WO2025129446A1 - 一种扫描模组、探测装置、激光雷达和终端 - Google Patents

一种扫描模组、探测装置、激光雷达和终端 Download PDF

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Publication number
WO2025129446A1
WO2025129446A1 PCT/CN2023/139844 CN2023139844W WO2025129446A1 WO 2025129446 A1 WO2025129446 A1 WO 2025129446A1 CN 2023139844 W CN2023139844 W CN 2023139844W WO 2025129446 A1 WO2025129446 A1 WO 2025129446A1
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WIPO (PCT)
Prior art keywords
angle
laser signal
scanning
rotation axis
module
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PCT/CN2023/139844
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English (en)
French (fr)
Inventor
华康健
刘军
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Shenzhen Yinwang Intelligent Technology Co Ltd
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Shenzhen Yinwang Intelligent Technology Co Ltd
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Priority to CN202380097234.XA priority Critical patent/CN121039528A/zh
Priority to PCT/CN2023/139844 priority patent/WO2025129446A1/zh
Publication of WO2025129446A1 publication Critical patent/WO2025129446A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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 field of light detection technology, and in particular to a scanning module, a detection device, a laser radar and a terminal.
  • Detection devices include visual sensors such as cameras and radar sensors such as millimeter wave radars, lidars, and ultrasonic radars.
  • the detection results of different fields of view may have different values.
  • the field of view with high value also commonly referred to as the region of interest (ROI)
  • ROI region of interest
  • the detection accuracy can be improved by increasing the number of pixels of the receiving chip or repeating the scan.
  • increasing the number of pixels of the receiving chip can improve the detection accuracy of the detection device, but this method will increase the area of the single board and increase the cost.
  • Repeated scanning refers to scanning the same field of view multiple times, thereby improving the detection accuracy of the detection device, but this method will increase the time it takes to obtain a frame of detection results and reduce the detection efficiency.
  • the present application provides a scanning module, a detection device, a laser radar and a terminal, which can complete encrypted scanning of the ROI area and improve the detection accuracy of the ROI area without significantly increasing the cost of the detection device.
  • the present application provides a scanning module, comprising N reflection surface groups arranged around a rotation axis, where N is a positive integer and N ⁇ 3.
  • the N reflection surface groups are symmetrical relative to the center of the rotation axis, and the first reflection surface group among the N reflection surface groups comprises a first reflection surface and a second reflection surface connected at their edges.
  • the first reflection surface has a different angle with the two adjacent reflection surfaces.
  • the line between the edge of the first reflection surface and the rotation axis is a first angle
  • the line between the edge of the second reflection surface and the rotation axis is a second angle
  • the line between the edge of the first reflection surface and the edge of the second reflection surface is a third angle.
  • the sum of the first angle and the third angle is less than 180° (or expressed as ⁇ ), that is, the difference between 180° and the first angle is greater than the third angle.
  • the sum of the second angle and the third angle is less than 180° (or expressed as ⁇ ), that is, the difference between 180° and the second angle is greater than the third angle.
  • the angular relationship between the first angle (for example, expressed as ⁇ ), the second angle (for example, expressed as ⁇ ), and the third angle (for example, expressed as ⁇ ) may satisfy the following formula: ⁇ + ⁇ , ⁇ + ⁇ .
  • the third angle is greater than 90°, or the first angle is greater than 120°.
  • the scanning module is used to scan the laser signal into the object space, and the laser signal is used to detect the object space.
  • the field of view angle formed by the laser signal in the object space through the first reflection surface is the angle formed by the laser signal passing through and scanning the fourth angle to the fifth angle in the first direction from the first edge of the first reflection surface to the second edge of the first reflection surface.
  • the field of view angle formed by the laser signal in the object space through the second reflection surface is the angle formed by the laser signal passing through and scanning the sixth angle to the seventh angle in the first direction from the third edge of the second reflection surface to the fourth edge of the second reflection surface, and the second edge of the first reflection surface is connected to the third edge of the second reflection surface.
  • the field of view angle formed by the laser signal in the object space through the first reflection surface overlaps with the field of view angle formed by the laser signal in the object space through the second reflection surface in the angular space, and the overlapping angle range is the angle formed by the laser signal scanning the fifth angle to the sixth angle, and the width of the overlapping angle range is negatively correlated with the third angle.
  • the relative angle relationship between the first angle ⁇ , the second angle ⁇ and the third angle ⁇ of the scanning module can be designed to form an encrypted scanning track in the central area.
  • the field of view angle for example, the angle width is expressed as ⁇ ′
  • the field of view angle for example, the angle width is expressed as ⁇ ′
  • the overlapping angle range for example, the angle width is expressed as ⁇ ′
  • the angle relationship between the field angle ⁇ ′ formed by the laser signal passing through the second reflection surface in the object space and the second angle ⁇ may satisfy the following formula:
  • the second direction is different from the first direction, for example, the first direction and the second direction may be perpendicular.
  • the first direction may be a horizontal direction
  • the second direction may be a vertical direction.
  • the horizontal direction here may be a direction of the ground, or the horizontal direction may be predefined.
  • the N reflective surface groups of the scanning module rotate around the rotation axis.
  • a first angle exists between the first reflection surface and the rotation axis, and the second reflection surface is parallel to the rotation axis.
  • a third angle exists between the laser signal reflected by the first reflection surface and the laser signal reflected by the second reflection surface in the second direction, and the third angle is positively correlated with the first angle.
  • the first reflection surface and the rotation axis form a first angle in a positive direction
  • the second reflection surface and the rotation axis form a second angle in a negative direction
  • the positive direction and the negative direction are opposite.
  • the first reflection surface and the rotation axis in a direction parallel to the rotation axis, have a first angle ( ⁇ 1) in a positive direction, and the second reflection surface and the rotation axis have a second angle ( ⁇ 2) in a negative direction.
  • the laser signal reflected by the first reflection surface and the laser signal reflected by the second reflection surface have a third angle ( ⁇ ′) in the second direction, and the third angle is related to the first angle and the second angle.
  • both the first reflecting surface and the second reflecting surface have an angle difference with the rotation axis in the vertical direction.
  • an embodiment of the present application provides a detection device, the detection device includes a transmitting module, a receiving module and a scanning module, the transmitting module is used to transmit a laser signal, the N reflecting surface groups of the scanning module rotate around a rotation axis to scan the laser signal into the object space, the laser signal is used to detect the object space, and the scanning module is also used to provide a return signal of the laser signal from the object space to the receiving module.
  • the scanning module includes the scanning module described in any one of the first aspects.
  • the transmitting module and the receiving module are located on the same side or on different sides of the scanning module along a direction perpendicular to the rotation axis.
  • the detection device when the transmitting module and the receiving module are located on the same side, the detection device further includes a coaxial module, which is used to realize the coaxiality of the laser signal and the return signal of the laser signal.
  • the laser signal is sequentially provided to the scanning module through the output port, polarization beam splitter and quarter wave plate of the detection device.
  • the return signal from the scanning module is sequentially provided to the receiving port of the detection device through the quarter wave plate and polarization beam splitter.
  • the coaxial module includes a perforated reflector, or the coaxial module includes a polarization beam splitter PBS and a quarter wave plate.
  • an embodiment of the present application provides a laser radar, which includes the detection device of any one of the second aspect, the detection device includes a transmitting module, a scanning module and a receiving module, the transmitting module includes a laser, the receiving module includes a detector, the laser is used to transmit a laser signal, the scanning module is used to scan the laser signal into the object space, the laser signal is used to detect the object space, and the detector is used to obtain relevant information of the target in the object space based on the return signal of the laser signal.
  • an embodiment of the present application provides a terminal, the terminal includes the detection device described in any one of the second aspect, or the terminal includes the laser radar of the third aspect.
  • the terminal is a vehicle, a drone or a robot.
  • FIG1 is a schematic diagram of a possible transmitting optical path and receiving optical path provided in an embodiment of the present application
  • FIG2 is a schematic diagram of the structure of a detection device 20 provided in an embodiment of the present application.
  • FIG3A is a schematic diagram of a possible coaxial optical path provided in an embodiment of the present application.
  • FIG3B is a schematic diagram of another possible coaxial optical path provided in an embodiment of the present application.
  • FIG4 is a schematic diagram of another possible coaxial optical path provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of a reflective surface of a four-sided Polygon provided in an embodiment of the present application.
  • FIG6A is a schematic diagram of a scanning pattern provided in an embodiment of the present application.
  • FIG6B is a schematic diagram of another scanning pattern provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of an embodiment of the present application in which a reflective surface has an angle difference with respect to a rotation axis;
  • FIG8 is a schematic diagram of a 5-sided Polygon provided in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the structure of a possible terminal 90 provided in an embodiment of the present application.
  • the embodiments of the present application provide a scanning module, a detection device, a laser radar and a terminal, which are used to improve the detection accuracy of the ROI area without significantly increasing the cost of the detection device and ensuring the detection efficiency.
  • LOS line of sight
  • the signal e.g., radio wave, laser
  • the angle formed by the two edges of the maximum range illuminated by the laser signal is called the field of view angle.
  • the size of the field of view angle determines the field of view of the optical instrument. The larger the field of view angle, the larger the field of view.
  • the field of view angle may include a horizontal field of view angle and a vertical field of view angle. Among them, the horizontal field of view angle refers to the angle formed by the two edges of the maximum range that can be detected in the horizontal direction, and the vertical field of view angle refers to the angle formed by the two edges of the maximum range that can be detected in the vertical direction.
  • the detection principle of the detection device is to obtain relevant information of the target by emitting a laser signal and receiving a return signal corresponding to the laser signal.
  • Figure 1 is a schematic diagram of a possible transmitting optical path and a receiving optical path provided in an embodiment of the present application.
  • the transmitting end of the detection device emits a laser signal 1, and the laser signal 1 is reflected on the target in the field of view to form a return signal 2.
