WO2023184060A1

WO2023184060A1 - Detection device and movable platform

Info

Publication number: WO2023184060A1
Application number: PCT/CN2022/083258
Authority: WO
Inventors: 陈亚林; 王栗; 黄潇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2023-10-05

Abstract

A detection device (10) and a movable platform. The detection device (10) comprises: a light source (111) for emitting optical pulse sequences, the optical pulse sequences comprising a first optical pulse sequence having a first wavelength and a second optical pulse sequence having a second wavelength, the difference between the first wavelength and the second wavelength being greater than a predetermined wavelength, and the predetermined wavelength being not less than 60 nm; and a scanning module (12) comprising a beam splitter, the first optical pulse sequence and the second optical pulse sequence being emitted at different angle ranges after passing through the beam splitter, so as to form different scanning fields of view. The difference of wavelengths of optical pulse sequences emitted by the light source (111) is not less than 60 nm, so that interference between optical pulse sequences having different wavelengths can be avoided.

Description

Detection devices and movable platforms

manual

Technical field

The present application relates to the technical field of target detection, specifically, to a detection device and a movable platform.

Background technique

Detection devices such as lidar can be used to detect the external environment to obtain information such as the orientation, distance, normal vector, speed, shape and other information of targets in the external environment. The detection device can emit a light pulse sequence to the external environment and receive the light pulse sequence reflected by the target in the external environment, and determine the above information of the target based on the received light pulse sequence. Since the scanning field of view of the existing detection devices is very limited, for robots such as drones that can move flexibly in the entire three-dimensional space, the existing detection devices cannot meet the requirements of such robots during movement. Field angle needs. Therefore, it is necessary to provide a detection device with a larger scanning field of view.

Contents of the invention

In view of this, the first aspect of this application provides a detection device including:

A light source for emitting a sequence of light pulses, including a first sequence of light pulses with a first wavelength and a second sequence of light pulses with a second wavelength, and the difference between the first wavelength and the second wavelength is greater than a predetermined wavelength, the predetermined The wavelength is not less than 60nm;

The scanning module includes a spectroscope. The first light pulse sequence and the second light pulse sequence are emitted from different angle ranges after passing through the spectroscope to form different scanning fields of view.

The second aspect of this application provides a movable platform. The movable platform includes:

Movable platform body;

The aforementioned detection device is provided on the movable platform body.

Applying the solution provided by this application, after the light pulse sequence emitted by the light source in the detection device passes through the scanning module, its propagation direction can be changed by the spectroscope in the scanning module, so that the light pulse sequence can be emitted from at least two different angles. Range emission, thereby forming different scanning fields of view, thereby increasing the field of view angle of the scanning field of view of the detection device. At the same time, since the light pulses include different wavelengths, there is a gap between the first light pulse sequence and the second light pulse sequence. The wavelength difference is not less than 60nm. This wavelength difference can span the bandpass shift caused by large incident angles, which can also effectively avoid interference between light pulse sequences of different wavelengths incident on the spectroscope at large angles, thus improving the reliability of the detection device. sex.

Since the movable platform of the present application has the detection device, it has substantially the same advantages as the detection device.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a schematic diagram of a detection device according to an embodiment of the present application.

Figure 2 is a schematic diagram of a detection device according to an embodiment of the present application.

FIG. 3A is a schematic diagram of a second optical module according to an embodiment of the present application.

Figure 3B is a schematic diagram of a second optical module according to another embodiment of the present application.

Figure 3C is a schematic diagram of a second optical module according to another embodiment of the present application.

Figure 4 is a schematic diagram of a second optical module changing the propagation direction of a light pulse sequence according to an embodiment of the present application.

Figures 5(a) and 5(b) are schematic diagrams of the scanning field of view formed by a detection device according to an embodiment of the present application.

Figure 6 is a schematic diagram of a scanning field of view formed by a detection device according to an embodiment of the present application.

FIG. 7 is a schematic diagram of the propagation path of a light pulse sequence in a detection device according to an embodiment of the present application.

Figure 8 is a schematic diagram of two scanning fields of view overlapping according to an embodiment of the present application.

Figure 9 is a schematic diagram of a detection device according to an embodiment of the present application applied to a drone.

Figure 10 is a schematic diagram of the angle shift of the dichroic film of the detection device according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

At present, many detection devices determine the orientation, distance, shape, speed and other information of these targets by emitting light pulses to the external environment and receiving the light pulses reflected back by the targets in the external environment. The light pulses emitted by the detection device can change the direction through some optical elements and then be emitted into the external environment, thereby forming a scanning field of view within a certain angular range in the external environment. Mobile platforms such as drones that can move freely in three-dimensional space often need to detect all directions in the three-dimensional space during movement to determine whether there are obstacles, etc.

Existing detection devices have relatively limited scanning fields of view. Taking commonly used lidar as an example, although the traditional mechanical rotating lidar can achieve a field of view of 360° in the horizontal direction, its field of view in the vertical direction is often small and cannot meet the requirements of vertical applications such as drones. The field of view in the direction is required, and its size and weight are often large, which is not suitable for mobile platforms such as UAVs that have strict load and weight requirements. The rotating prism lidar has a very limited scanning field of view, both in the horizontal and vertical directions, and cannot meet the needs of mobile platforms such as drones. Therefore, it is necessary to provide a detection device with a larger scanning field of view to be suitable for mobile platforms such as UAVs.

Based on this, embodiments of the present application provide a detection device. The detection device in the embodiment of the present application can be any device that emits light pulses to the external environment and receives the light pulses reflected back by the target in the external environment to determine the distance, orientation, line shape, speed and other information of the object to detect the external environment. A device for detecting the environment. The detection device can be laser radar, millimeter wave radar, etc.

The detection device in the embodiment of the present application can be used in various movable platforms such as drones, driverless cars, and intelligent robots to detect the external environment.

Among them, the light incident surface or light incident surface in the embodiments of this application refers to the optical surface of the optical module through which the light pulse sequence passes when it is incident from an external object to the optical module (such as a beam splitter, a photorefractive element, etc.). The light exit surface or light exit surface in the embodiment refers to the optical surface of the optical module through which the light pulse sequence passes when it is emitted from the optical module to an external object.

The detection device provided by the embodiment of the present application includes a light source and a scanning module. The light source is used to emit a light pulse sequence. The light pulse sequence includes a first light pulse sequence with a first wavelength and a second light pulse sequence with a second wavelength. And the difference between the first wavelength and the second wavelength is greater than the predetermined wavelength, and the predetermined wavelength is not less than 60 nm. The scanning module includes a spectroscope, and the spectroscope can change the propagation direction of the light pulse emitted by the light source, so that the light emitted by the light source The pulse sequence can be emitted from different angle ranges. The first optical pulse sequence and the second optical pulse sequence are emitted from different angle ranges after passing through the spectroscope to form different scanning fields of view. By changing the direction of the light pulses emitted by the light source and emitting them from different angle ranges to form different scanning fields of view, the field of view of the scanning field of view of the detection device can be greatly increased. At the same time, since the light pulse sequences of different scanning fields of view share most of the optical paths, while forming a scanning field of view with a larger viewing angle, the size of the detection device will not be too large, which is suitable for detection of objects such as drones. The detector volume requires a mobile platform with strict requirements, and since the wavelength difference between the first light pulse sequence and the second light pulse sequence including different wavelengths of the light pulse is not less than 60nm, the wavelength difference can span the band caused by the large incident angle. Pass shift can also effectively avoid interference between light pulse sequences of different wavelengths incident on the spectroscope at large angles, thereby improving the reliability of the detection device.

In one embodiment, the optical pulse sequence includes a first wavelength optical pulse sequence and a second wavelength optical pulse sequence; the scanning module in the detection device includes at least two optical modules, each optical module is used to change the optical path of the optical pulse sequence, The light pulse sequence emitted by the detection device forms a scanning field of view, wherein the first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second wavelength light pulse sequence in the hollow of the first scanning field of view. Scan the field of view. For example, the at least two optical modules include a first optical module and a second optical module. The scanning module also includes a first driver for driving the first optical module to move, so that the light pulse sequence passing through the first optical module is scanned within the first emission angle range. The second optical module is used to receive the optical pulse sequence from the first optical module, and guide the first wavelength optical pulse sequence and the second wavelength optical pulse sequence to different optical paths for output. The scanning module also includes a second driver for driving the second optical module to move, so that the emitted first wavelength light pulse sequence and the second wavelength light pulse sequence are respectively scanned within two different second emission angle ranges to form The above-mentioned first scanning field of view and the second scanning field of view.

Alternatively, the light pulse sequence emitted by the light source of the detection device is not limited to include light of different wavelengths, but may include two light pulse sequences with other different attributes, such as two light pulse sequences with different polarizations. The second optical module The different properties of the two light beams are used to guide the two light pulse sequences to different light paths for emission. Alternatively, the first scanning field of view formed by the first wavelength light pulse sequence is not limited to being annular, and the scanning field of view formed by the second wavelength light pulse sequence is not limited to being formed in the hollow of the first scanning field of view. of.

For example, in one embodiment, the scanning module of the detection device includes a first optical module, a second optical module, a first driver and a second driver. The light source is used to emit a sequence of light pulses to the first optical module; the first driver is used to drive the first optical module to move, so that the sequence of light pulses passing through the first optical module is scanned within a first emission angle range. The second driver is used to drive the movement of the second optical module to change the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges to form at least two different scanning field of view. The shapes of the two different scanning fields of view specifically depend on the structure and movement of the first optical module and the structure and movement of the second optical module.

