WO2025218345A1 - 激光探测组件、激光雷达接收系统和激光雷达系统 - Google Patents

激光探测组件、激光雷达接收系统和激光雷达系统

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Publication number
WO2025218345A1
WO2025218345A1 PCT/CN2025/078526 CN2025078526W WO2025218345A1 WO 2025218345 A1 WO2025218345 A1 WO 2025218345A1 CN 2025078526 W CN2025078526 W CN 2025078526W WO 2025218345 A1 WO2025218345 A1 WO 2025218345A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
laser
detection
array
detector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/078526
Other languages
English (en)
French (fr)
Inventor
牛浩芸
刘军
郑彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligent Technology Co Ltd
Original Assignee
Shenzhen Yinwang Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Publication of WO2025218345A1 publication Critical patent/WO2025218345A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • 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
    • 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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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 detection technology, and more specifically, to a laser detection component, a laser radar receiving system, and a laser radar system.
  • LiDAR is a device consisting of a transmitting optical system and a receiving system.
  • the transmitting optical system is used to emit laser light into the space where the target is located, so that the target is illuminated by the laser light of a specific wavelength.
  • the receiving system focuses the light reflected from the target (hereinafter referred to as the echo light signal) onto the detector, forming a target detection.
  • lidar Currently, one technical route for lidar is to use a detector array composed of multiple single-photon avalanche diodes (SPADs) to detect the light signal reflected from the target.
  • This detector array is highly integrated and densely arranged, and the spacing between each detection element is very small. Therefore, it is easy for crosstalk to occur between the echo light signals corresponding to each sub-field of view, making the generated point cloud image abnormal and affecting the detection accuracy of the lidar.
  • SBADs single-photon avalanche diodes
  • the present application provides a laser detection component, a laser radar receiving system and a laser radar system, which can reduce the crosstalk between the echo light signals incident on each sub-field of view, thereby improving the detection accuracy of the laser radar.
  • a laser detection component which includes a plurality of detector arrays and an optical array structure; wherein the plurality of detector arrays correspond one-to-one to the optical array structure; the optical array structure includes at least one light-transmitting unit and a light-shielding unit arranged between adjacent light-transmitting units, each light-transmitting unit in the at least one light-transmitting unit corresponds to a detector array in the plurality of detector arrays, and one detector array corresponds to one detection channel.
  • an optical array structure can be used to isolate the laser radar's receiving lens and detector array.
  • the light shielding unit absorbs the light signal reflected by the detector array, preventing it from re-entering the detector array after being reflected by the receiving lens, thereby reducing optical signal crosstalk between detection channels.
  • the light-transmitting unit of the optical array structure corresponds to the detector array of a detection channel, preventing the optical array structure from blocking the light cone of the return light signal, which would weaken the return light signal. This ensures the return light signal's strength while reducing optical signal crosstalk, thereby improving the laser radar's detection accuracy and increasing its measurement range.
  • a light shielding unit is disposed between multiple detector arrays.
  • the light shielding unit may form a grid structure, with the middle portion of the grid structure being a light-transmitting unit.
  • Each light-transmitting unit corresponds to a detector array of a detection channel.
  • the light shielding unit separates the multiple detection channels, thereby reducing crosstalk between the echo optical signals of the respective detection channels.
  • one detection channel corresponds to one sub-field of view area.
  • a sub-field of view area is used to receive an echo light signal of a sub-field of view.
  • the height of the shading unit is determined according to the light cone angle of the incident light.
  • the height of the light shielding element can be determined based on the focal plane of the incident light (i.e., the echo light signal) and the light cone angle of the incident light.
  • the focal plane of the incident light is located on the detector array surface, the height of the light shielding element is less than or equal to d/2tan ⁇ , where d is the length of the light shielding element when the light shielding element is square, and ⁇ is the light cone angle of the incident light.
  • controlling the height of the shading unit to be less than or equal to a preset threshold helps to reduce the shading of the optical array unit on the echo light signal of a certain sub-field of view, thereby reducing the energy loss in the process of the echo light signal entering the detector array, and helps to improve the detection accuracy and ranging performance of the lidar.
  • a detector array includes n detectors, where n is determined according to a pixel binning mode of the detector array, and n is a positive integer.
  • setting up multiple detectors for one detection channel helps to improve the ability of the detection channel to receive echo light signals and reduce the energy loss of the echo light signals, thereby improving the detection accuracy and ranging performance of the lidar.