  • the return signal 2 falls into the detector and is received by the receiving end of the detection device.
  • the detection results of different field of view areas may have different values.
  • the high-value field of view also commonly referred to as the ROI area, requires higher detection accuracy for detection.
  • the current detection methods in the industry can improve the detection accuracy, it will lead to increased costs and reduced detection efficiency.
  • the emission module 201 is used to generate a laser signal.
  • the emission module 201 may include a laser.
  • the laser includes but is not limited to a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling laser (FCSEL ...
  • LD laser diode
  • VCSEL vertical cavity surface emitting laser
  • PCSEL photonic crystal surface emitting semiconductor lasers
  • EEL edge emitting laser
  • DFB-LD distributed feedback laser diode
  • FCSEL grating coupled sampling laser
  • PCSEL photonic crystal surface emitting semiconductor lasers
  • EEL edge emitting laser
  • DFB-LD distributed feedback laser diode
  • FCSEL grating coupled sampling laser
  • PCSEL photonic crystal surface emitting semiconductor lasers
  • EEL edge emitting laser
  • DFB-LD distributed feedback laser diode
  • FCSEL grating coupled sampling laser
  • PCSEL photonic crystal surface emitting semiconductor lasers
  • EEL edge emitting laser
  • DFB-LD distributed feedback laser diode
  • FCSEL grating coupled sampling laser
  • PCSEL photonic crystal surface emitting semiconductor lasers
  • EEL distributed feedback laser diode
  • DFB-LD distributed feedback laser diode
  • grating coupled sampling laser One or more light-emitting elements such as a Grating coupled sampling reflection LD (GCSR-LD) or a micro opto electro mechanical system laser diode (MOEMS-LD).
  • GCSR-LD Grating coupled sampling reflection LD
  • MOEMS-LD micro opto electro mechanical system laser diode
  • the receiving module 202 is used to receive the return signal corresponding to the laser signal emitted by the transmitting module 201.
  • the receiving module 202 may include a detector.
  • the detector may include one or more detection elements.
  • the detector may include but is not limited to a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD) and other detection elements.
  • SPAD single-photon avalanche diode
  • SiPM silicon photomultiplier
  • API semiconductor avalanche photodiode
  • MPPC multi-pixel photon counter
  • ECCD electron multiplying charge-coupled device
  • the scanning module 203 is used to change the propagation direction of light.
  • the laser signal emitted by the transmitting module 201 can be irradiated onto the detection area in the field of view through N reflecting surface groups arranged around the rotation axis.
  • the scanning module 203 can include a mechanical scanning device, an electrical scanning device, etc.
  • the scanning module 203 can include one or more of the following optical elements: a reflector, a lens, a beam splitter, a swing mirror, a rotating mirror (Polygon), or a micro-electro-mechanical system (MEMS) galvanometer, etc.
  • the N reflecting surface groups are symmetrical relative to the center of the rotation axis, and each of the N reflecting surface groups includes a first reflecting surface and a second reflecting surface connected at the edges.
  • the transmitting module 201 can transmit the laser signal to the object space through the first reflection surface of the scanning module 203, so that the target in the object space can be illuminated by the laser signal.
  • the first reflection surface is a general term for the reflection surface currently used to reflect the laser signal emitted by the transmitting module 201.
  • the receiving module 202 can receive the return signal formed by the reflection of the laser signal on the target through the second reflection surface of the scanning module 203, and measure the relevant information of the target based on the return signal.
  • the second reflection surface is a general term for the reflection surface that reflects the return signal.
  • the transmitting field of view is the object space covered by the laser signal emitted by the transmitting module, and the receiving field of view is the object space where the receiving module can receive light.
  • the transmitting module 201 and the receiving module 202 in the detection device 20 are located on different sides of the scanning module 203 along a direction perpendicular to the rotation axis, that is, the light transmission and receiving path can be off-axis.
  • the transmitting module 201 transmits a laser signal, which is reflected by the transmitting lens onto a target in the field of view to form a return signal, which is received by the receiving module 202 through the receiving lens.
  • the laser signal and the return signal have different optical axes.
  • the transmitting module 201 and the receiving module 202 in the detection device 20 of the present application are located on the same side of the scanning module 203 along the direction perpendicular to the rotation axis. That is, the light transmission and receiving paths can be coaxial.
  • the following introduces several coaxial implementation methods:
  • Implementation method 1 the transmitting module 201 and the receiving module 202 are integrated together. That is, the transmitting module and the receiving module can be integrated on the same module.
  • the optical path integration of transmitting and receiving is achieved through an optical fiber array or a waveguide array.
  • the transmitting module 201 and the receiving module 202 are separately arranged.
  • the detection device 20 further comprises a coaxial module, which is used to realize the coaxiality of the laser signal and the return signal of the laser signal.
  • the coaxial module includes one or more reflectors (or optical elements with a reflective function), such as a perforated reflector.
  • FIG3A is a schematic diagram of a possible coaxial optical path provided in an embodiment of the present application.
  • the coaxial module realizes the coaxiality of the laser signal and the return signal of the laser signal through the reflector 301.
  • the laser signal is reflected to the object space through the reflector 301, and the return signal is received by the receiving module without passing through the reflector 301 (for example, passing through both sides of the reflector 301).
  • FIG. 3B is a schematic diagram of another possible coaxial optical path provided by an embodiment of the present application.
  • the coaxial module realizes the coaxiality of the laser signal and the return signal of the laser signal through the perforated reflector 302.
  • the laser signal passes through the central circular hole of the perforated reflector 302 and is emitted into the object space, and the return signal is received by the receiving module through the perforated reflector 302.
  • the propagation direction of the laser signal can be changed by the reflector.
  • the present application does not limit the number and setting position of the reflector.
  • the coaxial module includes a polarization beam splitter (PBS) and a quarter wave plate (QWP).
  • PBS polarization beam splitter
  • QWP quarter wave plate
  • FIG4 is a schematic diagram of another possible coaxial optical path provided in an embodiment of the present application.
  • the detection signal light is emitted into space through the transmitting module, passes through the transmitting lens and PBS, and is transmitted to the QWP.
  • the polarization direction of the detection signal light is P polarization.
  • the QWP will change the polarization direction of the detection signal light and convert the linear polarization into circular polarization. Therefore, the detection signal light after passing through the QWP is circularly polarized.
  • the circularly polarized light is irradiated on the target in the field of view to generate reflection, forming a return signal light (still circularly polarized).
  • the polarization direction changes to form a return signal light with an S polarization direction.
  • the S-polarized return signal light is reflected after passing through the PBS and reaches the receiving module through the receiving lens.
  • the optical axis of the detection signal light and the reflected signal light is the same.
  • the detection signal light is P polarized light.
  • the coaxial module can realize the coaxiality of the laser signal and the return signal of the laser signal through optical devices such as circulators and semi-transparent and semi-reflective beam splitters.
  • the semi-transparent and semi-reflective beam splitter can split a beam of light into two beams of light with roughly the same spectral components. For example, in a certain wavelength region, such as the wavelength range of 300nm to 100 ⁇ m, each wavelength has the same (the same here does not necessarily mean completely the same, and there can be fluctuations within a certain range) transmittance and reflectivity.
  • N laser signals pass through the semi-transparent and semi-reflective beam splitter, Each laser signal is partially reflected and partially transmitted, resulting in energy loss of the N laser signals transmitted to the receiving module.
  • the N return signals from the receiving module are also partially transmitted and partially transmitted after passing through the semi-transparent and semi-reflective beam splitter, resulting in a certain amount of energy loss of the N return signals.
  • a circulator is a multi-port device that transmits the laser signal entering any port to the next port in a direction determined by a static bias magnetic field. Its outstanding feature is that it transmits energy in one direction and controls the electromagnetic wave to be transmitted in a certain circular direction.
  • a circulator has three ports, and the light beam goes from port 1 to port 2, from port 2 to port 3, and from port 3 to port 1. The other paths are blocked, that is, it is impossible to go from port 2 to port 1 (that is, it has high isolation).
  • the laser signal can enter from port 1 and exit from port 2 to reach the receiving module, while the return signal from the receiving module can enter from port 2 and exit from port 3, thereby realizing coaxial transmission and reception.
  • FIG. 3A , FIG. 3B , and FIG. 4 are merely exemplary introductions, and are not intended to limit the coaxial and off-axis solutions of the present application to be implemented in the above-mentioned methods.
  • the detection device 20 involved in the embodiment of the present application does not limit the number, placement position, placement order, size, etc. of the optical elements in the detection device 20. It should be understood that the number and installation position of the transmitting module, receiving module, optical element, etc. in the embodiment of the present application are not limited, and FIG. 2 is only a possible situation shown for the convenience of description, and is not a limitation on the detection device 20.
  • a scanning module provided by the present application is introduced below.
  • the scanning module can be applied to the detection device 20 shown in FIG. 2 .
  • the embodiment of the present application provides a scanning module 203.
  • the scanning module 203 is a polyhedron (Polygon), including a plurality of reflection surface groups arranged around a rotation axis.
  • the number of reflection surface groups is designed to be N, where N is a positive integer and N ⁇ 3.
  • the N reflection surface groups are rotationally symmetric relative to the center of the rotation axis, and each of the N reflection surface groups includes a first reflection surface and a second reflection surface whose edges are connected.
  • FIG5 is a schematic diagram of a reflection surface of a 4-sided Polygon provided in an embodiment of the present application.
  • the scanning module 203 includes four reflection surface groups, each reflection surface group includes two reflection surfaces, so that the two reflection surfaces are respectively represented as a first reflection surface and a second reflection surface for easy distinction.
  • the scanning module as shown in FIG5 includes four reflection surface groups, each of which includes two reflection surfaces. Therefore, the scanning module has a total of eight reflection surfaces, namely, surface B1 , surface A1 , surface B2 , surface A2 , surface B3, surface A3 , surface B4 , and surface A4 .
