WO2023184060A1 - Dispositif de détection et plateforme mobile - Google Patents

Dispositif de détection et plateforme mobile Download PDF

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Publication number
WO2023184060A1
WO2023184060A1 PCT/CN2022/083258 CN2022083258W WO2023184060A1 WO 2023184060 A1 WO2023184060 A1 WO 2023184060A1 CN 2022083258 W CN2022083258 W CN 2022083258W WO 2023184060 A1 WO2023184060 A1 WO 2023184060A1
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WO
WIPO (PCT)
Prior art keywords
light
pulse sequence
detection device
light pulse
scanning
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PCT/CN2022/083258
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English (en)
Chinese (zh)
Inventor
陈亚林
王栗
黄潇
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2022/083258 priority Critical patent/WO2023184060A1/fr
Publication of WO2023184060A1 publication Critical patent/WO2023184060A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the technical field of target detection, specifically, to a detection device and a movable platform.
  • 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.
  • 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:
  • the aforementioned detection device is provided on the movable platform body.
  • 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.
  • 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.
  • the movable platform of the present application has the detection device, it has substantially the same advantages as the detection device.
  • 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.
  • 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.
  • lidar 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.
  • inventions 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.
  • 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.
  • 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 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.
  • the field of view of the scanning field of view of the detection device can be greatly increased.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the detection device may use a coaxial optical path.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first optical module may be a light refractive element that refracts the light beam to change the propagation direction of the light beam.
  • 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.
  • 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.
  • 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.
  • 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.
  • at least two scanning Field of view combination can obtain a combined field of view with a larger field of view.
  • 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.
  • 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.
  • the detection frequencies of different scanning fields of view can be controlled by controlling the emission frequencies of different emission elements.
  • a scanning field of view can also be formed by simultaneous or time-sharing emission of multiple emitting elements.
  • 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.
  • 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. .
  • the at least two scanning fields of view can also be formed in a time-sharing manner.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the light source 111 can emit at least two 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.
  • 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.
  • 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.
  • the wavelength of the light pulses emitted by the light source can be One or more of 850nm, 905nm, 940nm, 1310nm, 1550nm, etc.
  • the number of each type of light source may be multiple.
  • 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.
  • the types of emitting element arrays can also include multiple types.
  • one type of light source corresponds to one type of emitting element array, and each emitting element array emits light pulses of one wavelength.
  • 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.
  • different emission elements 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second optical pulse sequence 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the light splitting surface is not parallel to the light incident surface of the second optical module, but has a certain included angle.
  • the second optical module further includes photorefractive elements located on both sides of the light splitting surface.
  • the photorefractive elements on both sides of the light splitting surface are used to change the light pulses.
  • 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.
  • 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.
  • the second optical module 122 may be a prism assembly.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • the material and thickness of the film layer are designed to achieve anti-reflection or anti-reflection of specific wavelengths.
  • 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.
  • the center position and field angle size of the first scanning field of view and the second scanning field of view 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.
  • 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 ⁇ 1
  • 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 is ⁇ 2
  • the angle between the exit surface of the first light pulse sequence and the direction parallel to the optical axis is ⁇ 3
  • 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 ⁇ 4
  • 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 ⁇ 1.
  • 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 ⁇ 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 ⁇ 2 .
  • ⁇ 3 ⁇ 2 +( ⁇ 2 - ⁇ 1 )
  • ⁇ 1 90°-( ⁇ 6 - ⁇ 3 )
  • ⁇ 8 ( ⁇ 2 - ⁇ 4 )- ⁇ 7
  • the sizes of ⁇ 1 and ⁇ 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 ⁇ 1 , the angle between the light splitting surface and the direction perpendicular to the optical axis of the light source is ⁇ 2 , the angle between the exit surface of the reflected light and the direction parallel to the optical axis of the light source is ⁇ 3 , the angle between the exit surface of the transmitted light and the direction parallel to the optical axis of the light source is ⁇ 3
  • the angle is ⁇ 4
  • 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.
  • 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.