  • the light-transmitting unit includes a light-transmitting film, and the upper and lower surfaces of the light-transmitting film are respectively coated with an anti-reflection film and/or a filter film.
  • an anti-reflection film is provided in the light-transmitting unit to help reduce the impact of the optical array structure on the energy of the echo light signal
  • a filter film is provided in the light-transmitting unit to help filter out the background light in the echo light signal, thereby improving the detection accuracy.
  • a microlens is provided at a position on the surface of each detector array in the plurality of detector arrays corresponding to the light-transmitting unit.
  • a microlens is provided at the light-transmitting unit and is surrounded by a light-shielding unit, so that the microlens has a secondary convergence effect on the echo light signal in one detection channel and reduces crosstalk to adjacent detection channels.
  • a microlens array is provided on the surface of each detector array in the plurality of detector arrays, and each microlens in the microlens array corresponds to a detector in each detector array.
  • a laser radar receiving system which includes a laser detection component as in any possible implementation method of the first aspect, and a receiving lens group; the receiving lens group is used to focus the incident light including at least one sub-field of view reflected by the detection target, so that the incident light of at least one sub-field of view passes through the light-transmitting unit of the optical array structure of the laser detection component and is incident on the detector array of the laser detection component.
  • a laser radar system which includes a laser detection component and an optical transmitting system as in any possible implementation of the first aspect, or a laser radar system such as a laser radar receiving system and an optical transmitting system as in any implementation of the second aspect; wherein the laser emitted by the optical transmitting system is reflected by the detection target and then incident on the laser detection component or the laser radar receiving system.
  • a terminal device which includes a laser radar in any possible implementation of the third aspect.
  • the terminal device is a vehicle.
  • FIG1 is a schematic diagram of a laser radar system architecture provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of a laser radar detection process and a corresponding field of view distribution of a receiving system provided in an embodiment of the present application;
  • FIG3 is another schematic diagram of the laser radar detection process provided in an embodiment of the present application.
  • FIG4 is another schematic diagram of the field of view distribution of the receiving system of the laser radar provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of a principle of crosstalk between sub-fields of view provided by an embodiment of the present application.
  • FIG6 is a schematic diagram of a laser detection assembly provided in an embodiment of the present application.
  • FIG7 is a schematic side view of a laser detection assembly provided in an embodiment of the present application.
  • FIG8 is a schematic top view of a laser detection assembly provided in an embodiment of the present application.
  • FIG9 is another schematic side view of a laser detection assembly provided in an embodiment of the present application.
  • FIG10 is another schematic top view of the laser detection assembly provided in an embodiment of the present application.
  • Figure 11 is another schematic diagram of the laser radar system architecture provided in an embodiment of the present application.
  • FIG. 1 shows a schematic diagram of a laser radar provided in an embodiment of the present application.
  • the laser radar may include a detection device 101, which is configured to transmit laser light and receive optical signals.
  • the laser radar may also include a processing device 102, which is configured to perform calculations or data processing to obtain point cloud data of the detection area.
  • the detection device 101 may include a transmitting system and a receiving system.
  • the transmitting system may include a laser transmitting unit 1031 and a transmitting lens group 1032, wherein the laser transmitting unit 1031 is used to transmit an optical signal, and the transmitting lens group 1032 is used to shape the transmitted optical signal.
  • the receiving system may include a laser detection array 1041 and a receiving lens group 1042, wherein the laser detection array 1041 may include one or more detection units, wherein one detection unit may be a detector array composed of SPADs. Furthermore, in the case where the detector includes multiple detection units, the multiple detection units may be arranged in an array. For example, it may be an array of specifications such as a 1 ⁇ 2 array, a 2 ⁇ 3 array, or a 3 ⁇ 3 array. This application does not limit the number of rows and columns of the array arrangement.
  • the laser detection array 1041 when the laser detection array 1041 includes multiple detection units, when the laser detection array 1041 is working, it may be the case that only some of the detection units are in a working state, and the remaining detection units are in a non-working state (for example, a reserved state).
  • the receiving lens group 1042 is used to shape the laser incident on the laser detection array 1041.
  • the light signal emitted by the laser emitting unit 1031 irradiates the detection area.
  • Target objects within the detection area reflect the light signal, producing an echo of the transmitted signal.
  • the detector 104 receives the light signal from the detection area.
