam splitter. The beam splitter 225 also includes a reflecting surface 2235. The second exit surface 2232 can totally reflect light rays with a first polarization state from the received reflected light 203 and transmit light rays with a second polarization state. The reflecting surface 2235 receives the light rays with a second polarization state transmitted from the second exit surface 2232 and totally reflects them. The light rays with a first polarization state reflected by the second exit surface 2232 are the first polarized light, which is incident on the first image sensor 241. The light rays with a second polarization state reflected by the reflecting surface 2235 can exit from the second exit surface 2232, becoming the second polarized light, which is incident on the second image sensor 242.

[0487] Referring to Figures 19(b) and 20(b), the beam splitter 225 may include a first mirror body 31 and a second mirror body 32, with a cemented surface 2233 between them. The first mirror body 31 includes a second exit surface 2232 (which is the same optical surface as the first exit surface 2231), which also serves as both an incident surface and a beam splitter. The second exit surface 2232 can totally reflect light rays with a first polarization state from the received reflected light 203 and transmit light rays with a second polarization state. The cemented surface 2233 receives the light rays with a second polarization state transmitted by the second exit surface 2232 and totally reflects them. The light rays with a first polarization state reflected by the second exit surface 2232 are the first polarized light, which is incident on the first image sensor 241. The light rays with a second polarization state reflected by the adhesive surface 2233 can exit from the second exit surface 2232, which is the second polarized light, and the second polarized light is incident on the second image sensor 242.

[0488] Referring to Figures 19(c) and 20(c), the beam splitter 225 may include a first mirror body 31 and a second mirror body 32, with a cemented surface 2233 between them. The first mirror body 31 includes a second exit surface 2232 (which is the same optical surface as the first exit surface 2231) and an incident surface 2234. The second mirror body 32 includes a reflecting surface 2235. The incident surface 2234 receives reflected light 203 and incident it onto the cemented surface 2233. The cemented surface 2233 can totally reflect light with a first polarization state from the received light and transmit light with a second polarization state. The reflecting surface 2235 receives the light with the second polarization state transmitted by the cemented surface 2233 and totally reflects it. Light rays with a first polarization state reflected by the adhesive surface 2233 exit from the second exit surface 2232, becoming first polarized light, which is incident on the first image sensor 241. Light rays with a second polarization state reflected by the reflective surface 2235 can pass through the adhesive surface 2233 and exit from the second exit surface 2232, becoming second polarized light, which is incident on the second image sensor 242.

[0489] Referring to Figures 19(d) and 20(d), the beam splitter 225 may include a first mirror body 31 and a second mirror body 32, with a cemented surface 2233 between them. The first mirror body 31 also includes an incident surface 2234 and a first exit surface 2231. The second mirror body 32 also includes a second exit surface 2232. The cemented surface 2233 receives light from the incident surface 2234, performs total internal reflection on light with a first polarization state, and transmits light with a second polarization state. The light reflected by the cemented surface 2233 exits from the first exit surface 2231, forming first polarized light, and is incident on the first image sensor 241. The light transmitted by the cemented surface 2233 exits from the second exit surface 2232, forming second polarized light, and is incident on the second image sensor 242.

[0490] It is understood that Figure 19 only shows some exemplary structures of the beam splitter 225. In practical applications, the beam splitter 225 can be designed according to the actual situation.

[0491] In some embodiments, the beam splitter 225 is also used to receive visible light. Accordingly, the first image sensor 241 is also used to sense visible light emitted from the first exit surface 2231 and / or the second image sensor 242 is also used to sense visible light emitted from the second exit surface 2232.

[0492] In some embodiments, referring to (d) of FIG19, the beam splitter 225 includes an incident surface 2234, a beam splitting surface 2233 (i.e., the aforementioned cemented surface 2233), a first exiting surface 2231, and a second exiting surface 2232. The incident surface 2234 is used to receive visible light and reflected light 203, the beam splitting surface 2233 is used to transmit second polarized light and reflect first polarized light to the first exiting surface 2231, the beam splitting surface 2233 is also used to transmit a second portion of the visible light and reflect a first portion of the visible light to the first exiting surface 2231, the first exiting surface 2231 is used to exit the first polarized light and the first portion of the light, and the second exiting surface 2232 is used to exit the second polarized light and the second portion of the light.

[0493] In some embodiments, the beam-splitting surface 2233 is coated with a visible light semi-transparent and semi-reflective film.