  • the eight reflection surfaces belong to four reflection surface groups respectively, for example, surface B1 and surface A1 belong to one reflection surface group, surface B2 and surface A2 belong to one reflection surface group, surface B3 and surface A3 belong to one reflection surface group, and surface B4 and surface A4 belong to one reflection surface group.
  • the area surrounded by the four edges formed by the connecting lines of the non-connected edges of the four groups of reflection surfaces of the four-sided Polygon is used to indicate that the cross section of the four-sided Polygon is a regular quadrilateral. Accordingly, the four-sided Polygon is a regular tetrahedron.
  • the B1 face and the A1 face are formed by filling faces on the basis that the cross section of the 4-sided Polygon is a regular quadrilateral.
  • the line connecting the non-connected edges of the B1 face and the A1 face should be an edge of the regular quadrilateral.
  • the regular tetrahedron here is only an exemplary introduction, and the present application is still applicable to polyhedrons such as regular pentahedrons and regular hexahedrons.
  • the 4-sided Polygon may be an irregular tetrahedron, for example, the B1 face and the A1 face do not present rotational symmetry with respect to the rotation axis.
  • the first reflective surface has different included angles with two adjacent reflective surfaces.
  • the included angle between the B1 surface and the A1 surface in the first reflective surface group (for example, represented by ⁇ shown in FIG. 5 ) is 155°
  • the included angle between the B1 surface and the adjacent A4 surface is 115°.
  • the scanning module includes multiple reflection surface groups (for example, a scanning module including 3 reflection surface groups, 4 reflection surface groups or more reflection surface groups), the structure on each reflection surface group is the same as or similar to the hierarchical structure of a reflection surface group described in each embodiment of the present application.
  • the scanning process of the 4-surface Polygon is described in detail.
  • FIG5 takes a side view of the first reflective surface group of the scanning module 203 as an example (only one side end face is shown).
  • the line between the edge of the B1 surface and the rotation axis is a first angle (for example, expressed as ⁇ )
  • the line between the edge of the A1 surface and the rotation axis is a second angle (for example, expressed as ⁇ )
  • the line between the edge of the B1 surface and the edge of the A1 surface is a third angle ⁇ .
  • the area scanned by the laser signal after passing through the B1 surface overlaps with the area scanned after passing through the A1 surface.
  • the laser signal can scan a first angle range by reflecting from the B1 surface in a first direction (for example, horizontal direction), and the laser signal can scan a second angle range by reflecting from the A1 surface connected to the edge of the B1 surface. degree range, the first angle range overlaps with the second angle range, and the overlapping area is the ROI area.
  • the field of view angle formed by the laser signal passing through the B1 surface in the object space is the angle ⁇ ′ formed by the laser signal passing through and scanning the fourth angle to the fifth angle in the first direction (for example, the direction parallel to the rotation axis, which can also be referred to as the aforementioned horizontal direction) from the first edge of the B1 surface to the second edge of the B1 surface.
  • x0 to x3 represent azimuths, with the center of the field of view as 0 azimuth (0°), the left side of 0 azimuth is a negative angle, and the right side is a positive angle.
  • the two reflective surfaces A1 and B1 Take the two reflective surfaces A1 and B1 as an example. Since there are two reflective surfaces, the two reflective surfaces will have two different normals. When the 4-sided Polygon rotates, after the laser signal passes through the B1 surface, if the laser signal has not had time to continue to pass through the A1 surface, the laser signal will just hit the turning point between the B1 surface and the A1 surface. Since the incident light is the same, but the two normals are different, there will be two different reflected lights.
  • a second direction for example, a direction perpendicular to the rotation axis, which may also be referred to as the aforementioned vertical direction
  • the path of the spot of the laser signal reflected by the first reflection surface i.e., the scanning line
  • the path of the spot of the laser signal reflected by the second reflection surface scanning line
  • the ROI area can be repeatedly scanned.
  • the field of view formed by the laser signal passing through two different reflection surfaces in the object space has an overlapping angle range.
  • the overlapping part is equivalent to multiple detections, which increases the point cloud density and thus improves the accuracy of the detection results.
  • a first angle (for example, expressed as ⁇ ) exists between the first reflection surface and the rotation axis, and the second reflection surface is parallel to the rotation axis.
  • Figure 7 is a schematic diagram of an angle difference between a reflective surface and a rotation axis provided in an embodiment of the present application.
  • the direction of the X-axis is parallel to the rotation axis
  • the direction of the Z-axis is pointing to the ground
  • the direction of the Y-axis is perpendicular to the rotation axis.
  • the direction from the Z-axis to the X-axis represents the negative direction
  • the direction from the X-axis to the Z-axis represents the positive direction.
  • the B1 surface has a first angle ⁇ in the positive direction relative to the rotation axis (for example, the first angle ⁇ is 0.05°), and the A1 surface is parallel to the rotation axis.
  • the laser signal reflected by the B1 surface and the laser signal reflected by the A1 surface have a third angle ⁇ ′ in the direction perpendicular to the rotation axis (for example, the third angle ⁇ ′ is 0.1°).
  • the B1 surface has a first angle ⁇ in the negative direction relative to the rotation axis (for example, the first angle ⁇ is 0.05°), and the A1 surface is parallel to the rotation axis.
  • the laser signal reflected by the B1 surface and the laser signal reflected by the A1 surface have a third angle ⁇ ′ in the direction perpendicular to the rotation axis (for example, the third angle ⁇ ′ is 0.1°).
  • the first reflection surface and the rotation axis have a first angle in the positive direction (for example, expressed as ⁇ 1), and the second reflection surface and the rotation axis have a second angle in the negative direction (for example, expressed as ⁇ 2).
  • the laser signal reflected by the first reflection surface and the laser signal reflected by the second reflection surface have a third angle ⁇ ′ in the second direction, and the third angle is related to the first angle and the second angle.
  • the B1 surface has a first angle ⁇ 1 in the negative direction relative to the rotation axis (for example, the first angle ⁇ 1 is 0.05°)
  • the A1 surface has a second angle ⁇ 2 in the positive direction relative to the rotation axis (for example, the second angle ⁇ 2 is 0.05°)
  • the laser signal reflected by the B1 surface and the laser signal reflected by the A1 surface have a third angle ⁇ ′ in the direction perpendicular to the rotation axis (for example, the third angle ⁇ ′ is 0.2°).
  • the present application designs the angle difference between the first reflecting surface and/or the second reflecting surface and the rotation axis.
  • the scanning device is used for rotation scanning, there is an angle difference between the line beam passing through the first reflecting surface and the line beam passing through the second reflecting surface, so that the scanning of the first reflecting surface and the scanning of the second reflecting surface do not overlap, thereby achieving the effect of encrypted scanning. It can be seen from FIG. 6A or FIG.
  • the scanning line beam passing through the A1 surface can be located between the "gaps" of the scanning line beam passing through the B1 surface , and correspondingly, the scanning line beam passing through the B1 surface is also located between the "gaps” of the scanning line beam passing through the A1 surface, so that the scanning line beams of the A1B1 surfaces are intertwined with each other without completely covering each other, thereby increasing the point cloud density and improving the resolution of the overlapping area.
  • the scanning modules in the above figures all take the scanning process of a 4-sided Polygon as an example.
  • the scanning module can also be a 5-sided Polygon, a 6-sided Polygon, etc.
  • the present application does not limit the shape of the Polygon matrix.
  • Figure 8 which is a schematic diagram of a 5-sided Polygon provided in an embodiment of the present application.
  • the principle of the scanning process of the 5-sided Polygon is the same as that of the aforementioned embodiment. Please refer to the aforementioned embodiment for details and will not be repeated here.
  • the first angle ⁇ , the second angle ⁇ and the third angle ⁇ are designed to satisfy a certain relationship, so that the area scanned by the laser signal after passing through the first reflective surface overlaps with the area scanned after passing through the second reflective surface.
  • the laser signal is reflected in a first direction (for example, represented as a horizontal direction) by a first reflective surface (for example, represented as a B1 surface) to scan a first angle range
  • the laser signal is reflected by a second reflective surface (for example, represented as an A1 surface) connected to the edge of the B surface to scan a second angle range.
  • the overlapping area is the ROI area.
  • the overlapping area has been scanned by the laser signal reflected by the B1 surface and the laser signal reflected by the A1 surface, that is, the overlapping area has been repeatedly scanned by the laser signal reflected by two reflective surfaces, and the repeatedly scanned area is equivalent to having undergone multiple detections. Therefore, based on the scanning module provided in the present application, between the reflective surfaces and between the reflective surface and the rotation axis.
  • the angle design between the two can realize encrypted scanning of the ROI area and improve the detection accuracy of the ROI area.
  • the present application realizes encrypted scanning of the ROI area by designing and adjusting the angle between the reflection surfaces of the scanning module (i.e., the third angle ⁇ ), as well as the angle between the reflection surface and the rotation axis (i.e., the first angle ⁇ and the second angle ⁇ ), thereby improving the detection accuracy of the ROI area.
  • the solution of designing the scanning module is relatively low in cost and may not significantly increase the cost of the detection device.
  • the scan from the B1 surface to the A1 surface in the present application is a complete scan without additional scanning, thereby ensuring the detection efficiency.
  • the present application can complete the encrypted scanning of the ROI area without significantly increasing the cost of the detection device, thereby improving the detection accuracy of the ROI area and ensuring the detection efficiency.
  • the overlapping angle range of the scanning of the B1 surface and the A1 surface is located in the central area of the field of view.
  • the present application can be applied to scenes such as vehicle perception, intelligent driving, mapping, and robot perception.
  • the central area of the field of view usually includes the space where the vehicle is likely to travel, which is a high-value field of view (i.e., ROI area).
  • ROI area a high-value field of view
  • the detection accuracy of the ROI area is improved, the effectiveness of the detection information is improved, and then the driving safety of the vehicle is improved, while the detection efficiency can also be guaranteed.