  • This light signal includes the echo of the transmitted signal and may also include some background light.
  • the detection device uses the time interval between the transmitted signal and the echo to determine the distance to the target object within the detection area, forming one or more points. Furthermore, information such as the energy intensity of the echo can be used to determine information such as the reflection intensity of the target object within the detection area.
  • the detection device 101 When the detection device 101 is performing detection, the light signal emitted by the laser emission system is irradiated into the detection area 105.
  • the detection target in the detection area 105 can reflect the light signal, thereby obtaining a return signal of the emitted light signal (hereinafter referred to as the echo light signal).
  • the receiving system 104 receives the echo light signal from the detection area.
  • the detection device 101 can determine the distance information of the target object in the detection area by the time interval between the emitted light signal and the echo light signal, forming one or more points. Furthermore, the energy intensity and other information of the echo light signal can also be used to obtain information such as the reflection intensity of the detection object in the detection area.
  • the detection device 101 can include different designs, such as array units emitting laser light and scanning mechanisms.
  • the optical signal emitted by the laser emitting unit 1031 is irradiated into the detection area 105 via the emitting lens group 1032.
  • the emitting lens group 1032′ includes a scanning mechanism a (such as one or more of a rotating mirror, a micro-vibrating mirror, or an oscillating mirror) and a lens group b for shaping (such as a collimator or an optical path shaping device).
  • the optical signal emitted by the laser emitting unit 1031 is irradiated onto the scanning mechanism a via the lens group b.
  • the emitted optical signal can be irradiated onto a sub-area of the detection area 105.
  • the scanning mechanism a can scan in a manner such as point scanning or line scanning, and the scanning order can be from top to bottom, from bottom to top, or from left to right.
  • FIG3 only uses line scanning and scanning in a top-to-bottom order as examples. This application does not specifically limit the scanning order of the scanning mechanism.
  • the light signal reflected by the detection target includes echo light signals from multiple sub-fields of view.
  • the echo light signals are focused by the receiving lens group 1042 and then passed through different receiving channels to different detection units on the detector surface. That is, each detection unit in an operating state corresponds to a receiving channel for receiving the echo light signal from a sub-field of view.
  • the laser detection array 1041 may include multiple detection units. As shown in FIG2(b), the laser detection array 1041 may include 3*3 detection units, each detection unit for receiving the echo light signal from a sub-field of view.
  • a sub-area of the detection area 105 illuminated by the transmitted light signal may correspond to a sub-area of the laser detection array 1041.
  • a sub-area of the laser detection array 1041 may include multiple detection units (e.g., detection units 1-6), each detection unit for receiving the echo light signal from a sub-field of view.
  • the return light signal When the return light signal is incident on the surface of the detector in the laser detection array 1041, part of the light signal is reflected by the detector surface. This reflected light signal may be reflected again by the lens surface of the receiving lens, thereby being incident on the adjacent detection unit.
  • the return light signal received by the detection unit corresponding to sub-field of view 2 is reflected by the detector surface and the lens surface, and is incident on the detection unit corresponding to sub-field of view 1 and/or sub-field of view 3, thereby affecting the accuracy of the detection results of the detection units corresponding to sub-field of view 1 and sub-field of view 3.
  • the detection units corresponding to sub-field of view 1, sub-field of view 2, and sub-field of view 3 shown in Figure 5 can be any three adjacent or non-adjacent detection units among the detection units 1 to 6 shown in the left figure.
  • the detection unit corresponding to sub-field of view 1 can be detection unit 1 or 2
  • the detection unit corresponding to sub-field of view 2 can be detection unit 3 or 4
  • the detection unit corresponding to sub-field of view 3 can be detection unit 5 or 6.
  • an embodiment of the present application provides a laser detection assembly comprising multiple detector arrays and an optical array structure.
  • the multiple detector arrays correspond one-to-one to the optical array structure, and the optical array structure comprises at least one light-transmitting unit and a light-shielding unit disposed between adjacent light-transmitting units.
  • Each light-transmitting unit in the at least one light-transmitting unit corresponds to one of the multiple detector arrays, and one detector array corresponds to one detection channel.
  • Figure 6 shows a side view and a top view of the laser detection assembly 21 provided in an embodiment of the present application.