[0494] In some embodiments, the embodiments involving the detection device 200, such as the use of intensity information of the first polarized light and intensity information of the second polarized light to determine the surface condition of the target under test, and the embodiments involving the detection device 200 to perform fusion processing on the acquired point cloud data and image data, are also applicable to the detection device 300. For the sake of brevity, they will not be described in detail.

[0495] Figure 21 shows a schematic architecture diagram of the detection device provided in an embodiment of this application. The detection device 400 shown in Figure 21 can be applied to the detection system 100 shown in Figure 1. For example, the detection device 400 can be a specific example of the detection device 110 shown in Figure 1.

[0496] As shown in Figure 21, the detection device 400 includes a transmitting module 210, a first receiving module 230, a second receiving module 250, and a third receiving module 260. The transmitting module 210 emits infrared light 202, for example, it emits infrared light towards a target 201 located in front of the transmitting module 210. The first receiving module 230 receives reflected light 203 to acquire point cloud data. The second receiving module 250 receives reflected light 203 to acquire a first image, which includes intensity information of first polarized light with a first polarization state. The third receiving module 260 receives reflected light 203 to acquire a second image, which includes intensity information of second polarized light with a second polarization state. The first polarization state and the second polarization state are orthogonal.

[0497] For details regarding the transmitting module 210 and the first receiving module 230, please refer to the relevant descriptions in the detection device 300 shown in Figure 18. For the sake of brevity, they will not be repeated here.

[0498] In some embodiments, the second receiving module 250 includes a first image sensor 251, which is used to receive visible light and first polarized light having a first polarization state to obtain a first image.

[0499] In some embodiments, the second receiving module 250 further includes a first polarization element 253, which is disposed in the receiving optical path of the first image sensor 251. The first polarization element 253 is used to transmit light rays with a first polarization state in the reflected light 203. For example, the transmission direction of the first polarization element 253 is the same as the vibration direction of the first polarized light.

[0500] In some embodiments, the second receiving module 250 further includes a first optical lens 252, which is used to receive visible light and first polarized light and project them onto the first image sensor 251.

[0501] For example, the first polarization element 253 is disposed in the optical path between the first optical lens 252 and the first image sensor 251, or in the optical path of the first optical lens 252 away from the first image sensor 251.

[0502] In some embodiments, the second receiving module 250 further includes a first protective lens, which is disposed on the optical path of the first optical lens 252 on the side away from the first image sensor 251, and a first polarizing element 253 is disposed on the first protective lens.

[0503] In some embodiments, the second receiving module 250 further includes a first filtering element for transmitting visible light and first polarized light.

[0504] In some embodiments, the third receiving module 260 includes a second image sensor 261, which is used to receive visible light and second polarized light having a second polarization state to obtain a second image.

[0505] In some embodiments, the third receiving module 260 further includes a second polarization element 263, which is disposed in the receiving optical path of the second image sensor 261. The second polarization element 263 is used to transmit light rays with a second polarization state in the reflected light 203. For example, the transmission direction of the second polarization element 263 is the same as the vibration direction of the second polarized light.

[0506] In some embodiments, the third receiving module 260 further includes a second optical lens 262, which is used to receive visible light and second polarized light and project them onto the second image sensor 261.

[0507] For example, the second polarization element 263 is disposed in the optical path between the second optical lens 262 and the second image sensor 261, or in the optical path of the second optical lens 262 away from the second image sensor 261.

[0508] In some embodiments, the third receiving module 260 further includes a second protective lens, which is disposed on the optical path of the second optical lens 262 on the side away from the second image sensor 261, and a second polarizing element 263 is disposed on the second protective lens.

[0509] In some embodiments, the third receiving module 260 further includes a second filtering element for transmitting visible light and second polarized light.

[0510] In some embodiments, the first polarizing element 253 and / or the second polarizing element 263 are coatings.

[0511] In some embodiments, the first filter element and the second filter element are optical films.

[0512] In some embodiments, the embodiments involving the detection device 200, such as using the intensity information of the first polarized light and the intensity information of the second polarized light to determine the surface condition of the target under test, and the embodiments involving the detection device 200 performing fusion processing on the acquired point cloud data and image data, are also applicable to the detection device 400. For the sake of brevity, they will not be described in detail.

[0513] Figure 22 shows a schematic diagram of the functional framework of a means of transportation provided in an embodiment of this application.