As shown in Figure 1, it is a schematic diagram of a detection device in an embodiment of the present application (it should be pointed out that Figure 1 is only an illustrative example, and the number, shape, etc. of optical modules are not limited to that shown in Figure 1). The detection device 10 It includes a ranging module 11 and at least one scanning module 12. The ranging module 11 includes a light source 111 and a detector 112. The scanning module 12 includes a first optical module 121, a second optical module 122, a first driver (in the figure (not shown) and a second driver (not shown in the figure), the light source 111 is used to emit a light pulse sequence to the first optical module 121, the first driver is used to drive the first optical module 121 to move, so that the first optical module 121 passes through the first optical module 121. The light pulse sequence of the module 121 scans within the first emission angle range, and the second driver is used to drive the second optical module 122 to move, so as to change the light pulse sequence from the first optical module 121 received by the second optical module 122 to Scan within at least two different second emission angle ranges to form at least two different scanning fields of view.

The detector 112 is configured to receive at least part of the light pulse sequences of at least two scanning fields of view reflected by the objects, and detect objects in the at least two scanning fields of view according to the received light pulse sequences.

The light source 111 in the embodiment of the present application is any type of light source that can emit a sequence of light pulses. For example, it can be a laser diode, which emits a sequence of nanosecond-level laser pulses. The type of light source may be one or more, and the number of light sources may be one or more. The detection device may also include a control circuit and a drive circuit, wherein the control circuit may also control the drive circuit to drive the light source 111 to emit light to achieve pulsed light emission.

In some embodiments, the detection device may use a coaxial optical path. For example, as shown in FIG. 2 , the outgoing light path and the return light path of the detection device can be combined together through the spectroscopic element 13 . The light splitting element 13 may be a reflecting mirror having a light-transmitting area, and the light-transmitting area may be a light-transmitting material or a through hole provided on the reflecting mirror. The light pulses emitted by the light source 111 can first pass through the spectroscopic element 13. The central area of the spectroscopic element 13 can be coated with an antireflection film, and the non-central area can be coated with a reflective film, so that the light pulse sequence emitted by the light source 111 is transmitted from the central area of the spectroscopic element 13. , and then transmitted to the scanning module 12. After the light pulse sequence emitted by the detection device is reflected by the object, at least part of the light returns along the outgoing optical path and is reflected to the receiver through the reflective film of the beam splitter. Of course, the light splitting element 13 can also be a small reflector, used to reflect the light pulses emitted by the light source 111 to the scanning module 12. At least part of the light reflected by the object returns along the outgoing light path and is not blocked by the small reflector. light incident on the receiver.

As shown in Figure 2, in some embodiments, the light pulse sequence emitted from the spectroscopic element 13 can also be emitted to the collimating element 14 first. The collimating element 14 collimates the received light pulse sequence into a parallel light pulse sequence. Then it is sent to the scanning module 12. In some embodiments, the scanning module 12 may include a first optical module 121 and a second optical module 122. Of course, it may also include other optical modules. The first optical module 121 and the second optical module 122 can be used to change the propagation direction of the light pulse sequence. The first optical module 121 can move under the driving of the second driver, and the second optical module 122 can move under the driving of the first driver. The movement forms of the first optical module and the second optical module can be set according to actual needs, such as, The first optical module and the second optical module can rotate around a certain axis or vibrate in a specified axis direction. In some embodiments, as shown in FIG. 2 , the first optical module 121 and the second optical module 122 can rotate around an axis parallel to the optical axis direction of the light source or can rotate around the optical axis, and the rotation speed of the two is The rotation directions can be the same or different, and can be set according to actual needs. In some embodiments, the ranging device of the present application can also include a control circuit, which can control other circuits or modules, for example, can control the working time of each circuit or module and/or control each circuit or module. For parameter setting, etc., the control circuit can also perform some calculation processing, etc. The control circuit can include a controller, etc.

In some embodiments, the first optical module may be a light refractive element that refracts the light beam to change the propagation direction of the light beam. For example, in some embodiments, the first optical module may be a photorefractive element. The first photorefractive element has two opposite, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and detecting the light pulse sequence at the first The driver moves to change the emission direction of the light pulse sequence. After the light pulse sequence emitted by the light source 111 changes the propagation direction through the first optical module 121, it can be emitted from the first emission angle range. The first optical module 121 may include lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, optical phased arrays, or any combination of the above optical elements.

In some embodiments, the first optical module 121 may be a scanning prism. The light incident surface and the light output surface of the scanning prism are not parallel. The scanning prism may rotate under the driving of the first driver and respond to the light pulse sequence emitted by the light source. After being refracted twice, it exits from the first exit angle range. The shape and refractive index of the scanning prism can be set according to requirements. In some embodiments, the first optical module can be a wedge-shaped scanning prism.

The second optical module 122 can receive all or part of the optical pulse sequence emitted from the first optical module 121, and then change the propagation direction of the received optical pulse sequence, so that the optical pulse sequence is divided into at least two optical pulse sequences, and the optical pulse sequences are separated from different optical pulse sequences. At least two second exit angle range exits. The second optical module 122 may be any optical element or a combination of optical elements capable of splitting one optical pulse sequence into at least two optical pulse sequences. For example, the second optical module 122 may include lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, optical phased arrays, or any combination of the above optical elements.

The two light pulse sequences emitted from the second optical module 122 can be emitted from at least two different second angle emission angle ranges to form at least two different scanning fields of view in the external environment. By forming at least two scanning Field of view combination can obtain a combined field of view with a larger field of view.

In some embodiments, the light source may include at least two emitting elements, and the light pulse sequences used to scan different scanning fields of view come from different emitting elements in the light source. For example, the light source may include two emitting elements, and the light pulses emitted by one emitting element are used to form a scanning field of view. The light pulses emitted by different emission elements form different scanning fields of view, which can meet the requirements for light pulses in different scanning fields of view. For example, the detection frequencies of different scanning fields of view can be controlled by controlling the emission frequencies of different emission elements. Of course, in some embodiments, a scanning field of view can also be formed by simultaneous or time-sharing emission of multiple emitting elements. For example, a scanning field of view can be formed by a sequence of light pulses emitted by an array of emitting elements. Multiple emitting elements can emit light pulses from different angles at the same time, or multiple emitting elements in an array of emitting elements can emit light pulses in a time-sharing manner.

In some embodiments, the at least two scanning fields of view can be formed at the same time. For example, after the light source emits a light pulse at a certain moment, it can emit from a different second angle range to form at least two scanning fields of view at the same time. . In some embodiments, the at least two scanning fields of view can also be formed in a time-sharing manner. For example, the second optical module can change the light pulse sequence from the first optical module to emit in different second angle ranges at different times. Form at least two scanning fields of view for time-sharing scanning. Taking the formation of two scanning fields of view as an example, the light pulses of the two scanning fields of view can be emitted through two emitting elements, and the two emitting elements can alternately emit light pulses, thus forming two scanning fields of view alternately. By forming at least two scanning fields of view through time sharing, the light pulses of the at least two scanning fields of view can share a set of detectors, thereby reducing the size of the detection device. At the same time, the emitting element works in time sharing, and the emitting element can also be extended. service life.

The detector 112 can be any device with the function of converting optical signals into electrical signals. The detector 112 can receive the light pulse sequence reflected from the at least two scanning fields of view, and then convert the optical signal into an electrical signal, and determine the distance, orientation, and location of the target in the at least two scanning fields of view based on the converted electrical signal. Speed, shape, attitude and other information to detect targets in at least two scanning fields of view. The detector may include one or more receiving elements for receiving the light pulse sequence reflected by the external target and converting it into an electrical signal. In some embodiments, the detector 112 and the light source 111 are placed on the same side of the collimating element, and the detector 112 is used to convert at least part of the reflected light that passes through the collimating element into an electrical signal.

In some embodiments, the second optical module 122 can split the received light pulse sequence into at least two light pulses. The two light pulses are emitted from different emission angle ranges to form different scanning fields of view. The second optical module 122 122 When splitting the received optical pulse sequence into at least two optical pulse sequences, polarization splitting may be used to split the optical pulse sequence into at least two optical pulse sequences. In some embodiments, when the second optical module 122 splits the received at least two optical pulse sequences, it can also split the light based on the different wavelengths of the optical pulse sequences. For example, the light source 111 can emit at least two wavelength ranges. For the light pulse sequence in different wavelength ranges, the second optical module 122 can change its direction in different ways, for example, transmitting the light pulse sequence in some wavelength ranges and reflecting the light pulse sequence in some wavelength ranges. , thereby separating light pulse sequences in different wavelength ranges. The light pulse sequences in different wavelength ranges are split by the second optical module 122 and then emitted from different angle ranges, thereby forming at least two scanning fields of view. Of course, the embodiments of the present application are not limited to the light splitting methods in the above embodiments. Any light splitting method that can divide the light pulse sequence emitted by the light source into two light pulses and emit them from different emission angle ranges is applicable to this application. Apply.

In some implementations, in order to obtain light beams of at least two wavelengths, at least two types of light sources can be used in the detection device, wherein different types of light sources emit light pulses of different wavelengths. For example, the wavelength of the light pulses emitted by the light source can be One or more of 850nm, 905nm, 940nm, 1310nm, 1550nm, etc. In some embodiments, the number of each type of light source may be multiple. For example, the light source may include an array of emitting elements. Each array of emitting elements may include multiple emitting elements arranged according to a certain arrangement rule. Each emitting element may Sequences of light pulses of the same wavelength are emitted from different angles. By using multiple emitting elements to emit light pulses of the same wavelength from different angles at the same time, the point cloud data collected in each scanning field of view can be made denser and the detection accuracy of the detection device can be improved. Of course, the types of emitting element arrays can also include multiple types. For example, one type of light source corresponds to one type of emitting element array, and each emitting element array emits light pulses of one wavelength. In some embodiments, different emission element arrays can simultaneously emit light pulse sequences of different wavelengths, that is, different scanning fields of view can be formed at the same time. In some embodiments, in order to extend the service life of each emission element in the light source, different emission elements The array can emit light pulse sequences of different wavelengths in a time-divided manner, thereby forming different scanning fields of view at different times.