  • One optical array structure corresponds to 9 detection arrays (such as detector arrays a ⁇ i), and the optical array structure includes 9 light-transmitting units, and shading units are provided between adjacent light-transmitting units. It should be understood that one detector array corresponds to one detection channel, and the echo light signal of the sub-field of view corresponding to the detection channel is incident on the detector array through the light-transmitting unit.
  • the shading unit can block part of the reflected light, for example, to prevent the light reflected by the detector array 1 from being incident on the detector array 2, thereby reducing crosstalk.
  • the detector arrays 1 and 2 can be any two adjacent detector arrays among the detector arrays a ⁇ i.
  • the height of the shading unit in the optical array structure can be determined based on the angle of the incident light cone. More specifically, the height of the shading unit in the optical array structure can be determined based on the angle of the incident light cone and the position of the focal plane of the incident light cone. For example, in the case where the focal plane is located on the detector array surface and the optical array structure is a grid structure, particularly a square grid structure, the height of the shading unit can satisfy the formula: H ⁇ d/2tan ⁇ , where H is the grid height, d is the inner side length of the grid unit, and ⁇ is the angle of the incident light cone.
  • the height H of the shading portion can be less than or equal to 40 ⁇ m.
  • d can be the diameter of the circle; if the light-transmitting unit is elliptical, d can be the length of the minor axis of the ellipse.
  • the distance between the focal plane and the highest point of the light-shielding unit may be H.
  • a detector array in the laser detection assembly 21 may include multiple detectors.
  • the number of detectors included in a detector array may match the image readout mode of the detectors. For example, taking the image readout mode as binning mode and the detectors as SPADs as an example, if the binning mode is to bin every 3x3 pixels into 1 pixel, then a detector array may include 3n*3n SPADs, where n is a positive integer.
  • the area where the laser detection array 1041 can actually receive the echo light signal is related to the far-field distribution of the light signal emitted by the laser emitting unit 1031.
  • the area on the laser detection array 1041 corresponding to the far-field distribution of the emitted light signal is the area where the optical array structure needs to be deployed. Therefore, based on the far-field distribution of the light signal emitted by the detection device, the multiple sub-fields of view corresponding to the echo light signal can be determined, and then the positions in the laser detection component corresponding to the multiple sub-fields of view can be determined.
  • a shading unit can be set at a position that does not block the incident light cone of each sub-field of view.
  • the light-transmitting portion of the optical array structure can be the position where the light signal emitted by the detection device is reflected by the detection target and irradiated on the laser detection array.
  • the size of the light-transmitting unit can be determined based on the size of the light spot irradiated on the laser detection array. For example, the area of the light-transmitting portion is greater than or equal to the size of the light spot irradiated on the laser detection array.
  • the above-mentioned method of designing an optical array structure in a receiving system based on the optical signal emitted by the transmitting system does not require the optical array structure to be installed on the entire surface of the receiving system's detector array. Instead, the optical array structure can be installed only on a portion of the detector array. For example, taking the laser detection array shown in Figure 5 as an example, the optical array structure can be installed only on the portion of Area 1 within the dashed box, while the optical array structure is not installed on the remaining portion.
  • This on the one hand, can selectively improve the detection accuracy of a portion of the detector array; on the other hand, since the optical array structure is only installed on a portion of the detector array, the overall cost of the laser radar can be reduced compared to installing the optical array structure on the entire surface of the detector array.
  • Figures 7 and 8 respectively illustrate a side view and a top view of a structure of a laser detection assembly 21 provided in an embodiment of the present application.
  • the light-transmitting unit of the optical array structure includes a light-transmitting film.
  • the upper and lower surfaces of the light-transmitting film can be coated with anti-reflection coatings to reduce the impact of the optical array structure on the energy of the echo light signal.
  • the upper and lower surfaces of the light-transmitting film can also be coated with filter coatings to filter out background light in the incident light cone and eliminate the impact of background light on the detection results.
  • light-shielding materials can be provided at corresponding positions on the upper and lower surfaces of the light-transmitting film to form a light-shielding unit.
  • the height H of the shading unit may be the sum of the thickness of the shading material provided on the upper and lower surfaces of the transparent film and the thickness of the transparent film (which may be coated with a filter film and/or an anti-reflection film).
  • a micro-lens array can be further provided between the detector array and the optical array structure to improve the convergence capability of the optical signal incident on the detector array.
  • MLA micro-lens array
  • Each micro-lens in the MLA corresponds one-to-one to a detector in the detector array.