  • the higher the detection accuracy of ROI the more conducive it is to the calculation and decision-making of the intelligent driving system, thereby improving the safety and comfort of the intelligent driving system.
  • An embodiment of the present application also provides a laser radar, which includes a scanning module, a transmitting module and a receiving module.
  • the transmitting module includes a laser
  • the receiving module includes a detector
  • the laser is used to transmit a laser signal
  • the scanning module is used to scan the laser signal into the object space
  • the laser signal is used to detect the object space
  • the detector is used to obtain relevant information of the target in the object space based on the return signal of the laser signal.
  • the scanning module includes the scanning device described in the above embodiments, such as the scanning module of the embodiment shown in FIG. 2 , or other possible designs.
  • the above-mentioned laser radar can also be replaced by other detection devices, such as a fusion detection device.
  • the present application also provides a terminal, which includes the aforementioned detection device, such as the detection device 20 and the aforementioned laser radar.
  • the terminal (or specifically the detection device in the terminal) includes the scanning module described in the aforementioned embodiment, such as the scanning module of the embodiment shown in FIG. 2, or its possible design.
  • Figure 9 is a schematic diagram of the structure of a possible terminal 90 provided in an embodiment of the present application, and the terminal 90 includes a processor 901 and the aforementioned detection device 20.
  • the processor 901 and the detection device 20 can be connected or communicate with each other, and the embodiment of the present application does not limit the specific implementation methods of the connection and communication.
  • the processor 901 is used to obtain detection data about the object in the field of view according to the return signal received by the receiving module of the detection device 20.
  • detection data can be specifically point cloud data corresponding to the field of view, or the detection data can include one or more of the distance, orientation, pixel area occupied by the target, height, speed, posture or shape information of the target in the field of view.
  • V2X vehicle to everything
  • LTE-V long-term evolution of vehicle communication
  • V2V vehicle to vehicle

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Abstract

一种扫描模组、探测装置、激光雷达和终端，可以应用于光探测技术等领域，通过设计调整扫描模组（203）的反射面间的夹角(即第三角度θ)，以及反射面与转动轴的夹角(即第一角度β和第二角度α)实现ROI区域的加密扫描，提升对ROI区域的探测精度。相比于通过直接增加接收芯片的像元数目的方案，该方案成本较低，可以不显著提升探测装置的成本。相比于重复扫描的方案，该方案中从B面到A面之间的扫描是完整的一次扫描，没有额外进行扫描，从而保证了探测效率。综上，该方案能够在不显著提升探测装置的成本的情况下，完成ROI区域的加密扫描，提升对ROI区域的探测精度，同时还能够保证探测效率。

Description

一种扫描模组、探测装置、激光雷达和终端 技术领域
本申请涉及光探测技术领域，尤其涉及一种扫描模组、探测装置、激光雷达和终端。
背景技术
随着信息技术以及计算机视觉的发展，探测技术取得了飞速发展，各式各样的探测装置给人们的生活、出行带来了极大的便利。探测装置包括摄像头等视觉系传感器和毫米波雷达、激光雷达和超声波雷达等雷达系传感器。
在雷达所能够探测的视野中，不同视野区域的探测结果可能具有不同的价值。其中，高价值的视野范围，通常也称为感兴趣区域(region of interest，ROI)，相应地也需要更高的探测精度进行探测。一些方案中，通过加大接收芯片的像元数目或者重复扫描这两种方式可以提高探测精度。其中，加大接收芯片的像元数目可以提升探测装置的探测精度，但是这种方式会导致单板面积增加，造成成本上升。而重复扫描是指对同一视野范围进行多次扫描，从而提升探测装置的探测精度，但是这种方式会导致得到一帧探测结果花费的时间变长，探测效率下降。
因此，如何在不显著提升探测装置的成本和保证探测效率的情况下，提升对ROI区域的探测精度，是本领域技术人员正在研究的热点。
发明内容
本申请提供了一种扫描模组、探测装置、激光雷达和终端，能够在不显著提升探测装置的成本的情况下，完成ROI区域的加密扫描，提升对ROI区域的探测精度。
第一方面，本申请提供了一种扫描模组，包括环绕转动轴设置的N个反射面组，N为正整数且N≥3。N个反射面组相对转动轴中心对称，且N个反射面组中的第一反射面组包括边缘相接的第一反射面和第二反射面。该第一反射面与相邻的两个反射面的夹角不同。沿着转动轴的方向，第一反射面的边缘与转动轴之间的连线为第一角度，第二反射面的边缘与转动轴之间的连线为第二角度，第一反射面的边缘与第二反射面的边缘之间的连线为第三角度。
其中，第一角度与第三角度的和小于180°(或表示为π)，也即，180°与第一角度的差值大于第三角度。第二角度与第三角度的和小于180°(或表示为π)，也即，180°与第二角度的差值大于第三角度。
示例性地，第一角度(例如表示为β)、第二角度(例如表示为α)与第三角度(例如表示为θ)之间的角度关系可以满足如下公式：
θ+α＜π，
θ+β＜π。
在本申请中，通过设计第一角度β、第二角度α和第三角度θ满足一定的关系，使得激光信号经过第一反射面后扫描的区域与经过第二反射面后扫描的区域存在重叠。示例性地，激光信号在第一方向上(例如表示为水平方向)经过第一反射面(例如表示为B面)反射可以扫描第一角度范围，而激光信号再经过与B面边缘相接的第二反射面(例如表示为A面)反射可以扫描第二角度范围，第一角度范围与第二角度范围存在重叠，重叠区域即ROI区域。而重叠区域经过了B面反射的激光信号的扫描和A面反射的激光信号的扫描，也即，重叠区域经过了两次反射面反射的激光信号的重复扫描，重复扫描过的区域相当于经过了多次探测。因此，基于本申请提供的扫描模组中的反射面之间以及反射面与转动轴之间的夹角的角度设计，可以实现对ROI区域的加密扫描，提升对ROI区域的探测精度。
本申请通过设计调整扫描模组的反射面间的夹角(即第三角度θ)，以及反射面与转动轴的夹角(即第一角度β和第二角度α)实现ROI区域的加密扫描，提升对ROI区域的探测精度。相比于通过直接增加接收芯片的像元数目的方案，对扫描模组进行设计的方案成本较低，可以不显著提升探测装置的成本。相比于重复扫描的方案，本申请中从B面到A面之间的扫描是完整的一次扫描，没有额外进行扫描，从而保证了探测效率。
综上，本申请能够在不显著提升探测装置的成本的情况下，完成ROI区域的加密扫描，提升对ROI区域的探测精度，同时还能够保证探测效率。