Correspondingly, the detector may include one or more receiving elements for receiving the light pulse sequence emitted by the light source and reflected back by the external target. In some scenarios, the detector may only include a single receiving element, and the single receiving element can receive light pulses emitted by different arrays of transmitting elements in the light source in a time-sharing manner. In some scenarios, the detector may also include one or more receiving element arrays, each receiving element array corresponds to a transmitting element array, and each receiving element in each receiving element array is used to receive each emission in the corresponding transmitting element array. The element emits light pulses.

Since the light pulse sequences emitted by the light source have different wavelengths, the spectral response of the photodetector needs to be adapted to the wavelength of the selected light pulse sequence. For example, when selecting 850nm and 905nm laser wavelengths respectively, you can choose a silicon-based photodetector that can respond to both laser wavelengths. The spectral response wavelength range of the silicon-based photodetector is 200nm ~ 1100nm. By using the same type The photoelectric detector can reduce the complexity of the system and the size of the detection device. For example, when the laser wavelengths of 905nm and 1550nm are selected respectively, the corresponding photodetectors can be respectively selected as silicon-based photodetectors and InGaAs photodetectors.

In some embodiments, the second optical module 122 includes a beam splitter, and the first optical pulse sequence and the second optical pulse sequence are emitted from different angle ranges after passing through the beam splitter to form different scanning fields of view. Optionally, the second optical pulse sequence The optical module may include a light splitting surface, wherein the light splitting surface may be located inside or on the surface of the second optical module. The light splitting surface may be used to transmit part of the light pulses in the light pulse sequence emitted by the light source, and to reflect part of the light pulse sequence emitted by the light source. Partial light pulse. The light pulse sequences of the at least two scanning fields of view can be separated by the light splitting plane. For example, the light pulse sequence emitted by the light source includes a first light pulse sequence located in a first wavelength range and a second light pulse sequence located in a second wavelength range, and the light splitting surface of the second optical module can reflect the first light pulse sequence, The first light pulse sequence is emitted from one angle range to form a first scanning field of view. At the same time, the light splitting surface of the second optical module can transmit the second light pulse sequence, so that the second light pulse sequence is emitted from another angle range to form Second scanning field of view. In some embodiments, the light pulse sequence emitted by the light source includes a first light pulse sequence located in the first wavelength range and a second light pulse sequence located in the second wavelength range. As shown in Figure 3A, the second optical module also It includes a light incident surface, and first light exit surfaces and second light exit surfaces respectively located on both sides of the light splitting surface, the second optical module is used to receive the first light pulse sequence and the second light pulse sequence through the light incident surface, and The first light pulse sequence is emitted to the first scanning field of view through the first light emitting surface, and the second light pulse sequence is emitted to the second scanning field of view through the second light emitting surface. The first light pulse sequence is reflected and the second light pulse sequence is transmitted through the light splitting surface, thereby separating the light pulse sequence emitted from the light source to form different scanning fields of view. In order to allow the light pulse sequence incident on the light splitting surface to be emitted from different angle ranges after being emitted and refracted by the light splitting surface, the light splitting surface is not parallel to the light incident surface of the second optical module, but has a certain included angle.

In some embodiments, the second optical module further includes photorefractive elements located on both sides of the light splitting surface. When the first driver drives the second optical module to rotate, the photorefractive elements on both sides of the light splitting surface are used to change the light pulses. A sequence of optical paths, in which the photorefractive element can be a prism, etc., and the photorefractive element refracts the light pulse reflected by the splitting surface and the transmitted light pulse respectively before emitting, which can increase the emission angle range of the light pulse. For example, the second optical module may include a light refraction component. The light refraction component includes a first light refraction element and a second light refraction element that are attached to each other. A light splitting surface is provided between the first light refraction element and the second light refraction element. The first light refraction element includes a light incident surface and a first light exit surface. The first light pulse sequence and the second light pulse sequence pass through the light incident surface of the first light refraction element into the first light refraction element. The first light pulse sequence is reflected by the spectroscopic surface in the photorefractive component and refracted by the first photorefractive element and emerges from the first light exit surface, and the second wavelength light pulse sequence from the first photorefractive element is reflected by the spectroscopic surface in the photorefractive component. The transmission and the second light refractive element refract the outgoing light to form different scanning fields of view.

In some embodiments, the light refractive component is generally in the shape of a wedge prism, and the light splitting surface extends obliquely from the edge of the thickest part of the wedge prism shaped light refractive component toward the direction of the first light refractive element. In some embodiments, the second optical module 122 may be a prism assembly. For example, the second optical module may be obtained by fixing two prisms to each other, and the light splitting surface may be located between the two prisms. As shown in FIG. 3A , it is a schematic diagram of the second optical module 122 in an embodiment of the present application. The second optical module may include a first prism and a second prism fixed to each other, one surface of the first prism is bonded with a surface of the second prism, and the light splitting surface is located where the first prism and the second prism are bonded. Part or all of the light pulse sequence emitted from the first optical module 121 may be incident from the light incident surface in the first prism. After reaching the light splitting surface, the first light pulse sequence located in the first wavelength range may be reflected by the light splitting surface, and the third A prism refracts and emits from the first light-emitting surface to form a first scanning field of view. The second light pulse sequence in the second wavelength range can be transmitted through the splitting surface, and the second prism refracts and emits from the second light-emitting surface to form Second scanning field of view.

The method of fixing the two prisms can be selected according to actual needs. For example, in some embodiments, the two prisms can be fixed by gluing, that is, adding adhesive or other adhesive to the joint surfaces of the two prisms. The two prisms are bonded together using an agent. Of course, other fixing methods can also be used, which are not limited by the embodiments of this application. The two prisms can be seamlessly joined, or the joint surfaces of the two prisms can be filled with air or other materials. In some embodiments, the second optical module can be obtained by fixing the first prism and the second prism to each other, and the light exit surface of the second prism can be inclined toward the direction of the light source from one edge of the first prism, as shown in Figure 3A .

In some embodiments, the second optical module, such as a beam splitter, further includes a light splitting layer. The light splitting layer is disposed between the first photorefractive element and the second photorefractive element to form a light splitting surface. The first light pulse sequence is at the light splitting layer. Reflected, the second light pulse sequence is transmitted at the light splitting layer. Optionally, as shown in Figure 3B, the dichroic layer can be implemented by using a dichroic film or other suitable film layer with a dichroic effect. The dichroic film is used to split light pulse sequences of different wavelengths. The dichroic layer can be The optical surface coated with a dichroic film, for example, as shown in Figure 3B, the second optical module is a scene in which the first prism and the second prism are fixed to each other. The light-splitting layer can be a bonding surface, and the light-splitting layer can include Dichroic film, for example, a light-splitting layer can be provided at the joint surfaces of two prisms, for example, a layer of dichroic film can be coated. The dichroic film can achieve selective transmission or selective reflection of light pulse sequences in different wavelength ranges, so that the light pulse sequence in at least one wavelength range can be reflected and emitted from an angle range after being refracted by one of the prisms. , transmitting the rest of the light pulse sequence and refracting it through another prism before emitting from another angle range.

The principle of dichroic film to achieve color separation is to use the interference of light. Generally, the material and thickness of the film layer are designed to achieve anti-reflection or anti-reflection of specific wavelengths.

In some embodiments, the at least two scanning fields of view include a first scanning field of view formed by a first sequence of light pulses reflected by the dichroic surface, and a second scanning field formed by a second sequence of light pulses transmitted by the dichroic surface. field of view. Since the first optical module and the second optical module have limited deflection capabilities for the light pulse sequence, the scanning field of view formed by the second light pulse sequence also has very limited viewing angles in the horizontal and vertical directions. In order to increase The scanning field of view of the large detection device can form two different scanning fields of view through the first light pulse sequence and the second light pulse sequence. After the two different scanning fields of view are combined, both the horizontal and vertical directions can be Can have a wider field of view.

In some embodiments, the center position and field angle size of the first scanning field of view and the second scanning field of view (i.e., the exit direction and exit angle range of the first light pulse sequence, the exit direction and exit angle range of the second light pulse sequence Characteristics such as angle range) can be determined based on the shape, refractive index and other parameters of the first optical module and the second optical module. Among them, the design of the shape, refractive index, etc. of the second optical module is more critical. As shown in Figure 4, it is a schematic diagram of the optical path of the light pulse sequence passing through the second optical module in one embodiment. The second optical module is obtained by laminating two prisms, and the laminating surface is a light splitter coated with a dichroic film. The surface can reflect and transmit light pulse sequences in different wavelength ranges. Assume that the angle between the light incident surface of the second optical module (i.e., the light incident surface) and the direction perpendicular to the optical axis (shown as the horizontal direction in the figure) is α ₁ , and the sum of the light splitting surface and the direction perpendicular to the optical axis (shown as the horizontal direction in the figure) The angle between the exit surface of the first light pulse sequence and the direction parallel to the optical axis (shown as the vertical direction in the figure) is α ₂ , and the angle between the exit surface of the first light pulse sequence and the direction parallel to the optical axis (the vertical direction is shown in the figure) is α ₃ , and the emission of the transmitted light The angle between the surface and the direction perpendicular to the optical axis (shown as the horizontal direction in the figure) is α ₄ , and the refractive indexes of the two prisms attached are n1 and n2 respectively. The incident light is incident from the light incident surface of the second optical module at an incident angle θ _1. After reaching the light splitting layer, the light splitting surface reflects and transmits light in different ranges. It is assumed that the exit direction of the first light pulse sequence is parallel to the optical axis. The angle between the direction (shown as the vertical direction in the figure) is β ₁ , and the angle between the emission direction of the second light pulse sequence and the direction parallel to the optical axis (shown as the vertical direction in the figure) is β ₂ . After multi-variable joint optimization, results that satisfy the super-hemispheric field of view are obtained.