  • the shading material may be a photoresist
  • the light-transmitting film may be polydimethylsiloxane (PDMS), polymethyl methacrylate (PMMA), silicon dioxide, etc.
  • the optical array structure may be made by a photolithography method. For example, a photoresist of a preset thickness is spin-coated on the upper and lower surfaces of the light-transmitting film (which may be coated with an anti-reflection film and/or a filter film), and the photoresist of the light-transmitting unit of the optical array structure is removed by photolithography exposure, leaving the photoresist as a shading unit.
  • the thickness of the photoresist can be adjusted by adjusting the spin-coating speed, thereby adjusting the height of the shading unit; or, the height of the shading unit can be adjusted by adjusting the thickness of the light-transmitting film.
  • Figures 9 and 10 respectively show a side view and a top view of another structure of the laser detection assembly 21 provided in an embodiment of the present application.
  • a microlens is provided on the surface of each detector array at a position corresponding to the light-transmitting unit.
  • the material of the microlens can be silicon dioxide, or other light-transmitting materials.
  • the microlens can be prepared directly on the detector surface by wet etching. It is understandable that one microlens can correspond to multiple detectors in the detector array.
  • the optical array structure shown in FIG. 9 and FIG. 10 may be directly manufactured on the surface of the detector array, or may be separately manufactured and then assembled on the surface of the detector array 210 .
  • the material of the shading unit in the optical array structure can be photoresist or mylar sheet.
  • the part corresponding to the light-transmitting unit is removed on the photoresist or mylar sheet of a preset thickness (such as H) by a femtosecond laser, leaving the part corresponding to the shading unit, thereby obtaining the optical array structure.
  • an MLA may be further provided between the detector array and the optical isolation structure, and each microlens in the MLA corresponds to a detector in the detector array.
  • the optical array structures shown in Figures 7 to 10 are only exemplary.
  • the light-transmitting units of the optical array structure may also be patterns of other styles besides a grid.
  • the light-transmitting units of the optical array structure may also be circular or elliptical, or may also be other shapes.
  • the laser detection assembly is described as a 3 ⁇ 3 array arrangement.
  • the laser detection assembly may also be arranged in other ways, for example, the laser detection assembly may be arranged in a 9 ⁇ 9 array, or a 1 ⁇ 3 array, or may be arranged in other ways. This application does not make specific limitations on this.
  • the laser detection assembly 21 provided in the embodiment of the present application can be set in a photosensitive area of the laser detection array 1041 in the detection device 101.
  • the laser emitting unit 1031 shown in Figures 1 to 3 can be understood as including only one emission channel (or light-emitting area).
  • the laser emitting unit 1031 in the detection device 101 can also include multiple emission channels.
  • the multiple detection light beams emitted by the laser emitting unit 1031 at the same time can be generated by multiple lasers.
  • each laser can correspond to one beam emission channel.
  • a single detection light signal generated by a single laser can be separated into multiple detection light signals by a beam separation device, so that the laser emitting unit 1031 can emit multiple detection light beams at the same time through a single laser, and each emission channel corresponds to a photosensitive area of the laser detection array 1041, which can include multiple detector arrays and optical array structures provided in the embodiments of the present application.
  • the black line represents the light signal of emission channel 1
  • the gray line represents the light signal of emission channel 2.
  • the light signals emitted by emission channel 1 and emission channel 2 are respectively irradiated to the sub-areas of the detection area 105. After being reflected by the detection target, the echo light signals are respectively incident on the photosensitive area A corresponding to emission channel 1 and the photosensitive area B corresponding to emission channel 2 via the receiving lens group 1042.
  • the laser detection assembly 21 provided in the embodiment of the present application can be set in the photosensitive area A and/or the photosensitive area B, and more specifically, can be set in a partial area of the photosensitive area A and/or a partial area of the photosensitive area B.
  • the focal planes of the photosensitive area A and the photosensitive area B may be located in the same plane or in different planes.
  • the focal planes of the photosensitive area A and the photosensitive area B may be located in the same plane; when the photosensitive area A and the photosensitive area B correspond to different optical axes of the receiving lens group 1042, the focal planes of the photosensitive area A and the photosensitive area B may be located in different planes.
  • the embodiments of the present application also provide a laser radar receiving system, which may include the aforementioned laser detection assembly 21 and a receiving lens assembly.