[0514] As shown in Figure 22, the functional framework of the vehicle 500 may include various subsystems, such as the sensor system 510, display system 520, one or more peripheral devices 530, control system 540, power supply 550, and computer system 560 shown in the figure. Optionally, the vehicle 500 may also include other functional systems, such as an engine system that provides power to the vehicle 500, etc., which are not limited herein.

[0515] The sensor system 510 may include several detection devices that can sense the measured information and convert the sensed information into electrical signals or other desired forms of information output according to a certain rule. For example, these detection devices may include the detection devices 200 / 300 / 400 involved in the foregoing embodiments, and may also include a global positioning system (GPS), a vehicle speed sensor, an inertial measurement unit (IMU), a radar unit, a laser rangefinder, a camera device, a wheel speed sensor, a steering sensor, a gear sensor, or other components used for automatic detection, etc., and this application is not limited thereto.

[0516] The display system 520 may include several components, such as a windshield, a controller, a head-up display, and a central control screen. The controller can generate an image based on the detection data acquired by the sensor system 510 and send the image to the head-up display or the central control screen for display.

[0517] Peripheral device 530 may include several components, such as a communication system, a touch screen, a user interface, a microphone, and a speaker. The communication system is used to enable network communication between the vehicle and other devices. In practical applications, the communication system can employ wireless or wired communication technologies to achieve network communication between the vehicle and other devices. The wired communication technology can refer to communication between the vehicle and other devices via network cables or fiber optic cables.

[0518] The control system 540 may include several components, such as a steering unit, a braking unit, a lighting system, an automatic driving system, a map navigation system, a network time synchronization system, and an obstacle avoidance system. Optionally, the control system 540 may also include components such as a throttle controller and an engine controller for controlling the vehicle's speed; this application is not limiting.

[0519] Power source 550 is used to provide electricity or energy to vehicle 500, and may include, but is not limited to, rechargeable lithium batteries or lead-acid batteries. In practical applications, one or more battery components in the power source are used to provide electrical energy or power for vehicle startup, and the type and materials of the power source are not limited in this application.

[0520] Several functions of the vehicle 500 are controlled and implemented by the computer system 560. The computer system 560 may include one or more processors 561 and memory 562. In practical applications, the memory 562 may be located inside the computer system 560 or outside the computer system 560, such as as a cache in the vehicle 500, etc., and this application does not limit it.

[0521] Processor 561 may include one or more general-purpose processors, such as a graphics processing unit (GPU). Processor 561 can be used to run relevant programs or instructions corresponding to programs stored in memory 562 to implement the corresponding functions of vehicle 500.

[0522] Memory 562 may include volatile memory, such as random access memory (RAM); it may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state disk (SSD); Memory 562 may also include combinations of the above types of memory. Memory 562 can be used to store a set of program code or instructions corresponding to program code, so that processor 561 can call the program code or instructions stored in memory 562 to implement the corresponding functions of vehicle 500. In this application, memory 562 may store a set of program code for vehicle control, and processor 561 can call the program code to control the safe driving of the vehicle.

[0523] Optionally, in addition to storing program code or instructions, memory 562 may also store information such as road maps, driving routes, and sensor data. Computer system 560 can be combined with other components in the functional framework diagram of vehicle 500, such as sensors in sensor system 510 and a global positioning system (GPS), to realize the relevant functions of vehicle 500. For example, computer system 560 can control the driving direction or speed of vehicle 500 based on data input from sensor system 510; this application does not impose limitations on this.

[0524] It is understood that the subsystems included in the vehicle 500 shown in Figure 22 are merely examples. In practical applications, the vehicle 500 can combine several components according to different functions to obtain subsystems with corresponding functions. In practical applications, the vehicle 500 may include more or fewer systems or components, which is not limited in this application.

[0525] The aforementioned vehicle 500 can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and handcart, etc., and this application embodiment does not impose any special limitations.

[0526] Figure 23 shows a schematic functional block diagram of a mobile carrier provided in an embodiment of this application.

[0527] As shown in Figure 23, the mobile carrier 600 may include a sensing system 610, a display device 620, and a computing platform 630. The sensing system 610 may include one or more sensors for sensing information about the environment surrounding the mobile carrier 600. For example, the sensing system 610 may include the detection devices 200 / 300 / 400 involved in the foregoing embodiments, and may also include one or more of the following: a positioning system (e.g., GPS, BeiDou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0528] The display device 620 is used to display images, such as navigation, 3D maps, etc. In some embodiments, the display device 620 can also display images of the environment surrounding the mobile carrier 600.