According to the laws of reflection and refraction of light, the following formula can be obtained:

sinθ ₁ =n ₁ sinθ ₂

θ ₃ =θ ₂ +(α ₂ -α ₁ )

θ ₄ =θ ₃

α ₂ +α ₃ =θ ₅ +(90°-θ ₄ )

sinθ ₆ =n ₁ sinθ ₅

θ ₆ -α ₃ =90°-β ₁

β ₁ =90°-(θ ₆ -α ₃ )

n ₂ sinθ ₇ =n ₁ sinθ ₃

θ ₈ =(α ₂ -α ₄ )-θ ₇

n ₂ sinθ ₈ = sinθ ₉

β ₂ =θ ₉ +α ₄

It can be seen from the above formula that the sizes of β ₁ and β ₂ can be determined by adjusting one or more of the following parameters: the angle between the light incident surface (i.e., the light incident surface) and the direction perpendicular to the optical axis of the light source is α ₁ , the angle between the light splitting surface and the direction perpendicular to the optical axis of the light source is α ₂ , the angle between the exit surface of the reflected light and the direction parallel to the optical axis of the light source is α ₃ , the angle between the exit surface of the transmitted light and the direction parallel to the optical axis of the light source is α 3 The angle is α ₄ , and the refractive indices of the two glued prisms are n1 and n2 respectively. Therefore, the center position of the first scanning field of view and the second scanning field of view, the size of the field of view, etc. can be adjusted by adjusting the above parameters.

In some embodiments, as shown in FIG. 3A , the first light pulse sequence can be emitted from the first light exit surface of the second optical module after being reflected by the light splitting layer, and the second light pulse sequence can be respectively transmitted from the second optical module after being transmitted by the light splitting layer. The second light-emitting surface of the module emits light to obtain two different emission angle ranges and scanning fields of view. The first light-emitting surface is adjacent to the light-incident surface of the second optical module, and the second light-emitting surface is opposite to the light-incident surface of the second optical module.

In some embodiments, the angle between the emission angle of the first light pulse sequence and the direction perpendicular to the optical axis of the light source is less than 90°, and the angle between the emission angle of the second light pulse sequence and the direction parallel to the optical axis of the light source is less than 90°. The first scanning field of view formed by the first light pulse sequence is an annular area, and the second scanning field of view formed by the second light pulse sequence is located in the hollow of the annular area.

In some embodiments, as shown in Figure 5(a) and Figure 5(b) , the combined field of view of the first scanning field of view formed by the first light pulse sequence and the second scanning field of view formed by the second light pulse sequence Approximately hemispherical shape, wherein the first scanning field of view is located in the edge area of the hemisphere and is annular, and the second scanning field of view is located in the central area of the hemisphere.

The center position of the two scanning fields of view and the size of the field of view can be designed by adjusting the above parameters. Therefore, in some embodiments, as shown in Figure 6, the two scanning fields of view can be designed to be seamlessly spliced, so that the field of view angle formed by the two light pulse sequences can be maximized to obtain in the vertical direction The largest possible field of view. Of course, in some embodiments, the two scanning fields of view can also be designed to have a certain overlapping area, that is, overlapping fields of view, as shown in Figure 7 . Since the overlapping field of view can accept both the scanning of the first light pulse sequence and the scanning of the second light pulse sequence, the detection frequency of this area is higher than that of other areas, and more accurate detection results can be obtained. Therefore, generally speaking, overlapping fields of view can be used to detect directions that the user is more concerned about or interested in, so that more accurate detection results can be obtained for the areas that the user is concerned about.

Taking the detection device for a drone as an example, in some embodiments, in order to make the overlapping area of the two scanning fields of view consistent with the flying speed direction of the drone as much as possible, the center position of the overlapping area of the two scanning fields of view is It can be determined based on the tilt angle of the drone when flying. As shown in Figure 8, the overlapping field of view of the detection device is just enough to detect the flight direction of the UAV, so that more accurate detection results can be obtained in the flight direction.

Furthermore, as can be seen from FIG. 4 , the center position of the scanning field of view formed by the first optical pulse sequence can also be adjusted by adjusting the angle α ₁ between the light splitting surface and the light incident surface in the second optical module. Among them, the smaller α ₁ is, the center position of the scanning field of view formed by the first light pulse sequence will be deflected toward the light incident surface side of the second optical module, and the larger α ₁ is, the more the center position of the scanning field of view formed by the first light pulse sequence is deflected. The center position of the field will be deflected toward the light-emitting surface (ie, the second light-emitting surface) of the second optical pulse sequence in the second optical module. As shown in Figure 3A, taking the second optical module as an example in which the first prism and the second prism are fixed to each other, when α ₁ is small, the first light pulse sequence will be emitted toward the light source along any edge of the second prism. Therefore, the entire scanning field of view formed by the first light pulse sequence moves toward the direction closer to the second light-emitting surface, and when α ₁ is larger, the first light pulse sequence will emit in any direction along the light source toward the edge of the first prism. Therefore, the entire scanning field of view formed by the first light pulse sequence moves away from the second light-emitting surface.

In some embodiments, the scanning field of view formed by the first light pulse sequence in the vertical direction and the scanning field of view formed by the second light pulse sequence in the vertical direction can be combined to form a continuous field of view in the vertical direction. To scan the field of view, the angle α ₁ between the light splitting layer and the light incident surface of the second optical module can be adjusted, so that after the first light pulse sequence emerges from the first light exit surface of the second optical module, it moves closer to the second light exit surface. One side of the surface is deflected, so that the scanning field of view formed by the first light pulse sequence and the scanning field of view formed by the second light pulse sequence are continuous, as shown in Figure 9.

Taking the second optical module being fixed to each other through the first prism and the second prism as an example, when the first light pulse sequence emits from the first prism, part of the first light pulse sequence emits along the direction of the light source toward the edge of the first prism, Therefore, the scanning field of view formed by the first light pulse sequence and the scanning field of view formed by the second light pulse sequence are continuous along the optical axis of the light source.

Of course, in some embodiments, the detection device can be mounted on the drone. For example, one of the above-mentioned detection devices is mounted on the upper and lower surfaces of the drone fuselage, or the detection device includes two scanning modules, one on the upper and lower surfaces of the drone fuselage. There is a scanning module distributed on each surface. At this time, if the first light pulse sequence in the detection device is deflected to the side close to the exit surface of the second light pulse sequence after being emitted from the second optical module, then it is bound to be unmanned. The forward direction of the machine forms a large blind area. In order to minimize the scope of this blind area, in some embodiments, as shown in Figure 6, part of the first optical pulse sequence can be emitted from the first exit surface of the second optical module. After exiting, deflect to the side close to the light incident surface of the second optical module. In order to ensure that the detection devices on the upper and lower surfaces of the drone are deflected towards the light incident surface, they can overlap in front of the drone's nose to form an overlapping scan. Field of view, the angle between the exit angle of this part of the first light pulse sequence and the light incident surface of the second optical module is at least greater than 10°.

Taking the second optical module being fixed to each other through the first prism and the second prism as an example, when part of the light pulse sequence in the first light pulse sequence is emitted from the first prism, the part of the first light pulse can be along the edge of the first prism. The angle between the emission direction of this part of the light pulse sequence and the light incident surface of the first prism is at least greater than 10°.

In some embodiments, parameters such as the shape and refractive index of the first optical module can also be adjusted to change the emission direction and angle of the first optical pulse sequence and the second optical pulse sequence. Taking the first optical module as a scanning prism as an example, in some embodiments, both the light exit surface and the light entrance surface of the scanning prism are inclined away from the side of the scanning prism in a direction away from the light source. In this way, the light exit surface and the light entrance surface are both Compared with a scanning prism whose light incident surface is perpendicular to the rotation axis of the scanning prism, a bislant prism tilted in the same direction can deflect the light beam passing through the scanning prism in a direction away from the rotation axis of the scanning prism, thereby reducing the second optical The lateral dimensions in the module make the structure of each optical module in the detection device more compact and reduce the volume of the detection device.

As the scanning prism rotates, the output range and angle of the refracted light pulse sequence will change, so the positions and angles of the two scanning fields of view formed after reflection and transmission by the dichroic layer in the second optical module will also change. corresponding changes.

In some embodiments, the exit direction and exit angle of the first optical pulse sequence and the second optical pulse sequence can be adjusted by adjusting the shape, refractive index and other parameters of the first optical module and the second optical module, such that The combined field of view of the first scanning field of view formed by the first light pulse sequence and the second scanning field of view formed by the second light pulse sequence has a field of view angle greater than 90° in the vertical direction.

In some embodiments, the angle between the first scanning field of view formed by the first light pulse sequence and the second scanning field of view formed by the second light pulse sequence in the horizontal direction may reach 360°.

For scenarios where a dichroic film is used for light splitting, if the incident angle of light into the dichroic film is too large, the dichroic film's light splitting ability will become weaker, resulting in its inability to effectively reflect the first light pulse sequence and refraction. The second light pulse sequence makes it easy for two different wavelength ranges to interfere with each other. In some embodiments, in order to minimize the mutual interference of two light pulse sequences in different wavelength ranges, the angle between the light splitting surface and the light incident surface in the second optical module is less than 45°, thereby ensuring that the light pulse sequence is incident on the two-way The incident angle of the color film should be as small as possible to ensure the light splitting effect.

Furthermore, through the analysis of the field of view angle of the first scanning field of view (reflection field of view) and the field of view angle of the second scanning field of view (transmission field of view), it can be seen that the field of view angle of the first scanning field of view generally needs to be greater than 45 ° to achieve a super-hemispheric field of view. From Figure 4, we can know that when α ₁ and α ₃ are both 0, in order to make the field of view (FOV) of the reflection field of view >45°, the incident angle needs to satisfy θ ₁ >45°/2=22.5°, that is, That is, θ ₁ >22.5°.