进一步地，本申请中B面和A面的扫描的重叠角度范围位于视野的中心区域，而通过对视野的中心区域进行加密扫描，可以提升中心区域的探测精度，能够有效提高探测结果的价值且有利于感知结果相关的计算和决策。
示例性地，本申请可以应用于车辆感知、智能驾驶、测绘、机器人感知等场景中。以车辆感知场景为例，视野的中心区域通常包括了车辆大概率会行驶到的空间，为高价值的视野范围(即ROI区域)。而通过本申请实施例，提升对ROI区域的探测精度，提高了探测信息的有效性，进而提升车辆的驾驶安全性，同时还能够保证探测效率。尤其是对于智能驾驶系统来说，ROI的探测精度越高，越有利于智能驾驶系统的计算和决策，从而提高智能驾驶系统的安全性和舒适性。
可选地，第三角度大于90°，或者，第一角度大于120°。
在一种可能的实施方式中，扫描模组用于将激光信号扫描到物空间，激光信号用于对物空间进行探测。其中，激光信号经过第一反射面在物空间形成的视场角为激光信号从第一反射面的第一边缘到第一反射面的第二边缘依次经过并扫描第一方向上的第四角度至第五角度所形成的角。激光信号经过第二反射面在物空间形成的视场角为激光信号从第二反射面的第三边缘到第二反射面的第四边缘依次经过并扫描第一方向上的第六角度至第七角度所形成的角，第一反射面的第二边缘与第二反射面的第三边缘相接。激光信号经过第一反射面在物空间形成的视场角与激光信号经过第二反射面在物空间形成的视场角在角空间存在重叠，重叠角度范围为激光信号扫描第五角度至第六角度所形成的角，重叠角度范围的宽度与第三角度负相关。
在上述实施方式中，可以通过设计扫描模组的第一角度β、第二角度α和第三角度θ之间的相对角度关系，以形成中心区域经过加密的扫描轨迹。示例性地，激光信号经过第一反射面在物空间形成的视场角(例如角度宽度表示为β′)与激光信号经过第二反射面在物空间形成的视场角(例如角度宽度表示为α′)在角空间存在重叠，形成的重叠角度范围(例如角度宽度表示为θ′)也即是完成了RIO区域的加密形成的重复扫描部分。
可选地，重叠角度范围的宽度与第三角度的角度关系可以满足如下公式：
θ′＝2(π-θ)。
在又一种可能的实施方式中，激光信号经过第一反射面在物空间形成的视场角为第一角度的两倍。
可选地，激光信号经过第一反射面在物空间形成的视场角β′与第一角度β之间的角度关系可以满足如下公式：
β′＝2β。
在又一种可能的实施方式中，激光信号经过第二反射面在物空间形成的视场角为第二角度的两倍。
可选地，激光信号经过第二反射面在物空间形成的视场角α′与第二角度α之间的角度关系可以满足如下公式：
α′＝2α。在又一种可能的实施方式中，在第二方向上，经过第一反射面反射的激光信号的光斑的路径(扫描线)与经过第二反射面反射的激光信号的光斑的路径(扫描线)具有间隔。
在上述实施方式中，在经过不同反射面反射的激光信号的光斑的路径有间隔时，第一反射面和第二反射面在水平方向上被扫描产生的扫描轨迹之间才会存在一定的宽度，进而才能对ROI区域起到重复扫描的作用。另外，为了降低重复扫描带来的运动模糊，一方面，ROI区域的两次扫描之间的时间间隔要尽量短，这样能最大限度地降低两次对ROI区域进行扫描的时间间隔，降低运动模糊效应。
应理解，第二方向与第一方向不同，例如第一方向与第二方向可以垂直。例如，第一方向可以为水平方向，第二方向可以为垂直方向。这里的水平方向可以为地面的方向，或者，水平方向可以预先定义。
在又一种可能的实施方式中，扫描模组的N个反射面组绕转动轴转动。
在又一种可能的实施方式中，在平行于转动轴的方向上，第一反射面与转动轴存在第一夹角，第二反射面平行于转动轴。
在上述实施方式中，提供了一种第一反射面与转动轴在垂直方向上存在角度差的情况。
在又一种可能的实施方式中，经过第一反射面反射的激光信号与经过第二反射面反射的激光信号在第二方向上存在第三夹角，第三夹角与第一夹角正相关。
可选地，第三夹角(例如表示为γ′)与第一夹角γ之间的角度关系满足如下公式：γ′＝2γ。
在上述实施方式中，第一反射面和第二反射面在第二方向上存在角度差。
在又一种可能的实施方式中，在平行于转动轴的方向上，第一反射面与转动轴存在正方向上的第一夹角，第二反射面与转动轴存在负方向上的第二夹角。
其中，正方向和负方向的方向相反。
在又一种可能的实施方式中，在平行于转动轴的方向上，第一反射面与转动轴存在正方向上的第一夹角(γ1)，第二反射面与转动轴存在负方向上的第二夹角(γ2)。经过第一反射面反射的激光信号与经过第二反射面反射的激光信号在第二方向上存在第三夹角(γ′)，第三夹角与第一夹角与第二夹角相关。
可选地，第三夹角与第一夹角满足如下公式：γ′＝2(γ1+γ2)。
在上述实施方式中，提供了一种第一反射面和第二反射面均与转动轴在垂直方向上存在角度差的情况。
第二方面，本申请实施例提供一种探测装置，探测装置包括发射模组、接收模组和扫描模组，发射模组用于发射激光信号，扫描模组的N个反射面组绕转动轴转动，以用于将激光信号扫描到物空间，激光信号用于对物空间进行探测，扫描模组还用于将来自物空间的激光信号的返回信号提供给接收模组。扫描模组包括第一方面任一项所描述的扫描模组。
在一种可能的实施方式中，发射模组和接收模组位于所述扫描模组沿垂直于所述转动轴方向的同侧或者异侧。
在另一种可能的实施方式中，在发射模组和接收模组位于同侧的情况下，探测装置还包括同轴模组，同轴模组用于实现激光信号与激光信号的返回信号的同轴。其中，激光信号依次经过探测装置的输出端口、偏振分束器和四分之一波片被提供给扫描模组。来自扫描模组的返回信号依次经过四分之一波片、偏振分束器被提供给探测装置的接收端口。
在又一种可能的实施方式中，同轴模组包括打孔反射镜，或者同轴模组包括偏振分束器PBS和四分之一波片。
第三方面，本申请实施例提供一种激光雷达，激光雷达包括第二方面任一项的探测装置，探测装置包括发射模组、扫描模组和接收模组，发射模组包括激光器，接收模组包括探测器，激光器用于发射激光信号，扫描模组用于将激光信号扫描到物空间，激光信号用于对物空间进行探测，探测器用于根据激光信号的返回信号得到物空间中的目标的相关信息。
第四方面，本申请实施例提供一种终端，终端包括第二方面任一项所描述的探测装置，或者，终端包括第三方面的激光雷达。
可选地，终端为车辆、无人机或者机器人。
附图说明
图1是本申请实施例提供的一种可能的发射光路和接收光路的示意图；
图2是本申请实施例提供的一种探测装置20的结构示意图；
图3A是本申请实施例提供的一种可能的同轴光路的示意图；
图3B是本申请实施例提供的另一种可能的同轴光路的示意图；
图4是本申请实施例提供的又一种可能的同轴光路的示意图；
图5是本申请实施例提供的一种4面Polygon的反射面的示意图；
图6A是本申请实施例提供的一种扫描图案的示意图；
图6B是本申请实施例提供的又一种扫描图案的示意图；
图7是本申请实施例提供的一种反射面相对于转动轴存在角度差的示意图；
图8是本申请实施例提供的一种5面Polygon的示意图；
图9是本申请实施例提供的一种可能的终端90的结构示意图。
具体实施方式
本申请实施例提供了一种扫描模组、探测装置、激光雷达以及终端，用于在不显著提升探测装置的成本和保证探测效率的情况下，提升对ROI区域的探测精度。
下面结合附图，对本申请的实施例进行描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。本领域普通技术人员可知，随着技术的发展和新场景的出现，本申请实施例提供 的技术方案对于类似的技术问题，同样适用。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包括，例如，包括了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
下面先对本申请实施例可能涉及的相关术语和概念进行介绍。
1.探测装置
本申请实施例中提到的探测装置可以是激光雷达，也可以是其它的光探测装置，例如融合探测装置(例如，集成雷达探测器和图像传感器的探测装置)。其工作原理是通过发射激光信号，并接收回波来探测视野内的目标。
作为一种可能的使用场景，本申请实施例中的探测装置能够使用在智能驾驶、智能运输、智能制造、环境探测、测绘、无人机等各种领域，能够完成目标探测、距离测量、速度测量、目标跟踪、成像识别等中的一项或者多项功能。
作为一种可能的应用位置，本申请实施例中的探测装置可以应用于车载探测装置(例如车载雷达)、路侧探测装置(例如路口雷达)等，也可以应用于其它的探测装置，例如安装在无人机、机器人、轨道车、自行车、信号灯、测速装置或基站等等装置上面的探测装置。本申请对探测装置安装的位置不做限定。
2.返回信号
本申请实施例中，将探测装置接收的光信号称为激光信号的返回信号。其中，激光信号中包括探测装置发射的信号。返回信号中包括探测装置发射的信号的反射信号。
3.视场角(field of view，FOV)
探测装置的发射端与目标物体之间，和/或，探测装置的接收端与目标物体之间，需要具有信号(例如无线电波、激光)传输不中断的视线区域(line of sight，LOS)。该视线区域即可以理解为视野。
一些场景中，以激光信号所照射到的最大范围的两条边缘构成的夹角，称为视场角。视场角的大小决定了光学仪器的视野，视场角越大，视野就越大。一些方案中，视场角可以包含水平视场角和垂直视场角。其中，水平视场角是指在水平方向上能够被探测的最大范围的两条边缘构成的夹角，垂直视场角是指在垂直方向上能够被探测的最大范围的两条边缘构成的夹角。
以上对于技术术语的说明可选使用在下文的实施例中。
探测装置的探测原理是：通过发射激光信号，并接收激光信号对应的返回信号来得到目标的相关信息。图1是本申请实施例提供的一种可能的发射光路和接收光路的示意图，探测装置的发射端发射激光信号1，激光信号1在视野内的目标上被反射，形成返回信号2，返回信号2落入探测器，被探测装置的接收端接收。由于在雷达所能够探测的视野中，不同视野区域的探测结果可能具有不同的价值。其中，高价值的视野范围，通常也称为ROI区域，需要更高的探测精度进行探测。但目前业内的探测方式虽然可以提高探测精度，但会导致成本上升以及探测效率下降。
为解决上述问题，本申请实施例提供了一种扫描模组、探测装置、激光雷达以及终端。本申请能够在不显著提升探测装置的成本的情况下，完成ROI区域的加密扫描，提升对ROI区域的探测精度，同时还能够保证探测效率。可选地，RIO区域可以是视野的中间部分，或者预先定义的视野区域等。
下面先对本申请提供的一种探测装置进行介绍。
请参见图2，图2是本申请实施例提供的一种探测装置20的结构示意图，该探测装置20包括发射模组201，接收模组202和扫描模组203。其中：