[0529] Some or all of the functions of the mobile carrier 600 can be controlled by the computing platform 630. The computing platform 630 may include one or more processors, such as processor 631, processors 632 to 63n (n is a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, GPU (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the above units. In addition, it can also be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. Furthermore, the computing platform 630 may also include a memory for storing instructions. Some or all of the processors 631 to 63n can call and execute the instructions in the memory to achieve the corresponding functions.

[0530] The mobile carrier 600 in this application may include road vehicles, water vehicles, air vehicles, or entertainment equipment. For example, the mobile carrier may be a vehicle, which is a vehicle in a broad sense, and may be a means of transportation (such as commercial vehicles, passenger cars, trains, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle. As another example, the mobile carrier may be a means of transportation such as an airplane or a ship.

[0531] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains.

[0532] This application embodiment also provides a photosensitive component or photosensitive module, which may include a receiving module 220 in the detection device 200, or a second receiving module 240 in the detection device 300, or a second receiving module 250 and a third receiving module 260 in the detection device 400.

[0533] This application embodiment also provides a beam splitter prism, which can be the beam splitter prism 223 in the detection device 200.

[0534] In some embodiments, if a beam splitter is used to separate first polarized light and second polarized light, the beam splitter may be referred to as a polarization beam splitter (PBS).

[0535] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A detection device, characterized in that, include: The transmitting module is used to emit infrared light; A receiving module is used to receive reflected light, the reflected light corresponding to the infrared light; The receiving module includes: A beam splitter is used to split the reflected light. The first type of photosensitive element is used to sense the light rays emitted from the first exit surface of the beam splitter after the reflected light is split, so as to obtain point cloud data; The second type of photosensitive element is used to sense the light emitted from at least one second exit surface of the beam splitter after the reflected light is split, so as to obtain image data. The image data includes intensity information of a first polarized light having a first polarization state and / or intensity information of a second polarized light having a second polarization state, wherein the first polarization state and the second polarization state are orthogonal.

2. The detection device according to claim 1, characterized in that, The energy of the light emitted from the first emission surface after the reflected light is split is greater than the energy of the light emitted from the at least one second emission surface after the reflected light is split.

3. The detection device according to claim 2, characterized in that, The ratio of the energy of the light emitted from the first exiting surface after the reflected light is split to the energy of the reflected light is greater than or equal to 90%; and / or The ratio of the energy of the light emitted from the at least one second exiting surface after the reflected light is split to the energy of the reflected light is less than or equal to 10%.

4. The detection device according to any one of claims 1 to 3, characterized in that, The beam splitter is also used to separate the first polarized light and / or the second polarized light from the reflected light.

5. The detection device according to claim 4, characterized in that, The beam splitter includes two second exit surfaces, one of which is used to exit the first polarized light, and the other of which is used to exit the second polarized light.

6. The detection device according to claim 4 or 5, characterized in that, The beam-splitting prism includes one or more of the following: a cemented or optical surface with a first beam-splitting film, a cemented or optical surface with a second beam-splitting film, a cemented or optical surface with a third beam-splitting film, and a cemented or optical surface with a fourth beam-splitting film; wherein, The first beam splitter is used to perform energy splitting on the light rays with the first polarization state incident on the first beam splitter; The second beam splitter is used to perform energy splitting on the light rays with the second polarization state incident on the second beam splitter; The third beam splitter is used to polarize and split the light incident on it. The fourth beam splitter is used to perform energy-based beam splitting on the light incident on it.

7. The detection device according to any one of claims 4 to 6, characterized in that, The beam splitter includes at least one mirror body, one of which is used to emit light to the first type of photosensitive element, and one or more of the at least one mirror body is used to emit light to the second type of photosensitive element.