The FOV size of the first scanning field of view can be adjusted by adjusting the inclination angle α ₃ of the first light-emitting surface of the beam splitter; and the FOV size of the second scanning field of view can be adjusted by adjusting the inclination angle α ₄ of the second light-emitting surface of the beam splitter. When α ₃ is not equal to 0 and n1>1, increasing α ₃ can expand the FOV of the first scanning field of view. Therefore, the value range of θ ₁ can be appropriately reduced.

However, during the transmission of light, from optically dense to optically sparse media (n1≥1, n2>1, air refractive index n=1), if the incident angle is too large, total reflection is likely to occur. As shown in Figure 4, if the values of α ₃ and α ₄ are too large, the incident angle θ ₅ of the first light-emitting surface of the first prism and the incident angle θ ₈ of the second light-emitting surface of the second prism are likely to be deflected. is large, causing total reflection. Therefore, the angle values of α ₃ and α ₄ have an upper limit. The specific values need to be determined according to the refractive index n1 and n2 of the two prisms and the light incident angle θ ₁ . Under this constraint, the value range of θ ₁ cannot be too small, for example, θ ₁ >18°.

According to the geometric relationship, the value range of θ ₃ satisfies θ ₃ ∈ [(α ₂ -α ₁ )-θ ₂ , (α ₂ -α ₁ )+θ ₂ ]. Among them, θ ₁ is positively related to θ ₂ , so the value range of θ ₃ is also larger.

Since the detection device includes light pulse sequences of at least two wavelengths, and the second optical module is used to divide the light pulse sequences of different wavelengths into at least two light pulse sequences, the light pulse sequences of different wavelengths cannot be strictly separated. Taking the dichroic film as an example, ideally, it can reflect all the first wavelength light pulse sequences and transmit all the second wavelength light pulse sequences. However, in actual application, the light splitting ability of the dichroic film is not ideal. When the incident angle of the light incident on the dichroic film is too large, the angle deviation of the dichroic layer such as the dichroic film will also be large. The dichroic layer can be highly reflective for short wavelengths and highly transparent for long wavelengths, or highly transparent for short wavelengths and highly reflective for long wavelengths. Taking short-wave high reflection and long-wave high transmittance as examples to illustrate the angle shift of the light splitting layer caused by a larger incident angle. As shown in Figure 10, when the wavelengths emitted by the light source such as a dual-wavelength laser are λ1 and λ2 respectively, the dichroic layer can achieve high reflection at short wavelengths and high transparency at long wavelengths when the incident angle is small. However, as the incident angle increases, the passband range shifts toward short wavelengths, resulting in the two wavelengths not being completely distinguishable. When used in radar systems, it will cause interference between dual wavelengths, so reducing the passband shift caused by large angle incidence is crucial in detection devices such as radar systems.

In the embodiment of the present application, the optical pulse sequence of the first wavelength and the optical pulse sequence of the second wavelength may refer to the optical pulse sequence whose spectrum is located in a wavelength range. For example, the first wavelength optical pulse sequence is the optical pulse sequence whose spectrum is located in the first wavelength range. The light pulses within the second wavelength light pulse sequence refer to the light pulse sequence whose spectrum is within the second wavelength range. The first wavelength range and the second wavelength range may be two preset non-overlapping wavelength ranges. Considering that the greater the wavelength difference between the two light pulse sequences, the easier it is to separate them when using a dichroic film for light splitting, the better the light splitting effect will be, and the smaller the crosstalk will be. Therefore, in some embodiments, the wavelength difference between each two-wavelength optical pulse sequence in the detection device is greater than 60 nm, or even greater than 80 nm. For example, the wavelength difference between the first optical pulse sequence and the second optical pulse sequence is greater than 80 nm, such as the first optical pulse sequence and the second optical pulse sequence. The first optical pulse sequence of one wavelength is an optical pulse with a wavelength of 850nm±10nm, and the second optical pulse sequence of a second wavelength is an optical pulse with a wavelength of 950nm±10nm, which can effectively avoid the passband caused by the large angle incidence of the dichroic layer. The effect of offset. Further, for example, the first wavelength of the first light pulse sequence is generally 850nm, and the wavelength of the second light pulse sequence is generally 940nm; for another example, the wavelength of the first light pulse sequence is generally 850nm, and the wavelength of the second light pulse sequence is generally 850nm. is 960nm; or the first wavelength is shorter such as 808nm, and the second wavelength is long wavelength such as 960nm; or the second wavelength is 1550nm, and the first wavelength can be 808nm, 850nm or 940nm; the corresponding light source can be used to emit the corresponding wavelength laser to achieve.

Furthermore, the problem of passband range shift caused by large angle incidence can be solved by adjusting the refractive index of the first light refractive element such as the first prism. For example, the first light refractive element can be made of a material with a lower refractive index, for example, The refractive index of the first light refractive element is not greater than the threshold refractive index, and the threshold refractive index is not greater than 2.0. In some examples, when θ ₁ , α ₁ , and α ₂ remain unchanged, reducing the refractive index of the reflective prism material is beneficial to improving the passband shift. For example, as shown in Figure 3C, when the refractive index of the first prism is 1, that is, when there is only the second prism, the dichroic layer can be directly plated on the incident surface of the second prism. Through this solution, the passband at large angles can be Offset is very much improved. However, since the outgoing light spot of the detection device in the embodiment of the present application has a certain size, in order to ensure that the light emitted by the detection device is not blocked and the detection device is small and compact, the first prism needs to be made of a high refractive index material. It can be seen that improving the spectroscopic effect and reducing the volume of the detection device cannot have both properties. Therefore, in the embodiment of the present application, the first prism made of a material with a moderate refractive index can be selected, such as a first prism with a refractive index of 1.7-1.95, and then For example, the first prism with a refractive index of 1.6-2.0 is used to keep the detection device small and compact while improving the interference problem caused by the passband shift at large angles.

In some embodiments of the present application, an adhesive layer is provided between the light-splitting layer and the first light refractive element such as the first prism and the second light refractive element such as the second prism. The light-splitting layer passes through the adhesive layer and the first prism and the third light refractive element. The two prisms are bonded together. For example, the light-splitting layer may be plated on the first prism, or the light-splitting layer may be plated on the second prism.

In some embodiments, the second prism and the first prism can be made of the same material. In order to make the radar compact, the FOV and each field of view range of the entire detection device meet the design requirements. For example, the spectroscope (the second prism and the first prism) The refractive index of the material of the spectroscope obtained by the first prism combination may not be lower than 1.6, for example, the refractive index may be 1.8, 1.9 or 2.0, etc. In order to reduce the impact of the adhesive layer, such as glue, on the light splitting effect of the light splitting layer, the adhesive layer can be made of a material that is substantially similar to the refractive index of the spectroscope. For example, the refractive index of the adhesive layer is the same as that of the first prism and the second prism. The difference in refractive index of at least one of them is less than a preset threshold, and the preset threshold can be less than 0.2 or other suitable values. For example, in some embodiments of the present application, the refractive index of the adhesive layer is 1.6-1.9, such as 1.7, 1.8, 1.9, etc.

In some embodiments, the range of θ ₃ can also be reduced by reducing α _2. As α ₂ decreases and other parameters remain unchanged, the center of the light emission field angle of the FOV of the first scanning field of view will move toward The downward offset makes it impossible to splice with the FOV of the second scanning field of view; and because the light spot has a certain width, when α ₂ decreases, part of the light from the FOV will be blocked. Therefore, the angle between the light splitting surface and the direction perpendicular to the optical axis of the light source is smaller than the preset angle, which is not less than 20° and not greater than 40°, so as to reduce α ₂ to reduce θ ₃ , thus solving the problem caused by large angle incident In addition to the light wave interference caused by the shift in the passband range, it can also enable the FOV of the first scanning field of view and the FOV of the second scanning field of view to be spliced or partially overlapped. In some specific examples, α ₁ is generally equal to 0. When H-ZF7LA is selected as the spectroscope, α ₂ = 45°, θ ₁ = ±25°, θ ₃ ∈ [31°, 59°], 10% transmission The passband shift corresponding to the pass rate is approximately 66nm. α ₂ =40°, θ ₁ =±25°, θ ₃ ∈ [26°, 54°], the passband shift corresponding to 10% transmittance is about 61nm. α ₂ =35°, θ ₁ =±25°, θ ₃ ∈ [21°, 49°], the passband shift corresponding to 10% transmittance is about 58nm.

It is worth mentioning that, on the premise of no conflict, the technical means used in this application to solve the problem of passband range shift caused by large angle incidence can be used in combination with each other. For example, in a specific embodiment, spectroscopic The material of the mirror can be selected. H-ZF7LA is selected, α ₁ = 0°, α ₂ = 40°, α ₃ = 29°, α ₄ = 19°. The light source can be a combination of 850nm and 940nm or a combination of 850nm and 960nm. When θ ₁ = ±25°, which can achieve a hemispherical scanning field of view.

Of course, in addition to the mutual interference between light pulse sequences of different wavelengths, sunlight in the external environment will also cause certain interference to the optical path. For example, sunlight also includes light beams in a first wavelength range and a second wavelength range. The light beams in the first wavelength range and the second wavelength range in sunlight may also be emitted to the detector, thereby causing damage to the detector. Interference affects the accuracy of the final detection results. In order to minimize the interference of sunlight on the detection results, the proportion of light pulses emitted from the light exit surface of the second optical module that is likely to receive more sunlight should be smaller in the sunlight. For example, assume that the scanning module can form two scanning fields of view, and the wavelengths of the light pulses in the two scanning fields of view are 940nm and 850nm respectively. It is assumed that the probability that the second light-emitting surface of the second optical module faces the sun is higher than that of the second light-emitting surface of the second optical module. The probability that the first light-emitting surface is facing the sun, therefore, the light pulse sequence emitted from the second light-emitting surface should account for a smaller proportion of the sunlight. Therefore, the wavelength of the light pulse sequence emitted from the second light emitting surface may be 940 nm, and the wavelength of the light pulse sequence emitted from the first light emitting surface may be 850 nm.