  • 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°
  • 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
  • the second scanning field of view formed by the second light pulse sequence is located in the hollow of the annular area.
  • 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.
  • 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.
  • 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.
  • the center position of the scanning field of view formed by the first optical pulse sequence can also be adjusted by adjusting the angle ⁇ 1 between the light splitting surface and the light incident surface in the second optical module.
  • 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.
  • 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.
  • the angle ⁇ 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.
  • 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.
  • the detection device can be mounted on the drone.
  • 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.
  • 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.
  • part of the first optical pulse sequence can be emitted from the first exit surface of the second optical module.
  • 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°.
  • the part of the first light pulse 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°.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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°.
  • 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.
  • 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.
  • the FOV size of the first scanning field of view can be adjusted by adjusting the inclination angle ⁇ 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 ⁇ 4 of the second light-emitting surface of the beam splitter.
  • ⁇ 3 is not equal to 0 and n1>1, increasing ⁇ 3 can expand the FOV of the first scanning field of view. Therefore, the value range of ⁇ 1 can be appropriately reduced.
  • the value range of ⁇ 3 satisfies ⁇ 3 ⁇ [( ⁇ 2 - ⁇ 1 )- ⁇ 2 , ( ⁇ 2 - ⁇ 1 )+ ⁇ 2 ].
  • ⁇ 1 is positively related to ⁇ 2 , so the value range of ⁇ 3 is also larger.
  • the detection device includes light pulse sequences of at least two wavelengths
  • 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.
  • the dichroic film ideally, it can reflect all the first wavelength light pulse sequences and transmit all the second wavelength light pulse sequences.
  • the light splitting ability of the dichroic film is not ideal.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • reducing the refractive index of the reflective prism material is beneficial to improving the passband shift.
  • the dichroic layer can be directly plated on the incident surface of the second prism.
  • the passband at large angles can be Offset is very much improved.
  • 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.
  • 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
  • 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.
  • 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.
  • the light-splitting layer may be plated on the first prism, or the light-splitting layer may be plated on the second prism.
  • the second prism and the first prism can be made of the same material.
  • the FOV and each field of view range of the entire detection device meet the design requirements.
  • 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.
  • the adhesive layer can be made of a material that is substantially similar to the refractive index of the spectroscope.
  • 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.
  • the refractive index of the adhesive layer is 1.6-1.9, such as 1.7, 1.8, 1.9, etc.
  • the range of ⁇ 3 can also be reduced by reducing ⁇ 2.
  • ⁇ 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 ⁇ 2 decreases, part of the light from the FOV will be blocked.
  • 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 ⁇ 2 to reduce ⁇ 3 , thus solving the problem caused by large angle incident
  • the preset angle which is not less than 20° and not greater than 40°
  • ⁇ 1 is generally equal to 0.
  • the passband shift corresponding to the pass rate is approximately 66nm.
  • 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.
  • sunlight in the external environment will also cause certain interference to the optical path.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the wavelength of the light pulse emitted by the laser usually exceeds 800nm.
  • 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.
  • the wavelength of the optical pulse emitted by the general laser is at least about 800 nm.
  • 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.
  • 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.
  • 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.
  • the light source is a laser that emits a 940nm light pulse sequence.
  • the wavelength of the light pulse it emits will drift, such as becoming 900nm or even smaller.
  • the wavelength of the other light pulse sequence is 850nm.
  • the temperature of the light source in order to try to avoid crosstalk between light pulse sequences of different wavelengths, 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.
  • the wavelength drift of the emitted light pulse can be controlled within the preset drift amount to avoid large wavelength drift.
  • 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.
  • 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.
  • 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.
  • 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.
  • the arrangement of different types of light sources can also be set according to actual needs.
  • different types of light sources 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.
  • different types of light sources can emit light pulse sequences at the same time, they can also emit light pulse sequences at intervals.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the material used in the receiving element has a weaker absorption capacity for the first light pulse sequence than the second light pulse sequence.
  • 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.