发射模组201用于产生激光信号。可选地，发射模组201可以包含激光器。例如，激光器包括但不限于是激光二极管(laser diode，LD)、垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)、光子晶体表面发射激光器(photonic crystal surface emitting semiconductor lasers，PCSEL)、边发射激光器(edge emitting laser，EEL)、分布式反馈激光二极管(distributed feedback LD，DFB-LD)、光栅耦合采样 反射激光二极管(Grating coupled sampling reflection LD，GCSR-LD)、或者微光机电系统激光二极管(micro opto electro mechanical system LD，MOEMS-LD)等发光元件中的一种或多种。
接收模组202用于接收发射模组201发射的激光信号对应的返回信号。例如，接收模组202可以包含探测器。进一步可选地，探测器可以包含一个或者多个探测元件。例如，探测器可以包含但不限于单光子雪崩二极管(single-photon avalanche diode，SPAD)、硅光电倍增管(Silicon photomultiplier，SiPM)、半导体雪崩光电二极管(avalanche photo detector，APD)、多像素光子计数器(multi-pixel photon counter，MPPC)、或电子倍增电荷耦合器(electron multiplying charge-coupled device，EMCCD)等探测元件中的一项或者多项。
扫描模组203用于改变光的传播方向。例如，可以通过环绕转动轴设置的N个反射面组将发射模组201发射的激光信号照射到视野中的探测区域上。其中，扫描模组203可以包含机械式扫描器件、或电学扫描器件等。扫描模组203可以包含以下光学元件中的一项或者多项：反射镜、透镜、分光镜、摆镜、转镜(Polygon)、或微机电系统(Micro-Electro-Mechanical System,MEMS)振镜等。可选地，N个反射面组相对转动轴中心对称，N个反射面组中的每个反射面组包括边缘相接的第一反射面和第二反射面。
本申请实施例中，发射模组201可以通过该扫描模组203的第一反射面将激光信号发射到物空间，使得物空间中的目标能够被激光信号照射。其中，第一反射面为当前用于反射发射模组201发射出的激光信号的反射面的统称。接收模组202可以通过该扫描模组203的第二反射面接收该激光信号在目标上反射形成的返回信号，基于返回信号测量目标的相关信息。其中，第二反射面为对反射返回信号的反射面的统称。发射视场为被发射模组发射的激光信号覆盖的物空间，接收视场为接收模组能够接收到光的物空间。
在一种可能的设计中，探测装置20中的发射模组201和接收模组202位于扫描模组203沿垂直于转动轴方向的异侧。也即收发光路可以是离轴的。
示例性地，发射模组201发射激光信号，激光信号经过发射镜头照射到视野内的目标上产生反射，形成返回信号，返回信号经过接收镜头被接收模组202接收。激光信号和返回信号的光轴不同。
在又一种可能的设计中，本申请的探测装置20中的发射模组201和接收模组202位于扫描模组203沿垂直于转动轴方向的同侧。也即收发光路可以是同轴的。下面介绍几种同轴的实现方式：
实现方式一，发射模组201和接收模组202集成在一起。也即，发射模组和接收模组可以被集成在同一个模组上。示例性地，通过光纤阵列或者波导阵列实现发射和接收的光路集成。
实现方式二，发射模组201和接收模组202分立设置。探测装置20还包括同轴模组，同轴模组用于实现激光信号与激光信号的返回信号的同轴。
作为一种同轴模组的示例，同轴模组包括一个或者多个反光镜(或者具有反射作用的光学元件)，例如打孔反射镜。图3A是本申请实施例提供的一种可能的同轴光路的示意图，同轴模组通过反射镜301实现激光信号与激光信号的返回信号的同轴。激光信号经过反射镜301被反射到物空间，返回信号不经过反射镜301(例如从反射镜301的两侧穿过)被接收模组接收。
如图3B是本申请实施例提供的另一种可能的同轴光路的示意图，同轴模组通过打孔反射镜302实现激光信号与激光信号的返回信号的同轴。激光信号穿过打孔反射镜302的中心圆孔射入物空间，返回信号经过打孔反射镜302被接收模组接收。图3A和图3B所示的同轴光路中均可以通过反射镜改变激光信号的传播方向。本申请对于反光镜的数量和设置位置不做限定。
作为一种同轴模组的示例，同轴模组包括偏振分束器(PBS)和四分之一波片(quarter wave plate，QWP)。
示例性地，图4是本申请实施例提供的又一种可能的同轴光路的示意图。如图4所示，探测信号光经过发射模组出射到空间中，经过发射镜头及PBS，被透射到达QWP，此时探测信号光的偏振方向为P偏振。QWP会改变探测信号光的偏振方向，将线偏光转换为圆偏光，因此，经过QWP后的探测信号光为圆偏光。圆偏光照射到视野内的目标上产生反射，形成返回信号光(仍为圆偏光)。返回信号光再次经过QWP时，偏振方向发生改变，形成偏振方向为S偏振的返回信号光。S偏振的返回信号光经过PBS后被反射，经过接收透镜到达接收模组。探测信号光和反射信号光的光轴相同。可选地，探测信号光为P偏振光。
作为一些同轴模组的示例，同轴模组可以通过环形器、半透半反分光镜等光学器件来实现激光信号与激光信号的返回信号的同轴。其中，半透半反分光镜能够把一束光分成光谱成分大致相同的两束光，例如在一定的波长区域内，如300nm至100μm的波长范围内，对各波长具有相同(此处的相同不一定只完全相同，可以在一定范围内有波动)的透射率和反射率。此时，N个激光信号经过半透半反分光镜后， 每个激光信号都部分被反射而部分被透过，使得传播到接收模组的N个激光信号的能量存在损耗。同理，来自接收模组的N个返回信号在经过半透半反分光镜后也部分被发射部分被透射，从而使得N个返回信号的能量也存在一定损耗。
环形器是将进入其任一端口的激光信号，按照由静偏磁场确定的方向顺序传入下一个端口的多端口器件。其突出特点是单向传输能量并控制电磁波沿某一环行方向传输。示例性地，一种环形器具有三个端口，光束从1端口到2端口，从2端口到3端口，从3端口到1端口，其余路径均不通，也即无法从2端口到1端口(也即具有高隔离度)。此时，激光信号可以从端口1进入而从端口2出射到达接收模组，而来自接收模组的返回信号可以从端口2进入并从端口3出射，从而实现了收发同轴。
当然，上述结合图3A、图3B、图4的几种方式仅为示例性的介绍，并不旨在限定本申请的同轴和离轴方案一定通过上述方式来实施。
本申请实施例中涉及的探测装置20，对于探测装置20中的光学元件的数量、摆放位置、摆放顺序、大小等不做限定。应理解，本申请实施例中发射模组、接收模组、光学元件等的数量和安装位置不做限定，图2仅是为了便于描述而示出的一种可能的情况，不作为对探测装置20的限定。
下面对本申请提供的一种扫描模组进行介绍。可选地，该扫描模组可以应用于前述图2所示的探测装置20。
本申请实施例提供一种扫描模组203，结合图2，扫描模组203为多面体(Polygon)，包括环绕转动轴设置的多个反射面组。为了便于描述，将反射面组的数量设计为N，N为正整数且N≥3。N个反射面组相对转动轴中心呈现旋转对称，N个反射面组中的每个反射面组包括边缘相接的第一反射面和第二反射面。示例性地，以N＝4为例，请参见图5，图5是本申请实施例提供的一种4面Polygon的反射面的示意图，扫描模组203包括四个反射面组，每个反射面组包括两个反射面，便于区分将两个反射面分别表示为第一反射面和第二反射面。
如图5所述的扫描模组包括四个反射面组，每个反射面组包括两个反射面，因此扫描模组一共具有八个反射面，即B1面、A1面、B2面、A2面、B3面、A3面、B4面、A4面。该八个反射面分别属于4个反射面组，例如B1面和A1面属于一个反射面组，B2面和A2面属于一个反射面组，B3面和A3面属于一个反射面组，B4面和A4面属于一个反射面组。该4面Polygon的四组反射面的不相接的边缘的连线形成的四条边围成的区域，用于表示该4面Polygon的截面为正四边形。相应地，该4面Polygon为正四面体。
如图5所示的4面Polygon的俯视图可以看出，B1面和A1面是在该4面Polygon的截面为正四边形的基础上，通过补面形成的。B1面和A1面的不相接的边缘的连线(也即图5中所示的B1面和A1面下方的虚线连线形成的区域)，应当是正四边形的一条边。应理解，此处的正四面体仅为示例性的介绍，本申请对于正五面体、正六面体等多面体依旧适用。
可选地，该4面Polygon可以是不规则的四面体。例如，B1面和A1面相对于转动轴不呈现旋转对称。
在一种可能的设计中，第一反射面与相邻的两个反射面的夹角不同。例如第一反射面组中的B1面和A1面的夹角(例如表示为图5所示的θ)为155°，B1面与相邻的A4面的夹角为115°。
可选地，在扫描模组包括多个反射面组的情况下(例如包括3个反射面组、4个反射面组或更多的反射面组的扫描模组)，每个反射面组上的结构与本申请各实施例中描述的一个反射面组的层级结构相同或类似。接下来以扫描模组包括的第一反射面组中的B1面和A1面为例，对4面Polygon的扫描过程进行详细阐述。
示例性地，图5以扫描模组203的第一反射面组的侧视图为例(只显示一侧端面)，沿着转动轴的方向，B1面的边缘与转动轴之间的连线为第一角度(例如表示为β)，A1面的边缘与转动轴之间的连线为第二角度(例如表示为α)，B1面的边缘与A1面的边缘之间的连线为第三角度θ。
可选地，第一角度β和第二角度α的大小可以相同，也可以不同。第一角度β、第二角度α和第三角度θ之间的角度关系可以满足如下公式：
θ+α＜π，
θ+β＜π。