In some embodiments, the first scanning field of view formed by the first light pulse is an annular scanning field of view, that is, the first scanning field of view is mainly in the horizontal direction, and the second scanning field of view formed by the second light pulse Located in the hollow of the annular scanning field of view, that is, the second scanning field of view is mainly in the vertical direction. Therefore, the second scanning field of view has a greater probability of receiving sunlight. Therefore, the second light pulse sequence is in the vertical direction. The proportion in sunlight is lower than the proportion of the first light pulse sequence in sunlight.

Of course, since the light source used in the detection device is usually a laser, the wavelength of the light pulse emitted by the laser usually exceeds 800nm. When the wavelength of the beam is greater than 800nm, the greater the wavelength of the beam, the smaller its proportion in sunlight. Therefore, in some embodiments, the wavelength of the second optical pulse sequence used to scan the second scanning field of view is higher than the wavelength of the first optical pulse sequence used to scan the first scanning field of view, that is, the second optical pulse sequence is within The proportion of sunlight in sunlight is lower than the proportion of sunlight in the first light pulse sequence. Since the second scanning field of view has more opportunities to receive sunlight, by using a light pulse pair with a lower proportion in sunlight. Scanning in the second scanning field of view can minimize the interference of sunlight on the detection results.

Since the wavelength of the second optical pulse sequence in the second scanning field of view is usually greater than the wavelength of the first optical pulse sequence in the first scanning field of view, the wavelength of the optical pulse emitted by the general laser is at least about 800 nm. In order to allow the light splitting layer to separate the light pulses of two wavelengths as accurately as possible, the wavelength difference of the light pulses of the two wavelengths is set as large as possible. Therefore, in some embodiments, the light used to scan the second scanning field of view is The wavelength of the pulse sequence is higher than 900nm.

In some embodiments, the first sequence of light pulses includes an 850 nm laser beam and the second sequence of light pulses includes a 940 nm laser beam.

Of course, when the light source emits a light pulse sequence of a specific wavelength, as the temperature of the light source increases, the wavelength of the light pulse sequence it emits will also drift to a certain extent, resulting in the wavelength of the light pulse it emits being inaccurate. For example , assuming that the light source is a laser that emits a 940nm light pulse sequence. As the temperature rises, the wavelength of the light pulse it emits will drift, such as becoming 900nm or even smaller. Assume that the wavelength of the other light pulse sequence is 850nm. When the light After the pulse sequence wavelength drifts, the wavelengths of the two optical pulse sequences will be closer, making it difficult for the dichroic film to separate them, and the crosstalk will be more serious. Therefore, in some embodiments, in order to try to avoid crosstalk between light pulse sequences of different wavelengths, the temperature of the light source can be controlled within a specified temperature range, where the specified temperature range can be determined based on the luminescence characteristics of the light source. When the light source is within the specified temperature range At this time, the wavelength drift of the emitted light pulse can be controlled within the preset drift amount to avoid large wavelength drift. Of course, the temperature of the light source can be controlled through heat dissipation devices such as fans and heat sinks. For example, when the temperature exceeds a specified temperature range, the fan can be turned on to cool it down.

In some embodiments, light pulse sequences of different wavelengths may be emitted by different types of light sources, and the number of each type of light sources may be one or more. The number of each type of light source can be determined by one of the size of the scanning field of view formed by the sequence of light pulses emitted by each type of light source, and the orientation of the scanning field of view formed by the sequence of light pulses emitted by each type of light source. one or more settings. For example, for a light pulse sequence that forms a scanning field of view with a relatively large field of view, the number of corresponding light sources should be as large as possible to ensure that the detection frequency of each area is relatively uniform.

In some embodiments, the number of light sources can also be determined based on the orientation of the scanning field of view formed by the sequence of light pulses emitted by each type of light source. For example, in some scanning fields of view, the orientation is the direction of interest to the user. Therefore, for For this type of scanning field of view, the detection frequency should be as high as possible to obtain more accurate detection results. Therefore, the number of light sources of the light pulse sequence in this type of scanning field of view can be set to be larger. For example, assume that the orientation of a certain scanning field of view in the detection device is consistent with the direction of the drone's flight speed. Therefore, the number of light sources in the light pulse sequence of this scanning field of view should be set as much as possible.

In some embodiments, the number of light sources of the light pulse sequence of the first scanning field of view is greater than the number of light sources of the light pulse sequence of the second scanning field of view, that is, the number of light sources of the first light pulse sequence is greater than the number of light sources of the second light pulse sequence. Number of light sources. Since the first light pulse sequence can form a relatively large field of view in the horizontal direction (the field of view can reach 360°), usually various mobile devices that use detection devices for detection pay more attention to the horizontal direction in the external environment. Situations, such as drones and driverless cars, move in the horizontal direction in most cases, so they pay more attention to obstacles in the horizontal direction, so the detection frequency of the scanning field of view in the horizontal direction should be as large as possible , therefore, the number of light sources of the first light pulse sequence can be set to be larger.

In addition, the arrangement of different types of light sources can also be set according to actual needs. In some embodiments, in order to facilitate wiring and minimize the space occupied by the light sources, different types of light sources can be arranged side by side, and light sources of the same type can be distributed on the same side. Of course, since different types of light sources can emit light pulse sequences at the same time, they can also emit light pulse sequences at intervals. For example, the first light pulse sequence and the second light pulse sequence can be emitted at intervals, or the operating duration of the first light pulse sequence and the second light pulse sequence can be emitted at intervals. The working time of the two light pulse sequence light sources is inconsistent. Of course, in some embodiments, in order to minimize the space occupied by the light source and reduce the size of the detection device, different types of light sources can also be arranged in a stack, that is, in a stacked arrangement, and light sources of the same type can be located on the same layer. This arrangement can not only reduce the volume occupied by the light source, but also because the effective focal lengths of the wavelengths emitted by different types of light sources are different relative to different optical components, different types of light sources can be combined through a stacked arrangement. Set at different heights to avoid out-of-focus effects.

Since the same material has different absorption capabilities for light pulse sequences of different wavelengths, taking the commonly used photodetector material silicon as an example, the shorter the wavelength of the light pulse sequence, the stronger its absorption capacity. In order to achieve consistent responsiveness of the detector to light pulse sequences of different wavelengths, in some embodiments, the response ability of the detector can be adjusted by adjusting the receiving area of the detector corresponding to the light pulse sequences of different wavelengths. For example, the receiving area of the detector can be adjusted. The area can be negatively related to the detector's ability to receive light pulse sequences of different wavelengths. The stronger the detector's absorption ability of this wavelength, the smaller its receiving area can be set, so that the detector's ability to absorb light pulse sequences of all wavelengths is ultimately reduced. unified responsiveness. For example, assuming that the material of the detector is silicon, the detection device includes two scanning fields of view respectively formed by a light pulse sequence with a wavelength of 850nm and a light pulse sequence with a wavelength of 940nm. Due to the detector's ability to absorb the 940nm light pulse sequence Weaker than the absorption ability of the 850nm light pulse sequence, therefore, the 940nm light pulse sequence can use a larger receiving area, that is, the pixel size of the photosensitive surface of the detector can be increased to make up for the weak detection ability of this wavelength. .

Among them, the detector may include one or more receiving elements. Taking the light pulse sequence emitted by the light source as an example, including a first light pulse sequence and a second light pulse sequence, in order to solve the problem of the insufficiency of the detector's ability to absorb light pulses of different wavelengths. The same problem, in some embodiments, the detector includes a first receiving element for receiving the reflected light of the first light pulse sequence, and a second receiving element for receiving the reflected light of the second light pulse sequence. Receive components. That is, light pulse sequences of different wavelengths can be received using a receiving element adapted to them. The receiving element can convert the received light pulse sequence into an electrical signal. The materials of the first receiving element and the second receiving element can be received according to their materials. The light pulse is determined, and the materials of the two receiving elements can be the same or different.

When the first receiving element and the second receiving element are made of the same material, in order to achieve consistent response capabilities to light pulses of different wavelengths, in some embodiments, the receiving areas of the first receiving element and the second receiving element may be different. , or the number of first receiving elements and the number of second receiving elements are different, or the receiving area and number of the first receiving elements and the second receiving elements are different. For example, assume that the material used in the receiving element has a weaker absorption capacity for the first light pulse sequence than for the second light pulse sequence. Therefore, the receiving area of the first receiving element can be set to be larger than the receiving area of the second receiving element. The area is large, or the number of first receiving elements is greater than the number of second receiving elements, thus ensuring that the detector has consistent response capabilities to light pulses of two wavelengths.

In some embodiments, the receiving area of the first receiving element is greater than the receiving area of the second receiving element, and/or the number of first receiving elements is greater than the number of second receiving elements. For example, in some scenarios, the material used in the receiving element has a weaker absorption capacity for the first light pulse sequence than the second light pulse sequence. In order to achieve consistent response capabilities of the detector to the two wavelengths, the first receiving element The receiving area of the element is greater than the receiving area of the second receiving element, and/or the number of first receiving elements is greater than the number of second receiving elements. Of course, in some scenarios, the material used in the receiving element has the same absorption capacity for the two light pulse sequences. However, since the first scanning field of view formed by the first light pulse sequence is an annular scanning field of view, it can Covers a larger scanning field of view, and the horizontal direction is often the direction that various mobile platforms pay more attention to during movement. Therefore, it is necessary to have better response capabilities to the light pulses in the scanning field of view. Therefore, the first The receiving area of the receiving element is set to be larger than the receiving area of the second receiving element, and/or the number of the first receiving elements is set to be larger than the number of the second receiving element, so that when detecting to ensure the first scanning field of view, there is Higher sensitivity.