8. The detection device according to claim 7, characterized in that, The beam-splitting prism includes multiple mirror bodies, and one or more of the following bonding surfaces—a first bonding surface, a second bonding surface, a third bonding surface, a fourth bonding surface, a fifth bonding surface, a sixth bonding surface, and a seventh bonding surface—are formed between the multiple mirror bodies; wherein... The first adhesive surface is used to reflect a portion of the first light rays incident on the first adhesive surface that has the first polarization state, and to transmit the remaining light rays in the first light rays other than the portion of the first polarization state; The second adhesive surface is used to transmit a portion of the second light rays incident on the second adhesive surface that has the second polarization state, and to reflect the remaining light rays in the second light rays other than the portion of the second light rays that has the second polarization state; The third adhesive surface is used to reflect all rays of the third ray incident on the third adhesive surface that have the first polarization state, and to transmit all rays of the third ray that have the second polarization state; The fourth adhesive surface is used to transmit a portion of the fourth light rays incident on the fourth adhesive surface, and to reflect the remaining light rays in the fourth light rays other than the portion of light rays. The fifth adhesive surface is used to transmit a portion of the fifth ray incident on the fifth adhesive surface that has the first polarization state, and to reflect the remaining rays in the fifth ray except for the portion of the fifth ray that has the first polarization state; The sixth adhesive surface is used to reflect a portion of the sixth ray incident on the sixth adhesive surface that has the second polarization state, and to transmit the remaining rays of the sixth ray except for the portion of the sixth ray that has the second polarization state; The seventh adhesive surface is used to transmit all rays of the seventh ray incident on the seventh adhesive surface that have the first polarization state, and to reflect all rays of the seventh ray that have the second polarization state.

9. The detection device according to claim 8, characterized in that, The ratio of the energy of the light rays with the first polarization state reflected by the first adhesive surface to the energy of the light rays with the first polarization state in the first light ray is a first value; The ratio of the energy of the light rays with the second polarization state transmitted through the second adhesive surface to the energy of the light rays with the second polarization state in the second light ray is a second value; The ratio of the energy of the light transmitted through the fourth adhesive surface to the energy of the fourth light ray is the third value; The ratio of the energy of the light rays with the first polarization state transmitted through the fifth adhesive surface to the energy of the light rays with the first polarization state in the fifth light ray is the fourth value; The ratio of the energy of the light rays with the second polarization state reflected by the sixth adhesive surface to the energy of the light rays with the second polarization state in the sixth light ray is the fifth value; Wherein, at least one of the first value, the second value, the third value, the fourth value, and the fifth value is greater than or equal to 1% and less than or equal to 10%.

10. The detection device according to claim 9, characterized in that, At least two of the first value, the second value, the third value, the fourth value, and the fifth value are equal.

11. The detection device according to any one of claims 8 to 10, characterized in that, At least two of the following are equal: the reflectivity of the first adhesive surface to light having the first polarization state, the transmittance of the second adhesive surface to light having the second polarization state, the transmittance of the fifth adhesive surface to light having the first polarization state, and the reflectivity of the sixth adhesive surface to light having the second polarization state.

12. The detection device according to any one of claims 8 to 11, characterized in that, The beam splitter includes a first mirror body, a second mirror body, a third mirror body, and a fourth mirror body. The first mirror body is used to receive the reflected light, and the second, third, and fourth mirror bodies are used to emit the beam of light after the reflected light is split, wherein the beam of light after the reflected light is split includes the first polarized light and the second polarized light.

13. The detection device according to claim 12, characterized in that, The first mirror body and the third mirror body are arranged opposite each other in a first direction, and the second mirror body and the fourth mirror body are arranged opposite each other in a second direction, the second direction being perpendicular to the first direction.

14. The detection device according to claim 13, characterized in that, The first mirror body, the second mirror body, the third mirror body, and the fourth mirror body each include a first optical surface, a second optical surface, and a third optical surface that intersect each other, wherein the third optical surface of the first mirror body and the third optical surface of the third mirror body are arranged opposite to each other in the first direction, and the third optical surface of the second mirror body and the third optical surface of the fourth mirror body are arranged opposite to each other in the second direction; The first optical surface and the second optical surface of the first mirror body are respectively bonded to the first optical surface of the second mirror body and the first optical surface of the fourth mirror body, and the first optical surface and the second optical surface of the third mirror body are respectively bonded to the second optical surface of the second mirror body and the second optical surface of the fourth mirror body.

15. The detection device according to claim 14, characterized in that, The third optical surface of the first mirror body is parallel to the third optical surface of the third mirror body and perpendicular to the first direction, and / or the third optical surface of the second mirror body is parallel to the third optical surface of the fourth mirror body and perpendicular to the second direction.