通过设计第一角度β、第二角度α和第三角度θ之间的相对角度关系，使得激光信号经过B1面后扫描的区域与经过A1面后扫描的区域存在重叠。示例性地，激光信号在第一方向上(例如表示为水平方向)经过B1面反射可以扫描第一角度范围，而激光信号再经过与B1面边缘相接的A1面反射可以扫描第二角 度范围，第一角度范围与第二角度范围存在重叠，重叠区域即ROI区域。而重叠区域经过了B1面反射的激光信号的扫描和A1面反射的激光信号的扫描，也即，重叠区域经过了两次反射面反射的激光信号的重复扫描，重复扫描过的区域相当于经过了多次探测。因此，基于本申请提供的扫描模组中的反射面之间以及反射面与转动轴之间的夹角的角度设计，可以实现对ROI区域的加密扫描，提升对ROI区域的探测精度。示例性地，若将第一角度β和第二角度α的大小相差设计得较小，此种情况下第三角度θ会比较大，甚至趋近于180°。基于此种情况形成的扫描图案是第一角度β对应的反射面被扫描完一遍的扫描轨迹(例如为图6A或图6B所示的角度宽度β′)，以及第二角度α对应的反射面也被扫描一遍的扫描轨迹(例如为图6A或图6B所示的角度宽度α′)。下面结合图6A和图6B介绍两种扫描模组进行扫描时基于不同通道形成的扫描图案。
请参见图6A，激光信号经过B1面在物空间形成的视场角为激光信号从B1面的第一边缘到B1面的第二边缘依次经过并扫描第一方向上(例如为平行于转动轴的方向，也可以称为前述的水平方向)的第四角度至第五角度所形成的角α′。如图6A中的(c)所示，x0至x3表示方位角，以视野中心为0方位角(0°)，0方位角的左侧为负角度，右侧为正角度。其中，第四角度为图6A中的(c)所示的x0，第五角度为图6A中的(c)所示的x2。单个通道的扫描轨迹如图6A中的(c)所示，图6A中的(d)所示的扫描图案可以为4个通道(或称为4线)(例如图6A中的(a)所示的通道1、通道2、通道3和通道4)的激光信号经过一次B1面和A1面形成的，图6A中的(e)-图6A中的(g)所示的扫描图案可参照图6A中的(d)所示的扫描图案推理得到。
一些方案中，如图6B中的(d)所示的扫描图案也可以由图6B中的(a)所示的单通道(比如通道1)的激光信号经过1次B1面和A1面，1次B2面和A2面，1次B3面和A3面，1次B4面和A4面形成。图6B中的(b)为图6B中的(a)的扫描模组1的俯视图截面。图6B中的(c)的x0至x3表示方位角，以视野中心为0方位角(0°)，0方位角的左侧为负角度，右侧为正角度。当然，本申请对于更多通道或者更少通道的激光信号同样使用，对于1维、2维扫描同样适用。
一些情况下，激光信号经过第一反射面在物空间形成的视场角β′为第二角度β的两倍，该角度关系可以满足如下公式：
β′＝2β。
继续如图6A所示，激光信号经过B1面在物空间形成的视场角为激光信号从B1面的第三边缘到B1面的第四边缘依次经过并扫描水平方向上的第六角度至第七角度所形成的角(例如角度宽度为β′)。继续如图6A所示，第六角度为图6A中的(c)所示的x1，第七角度为图6A中的(c)所示的x3，B1面的第二边缘与A1面的第三边缘相接。
又一些情况下，激光信号经过第二反射面在物空间形成的视场角α′为第一角度α的两倍，该角度关系可以满足如下公式：
α′＝2α。
激光信号经过第一反射面在物空间形成的视场角与激光信号经过第二反射面在物空间形成的视场角在角空间存在重叠，重叠角度范围为激光信号扫描第五角度至第六角度所形成的角(例如该角度宽度表示为θ′)。继续如图6A所示，重叠角度范围为图6A中的(c)所示的x1至x2。重叠角度范围的宽度θ′与第三角度θ负相关，该角度关系可以满足如下公式：
θ′＝2(π-θ)。
由上述公式可以看出，θ越大，θ′越小。为便于理解，下面结合图6A对θ与θ′的关系进行介绍。
以A1面和B1面两个反射面为例，由于存在两个反射面，因此两个反射面会分别有两条不同的法线，当该4面Polygon在旋转时，激光信号经过B1面之后，若激光信号还没来得及继续经过A1面之前，激光信号会刚好打在B1面与A1面之间转折的地方。由于入射光是相同的，但两条法线不同，因此会有两条不同的反射光，当B1面和A1面之间的角度θ变化不大时，也即是两条法线之间的变化不大，因此B1面和A1面之间的扫描轨迹的变化也不大，也即可以形成图6A中的(c)-图6A中的(g)或者图6B中的(d)所示的扫描图案。当出现θ趋近于180°的情况时，相当于只有一条法线，此时重叠角度范围会很小，也即θ′很小。综上，θ越大，θ′越小。由于扫描的信号对视场范围中间的区域产生了重叠，相应地，返回信号在视场范围中间的区域也产生了重叠，得到的探测数据中，视场范围中间的区域的点云密度高于视场范围边缘的区域的点云密度，从而提高对探测区域中间区域的探测精度。
一种可能的实现方式中，在第二方向上(例如为垂直于转动轴的方向，也可以称为前述的垂直方向)， 经过第一反射面反射的激光信号的光斑的路径(也即扫描线)与经过第二反射面反射的激光信号的光斑的路径(扫描线)具有间隔。在经过不同反射面反射的激光信号的光斑的路径有间隔时，第一反射面和第二反射面在水平方向上被扫描产生的扫描轨迹之间才会存在一定的宽度，进而才能对ROI区域起到重复扫描的作用。当光斑的路径重复时，激光信号经过不同的两个反射面在物空间形成的视场角存在重叠角度范围，重叠的部分相当于进行多次探测，增加了点云密度，从而能够提升探测结果的精度。
作为一种可能的设计，在平行于转动轴的方向上，第一反射面与转动轴存在第一夹角(例如表示为γ)，第二反射面平行于转动轴。
其中，经过第一反射面反射的激光信号与经过第二反射面反射的激光信号在第二方向上存在第三夹角(例如表示为γ′)，第三夹角γ′与第一夹角γ正相关，第三夹角γ′与第一夹角γ的角度关系可以满足如下公式：γ′＝2γ。
请参见图7，图7是本申请实施例提供的一种反射面相对于转动轴存在角度差的示意图。其中，X轴的方向为平行于转动轴的方向，Z轴的方向为指向地面的方向，Y轴的方向为垂直于转动轴的方向。由Z轴指向X轴的方向表示负方向，由X轴指向Z轴的方向表示正方向。如图7中的(a)所示，以第一反射面为B1面，第二反射面为A1面为例，当第一夹角γ的开口方向由X轴指向Z轴，B1面相对于转动轴存在正方向上的第一夹角γ(例如第一夹角γ为0.05°)，A1面平行于转动轴。经过B1面反射的激光信号与经过A1面反射的激光信号在垂直于转动轴的方向上存在第三夹角γ′(例如第三夹角γ′为0.1°)。
如图7中的(b)所示，以第一反射面为B1面，第二反射面为A1面为例，当第一夹角γ的开口方向由Z轴指向X轴，B1面相对于转动轴存在负方向上的第一夹角γ(例如第一夹角γ为0.05°)，A1面平行于转动轴。经过B1面反射的激光信号与经过A1面反射的激光信号在垂直于转动轴的方向上存在第三夹角γ′(例如第三夹角γ′为0.1°)。
作为一种可能的设计，在平行于转动轴的方向上，第一反射面与转动轴存在正方向上的第一夹角(例如表示为γ1)，第二反射面与转动轴存在负方向上的第二夹角(例如表示为γ2)。其中，经过第一反射面反射的激光信号与经过第二反射面反射的激光信号在第二方向上存在第三夹角γ′，第三夹角与第一夹角与第二夹角相关，第三夹角γ′、第一夹角γ1与第二夹角γ2的角度关系可以满足如下公式：γ′＝2(γ1+γ2)。
如图7中的(c)所示，以第一反射面为B1面，第二反射面为A1面为例，当第一夹角γ1的开口方向由Z轴指向X轴，第二夹角γ2的开口方向由X轴指向Z轴，B1面相对于转动轴存在负方向上的第一夹角γ1(例如第一夹角γ1为0.05°)，A1面相对于转动轴存在正方向上的第二夹角γ2(例如第二夹角γ2为0.05°)，经过B1面反射的激光信号与经过A1面反射的激光信号在垂直于转动轴的方向上存在第三夹角γ′(例如第三夹角γ′为0.2°)。
本申请通过设计第一反射面和/或第二反射面与转动轴的角度差，当扫描装置用于旋转扫描时，经过第一反射面的线束和经过第二反射面的线束之间存在角度差，使得第一反射面的扫描和第二反射面的扫描不重叠，达到加密扫描的作用。结合图6A或图6B可以看出，经过A1面的扫描线束可以位于经过B1面的扫描线束的“间隙”之间，相应的，经过B1面的扫描线束也位于经过A1面的扫描线束的“间隙”之间，使得A1B1面的扫描线束相互交织而不至于完全相互覆盖，增加点云密度，提升重叠区域的分辨率。
当然，上述结合图7对X轴、Y轴、Z轴的方向的预先定义仅为示例性的介绍，并不旨在限定本申请的几种可能的设计一定通过上述定义的方向来实施，也可以是通过定义的其它方向来实施。
可选地，上述图示中的扫描模组都以4面Polygon的扫描过程为例，该扫描模组还可以是5面Polygon、6面Polygon等，本申请并不对Polygon基体的形态进行限定，请参见图8，图8是本申请实施例提供的一种5面Polygon的示意图，通过5面Polygon进行扫描的过程，其原理与前述实施例相同，具体可以参照前述实施例，此处不再赘述。
在本申请中，通过设计第一角度β、第二角度α和第三角度θ满足一定的关系，使得激光信号经过第一反射面后扫描的区域与经过第二反射面后扫描的区域存在重叠。示例性地，激光信号在第一方向上(例如表示为水平方向)经过第一反射面(例如表示为B1面)反射可以扫描第一角度范围，而激光信号再经过与B面边缘相接的第二反射面(例如表示为A1面)反射可以扫描第二角度范围，第一角度范围与第二角度范围存在重叠，重叠区域即ROI区域。而重叠区域经过了B1面反射的激光信号的扫描和A1面反射的激光信号的扫描，也即，重叠区域经过了两次反射面反射的激光信号的重复扫描，重复扫描过的区域相当于经过了多次探测。因此，基于本申请提供的扫描模组中的反射面之间以及反射面与转动轴之 间的夹角的角度设计，可以实现对ROI区域的加密扫描，提升对ROI区域的探测精度。
本申请通过设计调整扫描模组的反射面间的夹角(即第三角度θ)，以及反射面与转动轴的夹角(即第一角度β和第二角度α)实现ROI区域的加密扫描，提升对ROI区域的探测精度。相比于通过直接增加接收芯片的像元数目的方案，对扫描模组进行设计的方案成本较低，可以不显著提升探测装置的成本。相比于重复扫描的方案，以第一反射面为B1面，第二反射面为A1面为例，本申请中从B1面到A1面之间的扫描是完整的一次扫描，没有额外进行扫描，从而保证了探测效率。
综上，本申请能够在不显著提升探测装置的成本的情况下，完成ROI区域的加密扫描，提升对ROI区域的探测精度，同时还能够保证探测效率。
进一步地，本申请中B1面和A1面的扫描的重叠角度范围位于视野的中心区域，而通过对视野的中心区域进行加密扫描，可以提升中心区域的探测精度，能够有效提高探测结果的价值且有利于感知结果相关的计算和决策。
示例性地，本申请可以应用于车辆感知、智能驾驶、测绘、机器人感知等场景中。以车辆感知场景为例，视野的中心区域通常包括了车辆大概率会行驶到的空间，为高价值的视野范围(即ROI区域)。而通过本申请实施例，提升对ROI区域的探测精度，提高了探测信息的有效性，进而提升车辆的驾驶安全性，同时还能够保证探测效率。尤其是对于智能驾驶系统来说，ROI的探测精度越高，越有利于智能驾驶系统的计算和决策，从而提高智能驾驶系统的安全性和舒适性。