In addition, for the receiving elements corresponding to the light pulse sequences of different wavelengths, there is also a problem that the focus positions of the light pulse sequences of different wavelengths are different due to the different refractive abilities of the optical elements to the light pulse sequences of different wavelengths. Therefore, the receiving elements can also be arranged on different planes to correspond to the corresponding focus positions. Therefore, in some embodiments, the first receiving element and the second receiving element are located on different planes, wherein the first receiving element The position of the second receiving element and the second receiving element can be determined based on the effective focal length of the collimating element in the detection device relative to the light pulse sequence of different wavelengths, so that the out-of-focus phenomenon can be avoided.

In some embodiments, the light source includes an array of emitting elements. The array of emitting elements includes multiple emitting elements. The multiple emitting elements can emit light pulse sequences from different angles at the same time. The scanning module changes the propagation direction and then emit, through the multiple emitting elements. At the same time, light pulse sequences are emitted from different angles to form a relatively dense scanning trajectory, so that the collected point cloud distribution of the external environment is also relatively dense, and relatively accurate detection results can be obtained. In order to simultaneously receive the reflected light beams emitted by multiple transmitting elements in the transmitting element array, the detector can also include an array of receiving elements corresponding to the array of transmitting elements, and each receiving element is used to receive the corresponding transmitted light. The light pulse emitted from the element is reflected back. For example, the light source may include an emitting element array A and an emitting element array B. Both the emitting element arrays A and B include 12 emitting elements. The emitting element array A is used to emit the first light pulse, and the emitting element array B is used to emit the first light pulse. Second light pulse. Correspondingly, the detector may also include a receiving element array A and a receiving element array B. The receiving element array A is used to receive the light pulse reflected by the first light pulse from the external target. The receiving element array A also includes 12 receiving elements, and The 12 transmitting elements of transmitting element A are in one-to-one correspondence. The receiving element array B is used to receive the second light pulse reflected by the external target. The receiving element array B also includes 12 receiving elements, which are the same as the 12 transmitting elements of transmitting element B. The transmitting elements correspond one to one.

In some embodiments, the light source includes a first emitting element array for emitting a first light pulse sequence, and a second emitting element array for emitting a second light pulse sequence, and the detector includes a first emitting element for receiving The first receiving element array is used to receive the reflected light of the light pulse sequence emitted from the array, and the second receiving element array is used to receive the reflected light of the light pulse sequence emitted from the second transmitting element array. In some scenarios, the An array of emitting elements and a second array of emitting elements can emit light pulse sequences simultaneously to form two scanning fields of view at the same time. In some scenarios, the first emitting element array and the second emitting element array can emit a light pulse sequence in a time-sharing manner. For example, the first emitting element array emits the first light pulse sequence in the 1s, and the second emitting element emits the first light pulse sequence in the 2s. The array emits a second sequence of light pulses, and the two arrays of emitting elements can alternately emit the sequence of light pulses. Of course, the time at which the two emitting element arrays emit light pulses can be the same or different, and can be flexibly set according to actual needs. In the scenario where the first transmitting element array and the second transmitting element array transmit in a time-sharing manner, the first receiving element array and the second receiving element array can multiplex some or all of the receiving elements. For example, if the receiving elements are not considered to respond to light pulses of different wavelengths. The first receiving element array and the second receiving element array can be the same receiving element array. By sharing the receiving element array between the two light pulse sequences, the volume of the detector can be reduced to a certain extent. Of course, in some scenarios, in order to ensure that the detector has consistent response capabilities to light pulse sequences of different wavelengths, only part of the light pulse sequence may be multiplexed in the first receiving element array and the second receiving element array. For example, there may be a part of the receiving element array. The element can respond to two light pulse sequences at the same time. The other part of the non-multiplexed receiving element can be used to eliminate the impact of the different absorption capabilities of the receiving element on light pulse sequences of different wavelengths. For example, the non-multiplexed receiving element can be adjusted The area, number, etc. can be adjusted to absorb light pulses of different wavelengths. Therefore, it is possible to ensure that the detector has consistent response capabilities to light pulse sequences of different wavelengths and to minimize the size of the detection device.

In some embodiments, the light source may include an array of emitting elements, and each emitting element in the array of emitting elements may emit a sequence of light pulses in a time-divided manner. Correspondingly, the detector may include a receiving element corresponding to the array of emitting elements. The receiving element It can be used to receive the reflected light of the light pulse sequence emitted by each transmitting element in the transmitting element array in a time-sharing manner. For example, the emitting element array can include 12 emitting elements, and the 12 emitting elements can emit a light pulse sequence in a time-sharing manner, for example, from 1-12s, each emitting element can occupy 1s for emitting light pulses. When light pulses occur, the remaining emitting elements do not emit light pulses. Correspondingly, in the detector, in order to minimize the size of the detector, only one receiving element can be used, which can receive the light pulses emitted by the 12 transmitting elements in a time-sharing manner, for example, the first one can be received within 1 s. The light pulse emitted by the emitting element is received within 2 seconds from the light pulse emitted by the second emitting element, and so on.

In some embodiments, in order to increase the scanning angle of view of the detection device, each detection device may also include at least two scanning modules in the above embodiments. Different scanning modules can form different scanning fields of view, thereby combining Get a larger scanning field of view.

Since a movable platform such as a drone can move freely in three-dimensional space, it needs to sense obstacles in all directions in three-dimensional space. Therefore, the detection device applied to the drone not only needs to have a large field of view in the horizontal direction, but also needs to have a large field of view in the vertical direction to meet its detection needs. The detection device in the above embodiments of the present application can obtain a larger scanning field of view in the vertical direction by combining at least two scanning fields of view, and therefore can better meet the detection needs of UAVs. In addition, since each detection device can include multiple scanning modules, how to determine how to distribute these scanning modules on the drone so that the size of the detection device is as small as possible while forming a larger scanning field of view? Corners are very critical.

Based on this, embodiments of the present application also provide a movable platform, which may include a movable platform body and any of the detection devices mentioned in the above embodiments provided on the movable platform body. Optionally, the movable platform includes: an aircraft, a vehicle, a boat, a handheld device or a robot, or any other suitable device. For the specific structure of the detection device, reference may be made to the description in the above embodiments and will not be described again here.

In some scenarios, taking a drone as an example, when the drone is flying forward, its nose will tilt forward at a certain angle. In this mode, in order to ensure that the drone has a high altitude in the flight direction, detection accuracy. In some embodiments, the first scanning field of view formed by the first light pulse sequence of each scanning module of the detection device and the second scanning field of view formed by the second light pulse sequence may have an overlapping area. The overlapping area The center position can be determined based on the inclination angle of the UAV when flying to ensure that the overlapping area can detect the flying direction of the UAV, as shown in Figure 8, and since the overlapping area has a higher detection frequency, it can also be improved The detection accuracy in the direction of flight speed ensures the flight safety of the drone.

Of course, in some scenarios, the drone needs to move in the vertical direction, such as flying upward or downward. Therefore, it is required to detect the external environment above and below the fuselage. Therefore, in some embodiments, the detection device of the UAV may be provided with at least two scanning modules to meet the UAV's requirements for field of view angles in different directions. In some embodiments, the detection device on the drone may include two scanning modules, and one scanning module may be disposed on the upper surface of the drone fuselage to form a scanning field of view on the upper surface of the drone fuselage. To detect the external conditions above the fuselage, another scanning module can be installed on the lower surface of the drone fuselage to form a scanning field of view on the lower surface of the drone fuselage to detect the external conditions below the fuselage. Probe.

Since the detection device used on the drone requires a small size, in order to reduce the size of the detection device, the two scanning modules can share a set of ranging modules. In some embodiments, when two scanning modules share a set of ranging modules, in order to facilitate assembly and wiring, the distance between the two scanning modules in the fuselage direction may be less than the preset distance.

In some embodiments, in order to minimize the size of the detection device, the two scanning modules may be located on the same straight line perpendicular to the direction of the fuselage. Moreover, in some embodiments, when the light beam emitted by the light source is directed to the two scanning modules through the beam changing element, it is first changed in direction by the first optical module of the two scanning modules and then emitted to the second optical module. The two optical modules change directions and emit light from at least two emission angle ranges to form at least two scanning fields of view. By combining at least two scanning fields of view formed by each scanning module, two symmetrical scanning fields of view can be formed on the upper and lower surfaces of the drone.

For drones, the ideal situation is that the detection device can detect in a spherical space, so that when the drone is moving, all directions are within the detection range, and there is basically no blind zone. Since the combined field of view of the scanning field formed by each scanning module in the detection device can achieve a scanning field of view angle of 360° in the horizontal direction and a field of view angle greater than 90° in the vertical direction, that is, an approximate hemisphere is formed. Therefore, in some embodiments, a scanning module can be provided on the upper and lower surfaces of the drone, and the two scanning modules form an approximately hemispherical scanning field of view on the upper and lower surfaces of the drone respectively. , thus forming a spherical scanning field of view in three-dimensional space.

Of course, due to the obstruction of the drone body, the scanning field of view cannot be completely spherical, and there are still certain blind spots in the nose and tail directions. In some embodiments, in order to minimize the blind area in the flight direction of the drone, the scanning field of view of the upper surface and the scanning field of view of the lower surface overlap, that is, there is a certain overlapping area. For example, when designing the detection device, the angle α ₂ between the light splitting layer and the light incident surface in the second optical module in the scanning module can be adjusted so that the first light pulse sequence will be emitted into the second optical module. One side of the light incident surface is deflected (that is, the first light pulse sequence is emitted along the light exit surface of the second optical module in the direction of the light source), so that the first light pulse sequences of the two scanning modules on the upper and lower surfaces will intersect after deflection, thus forming The scanning fields of view have overlapping areas.