16. The detection device according to claim 14 or 15, characterized in that, A first adhesive surface is formed between the first lens body and the second lens body, a second adhesive surface is formed between the second lens body and the third lens body, a third adhesive surface is formed between the third lens body and the fourth lens body, and a fourth adhesive surface is formed between the fourth lens body and the first lens body; The first mirror is used to receive the reflected light, the second mirror is used to emit light to the first type of photosensitive element, the third mirror is used to emit the second polarized light, and the fourth mirror is used to emit the first polarized light.

17. The detection device according to claim 16, characterized in that, The first polarized light includes: light rays in the first ray that are reflected by the first adhesive surface to the fourth adhesive surface and transmitted through the fourth adhesive surface, and light rays in the third ray that are reflected by the third adhesive surface; The second polarized light includes: the light transmitted through the second adhesive surface in the second ray, and the light transmitted through the third adhesive surface in the third ray.

18. The detection device according to claim 14 or 15, characterized in that, The first adhesive surface is formed between the first lens body and the second lens body, and between the third lens body and the fourth lens body, respectively; the sixth adhesive surface is formed between the second lens body and the third lens body, and between the fourth lens body and the first lens body, respectively. The first mirror is used to receive the reflected light, the third mirror is used to emit light to the first type of photosensitive element, the second mirror is used to emit the second polarized light, and the fourth mirror is used to emit the first polarized light.

19. The detection device according to claim 18, characterized in that, The first polarized light is the light reflected by the first adhesive surface from the first ray; The second polarized light is the light reflected by the sixth adhesive surface from the sixth ray.

20. The detection device according to any one of claims 12 to 19, characterized in that, The first mirror body, the second mirror body, the third mirror body, and the fourth mirror body are all isosceles prisms or right-angle prisms.

21. The detection device according to any one of claims 4 to 20, characterized in that, The second type of photosensitive element includes a photosensitive element for sensing the first polarized light and a photosensitive element for sensing the second polarized light.

22. The detection device according to claim 21, characterized in that, The photosensitive element for sensing the first polarized light is used to acquire a first polarized image based on the first polarized light, and the photosensitive element for sensing the second polarized light is used to acquire a second polarized image based on the second polarized light, wherein the pixels of the first polarized image correspond one-to-one with the pixels of the second polarized image.

23. The detection device according to any one of claims 1 to 3, characterized in that, The second type of photosensitive element is also used to separate the first polarized light and / or the second polarized light from the light received from the at least one second emitting surface.

24. The detection device according to any one of claims 1 to 23, characterized in that, The infrared light has the first polarization state or the second polarization state, or the infrared light is unpolarized light.

25. The detection device according to any one of claims 1 to 24, characterized in that, The receiving module is also configured to receive visible light, wherein the visible light is emitted from one or more of the at least one second emission surface; The second type of photosensitive element is also used to sense visible light emitted from the one or more second emitting surfaces to obtain a visible light image.

26. The detection device according to claim 25, characterized in that, The beam splitter includes at least one of the following: a cemented or optical surface with a visible light antireflection coating, a cemented or optical surface with a visible light total reflection coating, or a cemented or optical surface with a visible light semi-transparent and semi-reflective coating.

27. The detection device according to claim 25 or 26, characterized in that, The detection device also includes: The processing module is used to fuse the image data with the visible light image to obtain a fused image, wherein the fused image contains multiple regions, and each of the multiple regions has a corresponding surface state.

28. The detection device according to claim 27, characterized in that, The detection device further includes: a display module and / or a transmission interface; The display module is used to display the fused image, wherein when the surface state of the first region corresponding to the plurality of regions is smooth, the first region is highlighted in the fused image; The transmission interface is used by the detection device to send the fused image.

29. The detection device according to any one of claims 1 to 28, characterized in that, The transmitting module is used to transmit the infrared light to the road surface to be tested, and the receiving module is used to receive the reflected light from the road surface to be tested, wherein the intensity information of the first polarized light and / or the intensity information of the second polarized light are used to obtain the road surface characteristics of the road surface to be tested.

30. A beam-splitting prism, characterized in that, The beam splitter is used to receive infrared light and split the infrared light, wherein the beam splitter includes at least one mirror body, one or more of the at least one mirror body is used to emit a first polarized light having a first polarization state and a second polarized light having a second polarization state, and one of the at least one mirror body is used to emit the remaining light rays in the infrared light other than the first polarized light and the second polarized light, wherein the first polarization state and the second polarization state are orthogonal.