  • the material used in the receiving element has the same absorption capacity for the two light pulse sequences.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the emitting element array B is used to emit the first light pulse.
  • 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.
  • 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
  • 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.
  • 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.
  • the first emitting element array and the second emitting element array can emit a light pulse sequence in a time-sharing manner.
  • the first emitting element array emits the first light pulse sequence in the 1s
  • the second emitting element emits the first light pulse sequence in the 2s.
  • the array emits a second sequence of light pulses
  • the two arrays of emitting elements can alternately emit the sequence of light pulses.
  • 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.
  • 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.
  • only part of the light pulse sequence may be multiplexed in the first receiving element array and the second 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the movable platform includes: an aircraft, a vehicle, a boat, a handheld device or a robot, or any other suitable device.
  • the detection device reference may be made to the description in the above embodiments and will not be described again here.
  • 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.
  • 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.
  • 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.
  • 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.
  • the two scanning modules can share a set of ranging modules.
  • the distance between the two scanning modules in the fuselage direction may be less than the preset distance.
  • the two scanning modules may be located on the same straight line perpendicular to the direction of the fuselage.
  • the light beam emitted by the light source when 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.
  • 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.
  • the scanning field of view cannot be completely spherical, and there are still certain blind spots in the nose and tail directions.
  • 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.
  • the angle ⁇ 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.
  • the detection device can be installed as close to the head or tail of the fuselage as possible.
  • a gimbal is installed on the head of the drone fuselage, and a camera is installed on the gimbal for taking pictures.
  • 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.
  • 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.
  • 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.
  • each of the two scanning modules can use one scanning module.
  • 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.
  • the shape of the drone's fuselage can also be improved.
  • the overall size can be reduced as much as possible to reduce the blocking of the detection device.
  • 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.
  • 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.
  • the light pulses 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.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Dispositif de détection (10) et plateforme mobile. Le dispositif de détection (10) comprend : une source de lumière (111) destinée à émettre des séquences d'impulsions optiques, les séquences d'impulsions optiques comprenant une première séquence d'impulsions optiques présentant une première longueur d'onde et une seconde séquence d'impulsions optiques présentant une seconde longueur d'onde, la différence entre la première longueur d'onde et la seconde longueur d'onde étant supérieure à une longueur d'onde prédéterminée, et la longueur d'onde prédéterminée n'étant pas inférieure à 60 nm ; et un module de balayage (12) comprenant un diviseur de faisceau, la première séquence d'impulsions optiques et la seconde séquence d'impulsions optiques étant émises à des plages angulaires différentes après avoir traversé le diviseur de faisceau, de façon à former différents champs de vision de balayage. La différence de longueurs d'onde de séquences d'impulsions optiques émises par la source de lumière (111) n'est pas inférieure à 60 nm, de telle sorte qu'une interférence entre des séquences d'impulsions optiques présentant différentes longueurs d'onde peut être évitée.
PCT/CN2022/083258 2022-03-28 2022-03-28 Dispositif de détection et plateforme mobile WO2023184060A1 (fr)

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CN111837055A (zh) * 2018-03-12 2020-10-27 株式会社理光 光学装置，使用光学装置的距离传感器和移动体
CN113924505A (zh) * 2020-05-09 2022-01-11 深圳市大疆创新科技有限公司 测距装置、测距方法及可移动平台
CN114787657A (zh) * 2020-12-31 2022-07-22 深圳市大疆创新科技有限公司 探测装置、无人机以及探测装置的控制方法及装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190250273A1 (en) * 2018-02-12 2019-08-15 Microvision, Inc. Scanning Rangefinding System with Variable Field of View
CN111837055A (zh) * 2018-03-12 2020-10-27 株式会社理光 光学装置，使用光学装置的距离传感器和移动体
CN110412539A (zh) * 2018-04-27 2019-11-05 光为科技(广州)有限公司 光探测与测距设备、抑制噪声的方法以及机器可读介质
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CN209356678U (zh) * 2018-12-11 2019-09-06 深圳市大疆创新科技有限公司 测距装置
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