In order to avoid the UAV fuselage blocking the scanning field of view of the detection device as much as possible, the detection device can be installed as close to the head or tail of the fuselage as possible. Usually a gimbal is installed on the head of the drone fuselage, and a camera is installed on the gimbal for taking pictures. In some embodiments, if the detection device is installed on the head of the fuselage, in order to prevent the detection device from blocking the camera, the detection device and the pan/tilt can be installed on both sides of the head of the cloud fuselage, that is, the detection device and the pan/tilt can be installed together. Can be set up in parallel to avoid blocking the camera. Of course, in some embodiments, the detection device can also be installed at the tail of the fuselage, which can also reduce the occlusion of the scanning field of view by the fuselage.

Of course, in some embodiments, in order to minimize the blind area of the scanning field of view caused by the fuselage occlusion, one of the two scanning module groups of the detection device can be distributed on the lower surface of the fuselage head, and the other can be distributed on the lower surface of the fuselage head. The upper surface of the tail fuselage. In this case, since the two scanning modules are far apart, each of the two scanning modules can use one scanning module. Of course, the wiring can also be optimized so that two sets of scanning modules can share a set of ranging modules in a time division multiplexing manner to reduce the space occupied by the detection device.

Of course, in some scenarios, such as surveying and mapping scenarios, in order to obtain a more accurate surveying and mapping model, we should try to avoid blocking the detection device by the drone body. Therefore, in some embodiments, in order to avoid the fuselage blocking the scanning field of view of the detection device as much as possible, the shape of the drone's fuselage can also be improved. For example, the overall size can be reduced as much as possible to reduce the blocking of the detection device. This is a schematic diagram of a drone in an embodiment of the present application.

Since UAVs have different detection requirements in different directions under different flight modes and flight states, when the scanning field of view of the detection device is obtained by combining at least two scanning fields of view, the UAV can be detected according to the location of the UAV. According to the detection requirements in different directions in different scenarios, the switching status, detection frequency and other detection parameters of each scanning field of view can be adjusted to ensure the detection accuracy, meet the detection needs of the UAV, and ensure the flight safety of the UAV. It can save power and extend the service life of the light source.

In summary, by applying the solution provided by this application, after the light pulse sequence emitted by the light source in the detection device passes through the scanning module, its propagation direction can be changed by the spectroscope in the scanning module, so that the light pulse sequence can be changed from at least two The light pulses are emitted in different emission angle ranges, thereby forming different scanning fields of view, which can increase the field of view of the scanning field of view of the detection device. At the same time, since the light pulses include the first light pulse sequence and the second light pulse sequence with different wavelengths, The wavelength difference between pulse sequences is not less than 60nm. This wavelength difference can span the bandpass shift caused by large incident angles, thereby effectively avoiding interference between light pulse sequences of different wavelengths incident on the spectroscope at large angles, thus Improve the reliability of detection devices.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. The terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus including a list of elements includes not only those elements but also others not expressly listed elements, or elements inherent to such process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

The methods and devices provided by the embodiments of the present invention have been introduced in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The description of the above embodiments is only used to help understand the method and its implementation of the present invention. Core idea; at the same time, for those of ordinary skill in the art, there will be changes in the specific implementation and application scope based on the idea of the present invention. In summary, the content of this description should not be understood as a limitation of the present invention. .

Claims

A detection device, characterized in that the detection device includes:

A light source for emitting a light pulse sequence, the light pulse sequence including a first light pulse sequence having a first wavelength and a second light pulse sequence having a second wavelength, and the first wavelength and the second wavelength are The difference between them is greater than the predetermined wavelength, and the predetermined wavelength is not less than 60nm;

The scanning module includes a spectroscope, and the first light pulse sequence and the second light pulse sequence are emitted from different angle ranges after passing through the spectroscope to form different scanning fields of view.
The detection device according to claim 2, wherein the beam splitter includes a light incident surface, a light splitting surface, and a first light exit surface and a second light exit surface respectively located on both sides of the light splitting surface. After the pulse sequence and the second light pulse sequence are incident on the light incident surface, the first light pulse sequence is reflected on the light splitting surface and emitted through the first light exit surface to form a first scanning field of view, so The second light pulse sequence is transmitted through the light splitting surface and emitted through the second light exit surface to form a second scanning field of view.
The detection device according to claim 2, characterized in that the beam splitter includes a first light refraction element, a light splitting layer and a second light refraction element, wherein:

The first light refractive element includes a light incident surface and a first light exit surface, and the first light pulse sequence is incident on the light incident surface and emitted through the first light exit surface;

The second light refractive element includes a second light exit surface, and the second light pulse sequence is incident through the light entrance surface and emitted through the second light exit surface;

The light splitting layer is disposed between the first light refraction element and the second light refraction element to form the light splitting surface, the first light pulse sequence is reflected at the light splitting layer, and the second light The pulse sequence is transmitted at the dichroic layer.
The detection device of claim 3, wherein the first light refraction element includes a first prism, the second light refraction element includes a second prism, and the light splitting layer is located between the first prism and the second prism. Where the second prism meets.
The detection device of claim 3, wherein the light splitting layer includes a dichroic film.
The detection device according to claim 3, wherein the refractive index of the first light refractive element is not greater than a threshold refractive index, and the threshold refractive index is not greater than 2.0.
The detection device according to claim 4, wherein an adhesive layer is provided between the light-splitting layer and the first prism and the second prism, and the light-splitting layer passes through the adhesive layer and the second prism. The first prism and the second prism are bonded together.
The detection device according to claim 7, wherein the difference between the refractive index of the adhesive layer and the refractive index of at least one of the first prism and the second prism is less than a preset threshold, The preset threshold is less than 0.2.
The detection device according to claim 8, characterized in that the refractive index of the adhesive layer is 1.6-1.9, the refractive index of the first prism is 1.6-2.0, and the refractive index of the second prism is 1.6. -2.0.
The detection device according to claim 2, wherein the angle between the light splitting surface and the direction perpendicular to the optical axis of the light source is less than a preset angle, and the preset angle is no less than 20° and no more than 40°.
The detection device according to claim 1, wherein the detection device further includes a first driver and a controller, and the controller is used to control the first driver to drive the spectroscope to rotate.
The detection device according to claim 1, wherein the light source includes a first emitting element array and a second emitting element array, wherein the first emitting element array is used to emit the first light pulse sequence, The second emission element array is used to emit the second light pulse sequence.
The detection device according to claim 12, characterized in that the detection device further comprises a detector, the detector is used to receive at least part of the light pulses reflected by the object, and to detect the light pulse sequence according to the received light pulse sequence. Scan objects within the field of view for detection.
The detection device according to claim 13, wherein the detector includes a first receiving element for receiving the reflected light of the first light pulse sequence, and a first receiving element for receiving the second light. The second receiving element of the reflected back light of the pulse sequence, wherein the first transmitting element array and the second transmitting element array emit in time sharing, and the first receiving element array and the second receiving element array Reuse part of the receiving components.
The detection device according to claim 1, wherein the light source includes an array of emitting elements for emitting a sequence of light pulses in a time-divided manner.
The detection device according to claim 15, characterized in that the detector includes a receiving element corresponding to the transmitting element array, for receiving the reflected reflection of the light pulse sequence emitted by the transmitting element array in a time-sharing manner. Light.
The detection device according to claim 3, wherein the second light-emitting surface of the second photorefractive element is inclined toward the direction of the light source from an edge of the first photorefractive element.
The detection device according to claim 17, wherein the first light pulse sequence is deflected in a direction close to the second light exit surface after being emitted from the first light refraction element, so that the first light The scanning field of view formed by the pulse sequence is continuous with the scanning field of view formed by the second wavelength light pulse sequence.
The detection device of claim 2, wherein the scanning module further includes a scanning prism, the detection device further includes a spectroscopic element and a collimating element, and the spectroscopic element is disposed between the collimating element and the collimating element. Between the light sources, the scanning prism is arranged between the collimating element and the spectroscope, and the light pulse sequence emitted through the scanning prism is incident on the light incident surface of the spectroscope.
The detection device according to claim 19, wherein the scanning prism has non-parallel incident surfaces and exit surfaces, located on the optical path of the light pulse sequence;

The detection device further includes a second driver for driving the scanning prism to rotate. When the second driver drives the scanning prism to rotate, the light pulse sequence passing through the scanning prism can form a scanning field of view.
The detection device according to claim 2 or 3, characterized in that:

The angle between the light incident surface and the direction perpendicular to the optical axis of the light source is 0°; and/or,

The angle between the light splitting plane and the direction perpendicular to the optical axis of the light source is 40°; and/or,

The angle between the first light-emitting surface and the direction parallel to the optical axis of the light source is 29°; and/or,

The angle between the second light-emitting surface and the direction perpendicular to the optical axis of the light source is 19°.
The detection device according to any one of claims 1 to 21, wherein the wavelength of the first light pulse sequence is generally 850 nm, and the wavelength of the second light pulse sequence is generally 940 nm; or

The wavelength of the first light pulse sequence is generally 850 nm, and the wavelength of the second light pulse sequence is generally 960 nm.
The detection device according to claim 2, wherein the incident angle of the light pulse sequence to the third light incident surface is approximately ±25°, and the scanning field of view is approximately in the shape of a hemisphere.
A movable platform, characterized in that the movable platform includes:

Movable platform body;

At least one detection device according to any one of claims 1 to 24 is provided on the movable platform body.
The movable platform of claim 24, wherein the movable platform includes: an aircraft, a vehicle, a boat, a handheld device, or a robot.