31. The beam-splitting prism according to claim 30, characterized in that, The beam-splitting prism includes one or more of the following: a cemented or optical surface with a first beam-splitting film, a cemented or optical surface with a second beam-splitting film, a cemented or optical surface with a third beam-splitting film, and a cemented or optical surface with a fourth beam-splitting film; wherein, The first beam splitter is used to perform energy splitting on the light rays with the first polarization state incident on the first beam splitter; The second beam splitter is used to perform energy splitting on the light rays with the second polarization state incident on the second beam splitter; The third beam splitter is used to polarize and split the light incident on it. The fourth beam splitter is used to perform energy-based beam splitting on the light incident on it.

32. The beam splitter according to claim 30 or 31, characterized in that, The beam-splitting prism includes multiple mirror bodies, and one or more of the following bonding surfaces—a first bonding surface, a second bonding surface, a third bonding surface, a fourth bonding surface, a fifth bonding surface, a sixth bonding surface, and a seventh bonding surface—are formed between the multiple mirror bodies; wherein... The first adhesive surface is used to reflect a portion of the first light rays incident on the first adhesive surface that has the first polarization state, and to transmit the remaining light rays in the first light rays other than the portion of the first polarization state; The second adhesive surface is used to transmit a portion of the second light rays incident on the second adhesive surface that has the second polarization state, and to reflect the remaining light rays in the second light rays other than the portion of the second light rays that has the second polarization state; The third adhesive surface is used to reflect all rays of the third ray incident on the third adhesive surface that have the first polarization state, and to transmit all rays of the third ray that have the second polarization state; The fourth adhesive surface is used to transmit a portion of the fourth light rays incident on the fourth adhesive surface, and to reflect the remaining light rays in the fourth light rays other than the portion of light rays. The fifth adhesive surface is used to transmit a portion of the fifth ray incident on the fifth adhesive surface that has the first polarization state, and to reflect the remaining rays in the fifth ray except for the portion of the fifth ray that has the first polarization state; The sixth adhesive surface is used to reflect a portion of the sixth ray incident on the sixth adhesive surface that has the second polarization state, and to transmit the remaining rays of the sixth ray except for the portion of the sixth ray that has the second polarization state; The seventh adhesive surface is used to transmit all rays of the seventh ray incident on the seventh adhesive surface that have the first polarization state, and to reflect all rays of the seventh ray that have the second polarization state.

33. The beam splitter according to claim 32, characterized in that, The ratio of the energy of the light rays with the first polarization state reflected by the first adhesive surface to the energy of the light rays with the first polarization state in the first light ray is a first value; The ratio of the energy of the light rays with the second polarization state transmitted through the second adhesive surface to the energy of the light rays with the second polarization state in the second light ray is a second value; The ratio of the energy of the light transmitted through the fourth adhesive surface to the energy of the fourth light ray is the third value; The ratio of the energy of the light rays with the first polarization state transmitted through the fifth adhesive surface to the energy of the light rays with the first polarization state in the fifth light ray is the fourth value; The ratio of the energy of the light rays with the second polarization state reflected by the sixth adhesive surface to the energy of the light rays with the second polarization state in the sixth light ray is the fifth value; Wherein, at least one of the first value, the second value, the third value, the fourth value, and the fifth value is greater than or equal to 1% and less than or equal to 10%.

34. The beam splitter according to claim 33, characterized in that, At least two of the first value, the second value, the third value, the fourth value, and the fifth value are equal.

35. The beam-splitting prism according to any one of claims 32 to 34, characterized in that, At least two of the following are equal: the reflectivity of the first adhesive surface to light having the first polarization state, the transmittance of the second adhesive surface to light having the second polarization state, the transmittance of the fifth adhesive surface to light having the first polarization state, and the reflectivity of the sixth adhesive surface to light having the second polarization state.

36. The beam-splitting prism according to any one of claims 32 to 35, characterized in that, The beam splitter includes a first mirror body, a second mirror body, a third mirror body, and a fourth mirror body. The first mirror body is used to receive the infrared light, and the second, third, and fourth mirror bodies are used to emit the beam of infrared light after it has been split, wherein the beam of infrared light after it has been split includes the first polarized light and the second polarized light.

37. The beam-splitting prism according to claim 36, characterized in that, The first mirror body and the third mirror body are arranged opposite each other in a first direction, and the second mirror body and the fourth mirror body are arranged opposite each other in a second direction, the second direction being perpendicular to the first direction.