本申请实施例还提供一种激光雷达，该激光雷达包括扫描模组、发射模组和接收模组，发射模组包括激光器，接收模组包括探测器，激光器用于发射激光信号，扫描模组用于将激光信号扫描到物空间，激光信号用于对物空间进行探测，探测器用于根据激光信号的返回信号得到物空间中的目标的相关信息。
可选地，扫描模组包括前述实施例所描述的扫描装置，例如图2所示实施例的扫描模组，或者其它可能的设计。
可替换地，上述激光雷达还可以替换为其它探测装置，例如融合探测装置等。
本申请实施例还提供一种终端，该终端包括前述的探测装置，例如探测装置20和上述的激光雷达。该终端(或具体为终端中的探测装置)包括前述实施例所描述的扫描模组，例如图2所示实施例的扫描模组，或者其可能设计。
请参见图9，图9是本申请实施例提供的一种可能的终端90的结构示意图，终端90包括处理器901和前述的探测装置20。处理器901和探测装置20之间可以进行连接，或者进行通信，本申请实施例对于连接、通信的具体实施方式不做限制。
处理器901用于根据探测装置20的接收模块所接收的返回信号，得到关于视场中物体的探测数据。这些探测数据具体可以为视场范围对应的点云数据，或者，探测数据可以包括视场范围中的目标的距离、方位、目标所占用的像素区域、高度、速度、姿态或形状信息等中的一项或者多项。
可选地，处理器901是进行算术运算和/或逻辑运算的模块，具体可以包括以下装置中的一项或者多项：中央处理器(central processing unit，CPU)、应用处理器(application processor，AP)、时间数字转换器(Time-to-Digital Converter,TDC)、滤波器、图形处理器(graphics processing unit，GPU)、微处理器(microprocessor unit，MPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、图像信号处理器(image signal processor，ISP)、数字信号处理器(digital signal processor，DSP)、现场可编程逻辑门阵列(Field Programmable Gate Array，FPGA)、复杂可编程逻辑器件(Complex programmable logic device，CPLD)、协处理器(协助中央处理器完成相应处理和应用)、微控制单元(Microcontroller Unit，MCU)、和/或神经网络处理器(neural-network processing unit，NPU)等。
可选地，上述终端可以包括车辆、船舶、飞机、火车、航天器、无人机、机器人等移动平台或运输工具。
本申请实施例还可以应用于智能汽车技术领域，如车辆外联(vehicle to everything，V2X)、车间通信长期演进技术(Long Term Evolution-vehicle，LTE-V)、车辆-车辆(vehicle to vehicle，V2V)等。
在本申请的描述中，术语“中心”、“上”、“下”、“垂直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“连接”应做广义理解，例如可以是固定连接，也可以是可拆卸连接，还可以是抵触连接或一体的连接；对于本领域的普通技术人 员而言，可以具体情况理解上述术语在本申请中的具体含义。
本申请实施例中，“示例性地”或者“例如”等词用于表示作例子、例证或说明。本申请中被描述为“示例性地”或者“例如”的任何实施例或设计方案不应被解释为比其他实施例或设计方案更优选或更具优势。确切而言，使用“示例性地”或者“例如”等词旨在以具体方式呈现相关概念。
本申请中实施例提到的“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a、b、或c中的至少一项(个)，可以表示：a、b、c、(a和b)、(a和c)、(b和c)、或(a和b和c)，其中a、b、c可以是单个，也可以是多个。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A、同时存在A和B、单独存在B这三种情况，其中A、B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。
以及，除非有相反的说明，本申请实施例使用“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。例如，第一反射面和第二反射面，只是为了便于描述，而并不是表示这第一反射面和第二反射面的来源、顺序、重要程度等的不同，在某些实施例中，第一反射面和第二反射面还可以是同一个反射面。
上述实施例中所用，根据上下文，术语“当……时”可以被解释为意思是“如果……”或“在……后”或“响应于确定……”或“响应于检测到……”。以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本申请的构思和原则之内，所作的任何修改、等同替换、改进等，均应包括在本申请的保护范围之内。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。

Claims (15)

  1. 一种扫描模组，其特征在于，
    所述扫描模组包括环绕转动轴设置的N个反射面组，N为正整数且N≥3，所述N个反射面组相对所述转动轴中心对称，所述N个反射面组中的第一反射面组包括边缘相接的第一反射面和第二反射面，所述第一反射面与相邻的两个反射面的夹角不同；
    沿着所述转动轴的方向，所述第一反射面的边缘与所述转动轴之间的连线为第一角度，所述第二反射面的边缘与所述转动轴之间的连线为第二角度，
    所述第一反射面的边缘与所述第二反射面的边缘之间的连线为第三角度，180°与所述第一角度的差值大于所述第三角度，且180°与所述第二角度的差值大于所述第三角度。
  2. 根据权利要求1所述的扫描模组，其特征在于，所述扫描模组用于将激光信号扫描到物空间，所述激光信号用于对所述物空间进行探测，
    其中，所述激光信号经过所述第一反射面在所述物空间形成的视场角为所述激光信号从所述第一反射面的第一边缘到所述第一反射面的第二边缘依次经过并扫描第一方向上的第四角度至第五角度所形成的角，
    所述激光信号经过所述第二反射面在所述物空间形成的视场角为所述激光信号从所述第二反射面的第三边缘到所述第二反射面的第四边缘依次经过并扫描所述第一方向上的第六角度至第七角度所形成的角，所述第一反射面的第二边缘与所述第二反射面的第三边缘相接；
    所述激光信号经过所述第一反射面在所述物空间形成的视场角与所述激光信号经过所述第二反射面在所述物空间形成的视场角在角空间存在重叠，所述重叠角度范围为所述激光信号扫描所述第五角度至所述第六角度所形成的角，所述重叠角度范围的宽度与所述第三角度负相关。
  3. 根据权利要求1或2所述的扫描模组，其特征在于，
    所述激光信号经过所述第一反射面在所述物空间形成的视场角为所述第一角度的两倍，以及所述激光信号经过所述第二反射面在所述物空间形成的视场角为所述第二角度的两倍。
  4. 根据权利要求1-3任一项所述的扫描模组，其特征在于，
    在第二方向上，经过所述第一反射面反射的激光信号的光斑的路径与经过所述第二反射面反射的激光信号的光斑的路径具有间隔。
  5. 根据权利要求1-4任一项所述的扫描模组，其特征在于，所述扫描模组的所述N个反射面组绕所述转动轴转动。
  6. 根据权利要求1-5任一项所述的扫描模组，其特征在于，在平行于所述转动轴的方向上，所述第一反射面与所述转动轴存在第一夹角，所述第二反射面平行于所述转动轴。
  7. 根据权利要求6所述的扫描模组，其特征在于，经过所述第一反射面反射的激光信号与经过所述第二反射面反射的激光信号在第二方向上存在第三夹角，所述第三夹角与所述第一夹角正相关。
  8. 根据权利要求1-5任一项所述的扫描模组，其特征在于，在平行于所述转动轴的方向上，所述第一反射面与所述转动轴存在正方向上的第一夹角，所述第二反射面与所述转动轴存在负方向上的第二夹角。
  9. 根据权利要求8所述的扫描模组，其特征在于，在平行于所述转动轴的方向上，所述第一反射面与所述转动轴存在正方向上的第一夹角，所述第二反射面与所述转动轴存在负方向上的第二夹角；
    经过所述第一反射面反射的激光信号与经过所述第二反射面反射的激光信号在第二方向上存在第三夹角，所述第三夹角与所述第一夹角与所述第二夹角相关。
  10. 一种探测装置，其特征在于，所述探测装置包括发射模组、接收模组和权利要求1-9任一项所述的扫描模组，
    所述发射模组用于发射激光信号，
    所述扫描模组的N个反射面组绕所述转动轴转动，以用于将所述激光信号扫描到物空间，所述激光信号用于对所述物空间进行探测；
    所述扫描模组还用于将来自所述物空间的所述激光信号的返回信号提供给所述接收模组。
  11. 根据权利要求10所述的探测装置，其特征在于，所述发射模组和所述接收模组位于所述扫描模组沿垂直于所述转动轴方向的同侧或者异侧。
  12. 根据权利要求10或11所述的探测装置，其特征在于，在所述发射模组和所述接收模组位于同侧的情况下，所述探测装置还包括同轴模组，
    所述同轴模组用于实现所述激光信号与所述激光信号的返回信号的同轴。
  13. 根据权利要求12所述的探测装置，其特征在于，所述同轴模组包括打孔反射镜，或者所述同轴模组包括偏振分束器PBS和四分之一波片。
  14. 一种激光雷达，其特征在于，所述激光雷达包括权利要求10-13任一项所述的探测装置，所述探测装置包括发射模组、扫描模组和接收模组，所述发射模组包括激光器，所述接收模组包括探测器，
    所述激光器用于发射激光信号，
    所述扫描模组用于将所述激光信号扫描到物空间，所述激光信号用于对所述物空间进行探测；
    所述探测器用于根据所述激光信号的返回信号得到所述物空间中的目标的相关信息。
  15. 一种终端，其特征在于，所述终端包括权利要求10-13任一项所述的探测装置或权利要求14所述的激光雷达。
PCT/CN2023/139844 2023-12-19 2023-12-19 一种扫描模组、探测装置、激光雷达和终端 Pending WO2025129446A1 (zh)

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