38. The beam splitter according to claim 37, characterized in that, The first mirror body, the second mirror body, the third mirror body, and the fourth mirror body each include a first optical surface, a second optical surface, and a third optical surface that intersect each other, wherein the third optical surface of the first mirror body and the third optical surface of the third mirror body are arranged opposite to each other in the first direction, and the third optical surface of the second mirror body and the third optical surface of the fourth mirror body are arranged opposite to each other in the second direction; The first optical surface and the second optical surface of the first mirror body are respectively bonded to the first optical surface of the second mirror body and the first optical surface of the fourth mirror body, and the first optical surface and the second optical surface of the third mirror body are respectively bonded to the second optical surface of the second mirror body and the second optical surface of the fourth mirror body.

39. The beam splitter according to claim 38, characterized in that, The third optical surface of the first mirror body is parallel to the third optical surface of the third mirror body and perpendicular to the first direction, and / or the third optical surface of the second mirror body is parallel to the third optical surface of the fourth mirror body and perpendicular to the second direction.

40. The beam-splitting prism according to claim 38 or 39, characterized in that, A first adhesive surface is formed between the first lens body and the second lens body, a second adhesive surface is formed between the second lens body and the third lens body, a third adhesive surface is formed between the third lens body and the fourth lens body, and a fourth adhesive surface is formed between the fourth lens body and the first lens body; The first mirror is used to receive the infrared light, the second mirror is used to emit the remaining light rays in the infrared light except for the first polarized light and the second polarized light, the third mirror is used to emit the second polarized light, and the fourth mirror is used to emit the first polarized light.

41. The beam-splitting prism according to claim 40, characterized in that, The first polarized light includes: light rays in the first ray that are reflected by the first adhesive surface to the fourth adhesive surface and transmitted through the fourth adhesive surface, and light rays in the third ray that are reflected by the third adhesive surface; The second polarized light includes: the light transmitted through the second adhesive surface in the second ray, and the light transmitted through the third adhesive surface in the third ray.

42. The beam splitter according to claim 38 or 39, characterized in that, The first adhesive surface is formed between the first lens body and the second lens body, and between the third lens body and the fourth lens body, respectively; the sixth adhesive surface is formed between the second lens body and the third lens body, and between the fourth lens body and the first lens body, respectively. The first mirror is used to receive the infrared light, the third mirror is used to emit the remaining light rays in the infrared light except for the first polarized light and the second polarized light, the second mirror is used to emit the second polarized light, and the fourth mirror is used to emit the first polarized light.

43. The beam splitter according to claim 42, characterized in that, The first polarized light is the light reflected by the first adhesive surface from the first ray; The second polarized light is the light reflected by the sixth adhesive surface from the sixth ray.

44. The beam-splitting prism according to any one of claims 36 to 43, characterized in that, The beam splitter includes a first exit surface and two second exit surfaces. One of the two second exit surfaces is used to exit the first polarized light, and the other of the two second exit surfaces is used to exit the second polarized light. The first exit surface is used to exit the remaining light rays in the infrared light other than the first polarized light and the second polarized light.

45. The beam-splitting prism according to any one of claims 36 to 44, characterized in that, The first mirror body, the second mirror body, the third mirror body, and the fourth mirror body are all isosceles prisms or right-angle prisms.

46. ​​The beam-splitting prism according to any one of claims 30 to 45, characterized in that, The energy ratio of the remaining light rays in the infrared light, excluding the first and second polarized light, to the energy of the infrared light is greater than or equal to 90%; and / or The sum of the energies of the first polarized light and the second polarized light is less than or equal to 10% of the energy of the infrared light.

47. The beam-splitting prism according to any one of claims 30 to 46, characterized in that, The infrared light has the first polarization state or the second polarization state, or the infrared light is unpolarized light.

48. The beam-splitting prism according to any one of claims 30 to 47, characterized in that, The beam splitter is also used to receive visible light, wherein the beam splitter includes at least one of the following: a cemented or optical surface with a visible light antireflection coating, a cemented or optical surface with a visible light total reflection coating, or a cemented or optical surface with a visible light semi-transparent and semi-reflective coating.

49. A vehicle-mounted system, characterized in that, It includes the detection device as described in any one of claims 1 to 29, or the beam splitter as described in any one of claims 30 to 48.

50. A means of transportation, characterized in that, It includes the detection device as described in any one of claims 1 to 29, or the beam splitter as described in any one of claims 30 to 48, or the vehicle-mounted system as described in claim 49.

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