  • the receiving lens assembly is configured to focus the return light signal, including at least one sub-field of view, reflected from the detection target, so that the return light signal from at least one sub-field of view is incident on the detector array of the laser detection assembly via the light-transmitting unit of the optical array structure.
  • An embodiment of the present application also provides a laser radar system, which may include the above-mentioned laser detection component 21 or the laser radar receiving system.
  • An embodiment of the present application also provides a terminal device, which may include the above-mentioned laser radar.
  • the terminal device may be a vehicle.
  • the vehicles involved in the embodiments of the present application are vehicles in a broad sense, and may be transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • transportation vehicles such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.
  • industrial vehicles such as forklifts, trailers, tractors, etc.
  • engineering vehicles such as excavators, bulldozers, cranes, etc.
  • agricultural equipment such as mowers, harvesters, etc.
  • amusement equipment toy vehicles, etc.
  • toy vehicles etc.
  • the embodiments of the present application do not specifically limit the type of vehicle.
  • At least one of a, b, or c can mean: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.
  • prefixes such as “first” and “second” are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects.
  • the use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects.

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

Abstract

一种激光探测组件（21）、激光雷达接收系统和激光雷达系统。该激光探测组件（21）包括多个探测器阵列和光学阵列结构，多个探测器阵列与光学阵列结构一一对应。光学阵列结构包括多个透光单元，每个透光单元与一个探测器阵列相对应，每个探测器阵列对应一个探测通道，每个探测通道用于接收一个子视场的回波光信号。相邻的两个透光单元之间通过遮光单元隔开，当一个子视场的回波光信号经由透光单元入射至探测器阵列之后，遮光单元可以吸收一部分由探测器阵列反射的光信号，阻挡这部分光信号经由接收镜头再次入射至其他探测通道，从而能够降低探测通道之间的光信号串扰，进而提高激光雷达的探测精度。

Description

激光探测组件、激光雷达接收系统和激光雷达系统
本申请要求在2024年4月19日提交中国国家知识产权局、申请号为202410481925.6、发明名称为“激光探测组件、激光雷达接收系统和激光雷达系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及探测技术领域，更具体地，涉及一种激光探测组件、激光雷达接收系统和激光雷达系统。
背景技术
激光雷达是一种由发射光学系统和接收系统构成的装置。其中，发射光学系统用于将激光发射到待探测目标所处空间，使待探测目标能够被特定波长的激光照亮；接收系统将待探测目标反射回来的光(以下简称回波光信号)汇聚到探测器，形成一次目标探测。
目前激光雷达的一种技术路线是采用多个单光子雪崩二极管(single photon avalanche diodes，SPAD)组成的探测器阵列来实现对探测目标反射的光信号的探测，这种探测器阵列集成度很高，排布密集，各探测元件之间的间距很小，因此容易导致各子视场对应的回波光信号之间容易发生串扰，使生成的点云图像异常，影响激光雷达的探测精度。
发明内容
本申请提供一种激光探测组件、激光雷达接收系统和激光雷达系统，能够降低入射各子视场的回波光信号之间的串扰，从而提高激光雷达的探测精度。
第一方面，提供了一种激光探测组件，该激光探测组件包括多个探测器阵列和光学阵列结构；其中，多个探测器阵列与光学阵列结构一一对应；光学阵列结构包括至少一个透光单元和设置在相邻透光单元中间的遮光单元，至少一个透光单元中的每个透光单元与多个探测器阵列中的一个探测器阵列相对应，一个探测器阵列对应一个探测通道。
基于上述技术方案，通过光学阵列结构可以在激光雷达的接收镜头及探测器阵列之间形成隔离，其中，遮光单元可以吸收由探测器阵列反射的光信号，避免这部分光信号经由接收镜头反射后再次入射探测器阵列，从而能够降低探测通道间的光信号串扰。此外，光学阵列结构的透光单元与一个探测通道的探测器阵列相对应，能够避免光学阵列结构遮挡回波光信号的光锥导致的对回波光信号强度的削弱，从而在降低光信号串扰的前提下，能够保障回波光信号的强度，从而提高激光雷达的探测精度、增大激光雷达的测量距离。
在一些实现方式中，遮光单元设置在多个探测器阵列之间。例如，遮光单元可以构成栅格结构，栅格结构中间的部分即为透光单元，每个透光单元与一个探测通道的探测器阵列相对应，即通过遮光单元将多个探测通道分隔开，降低各个探测通道的回波光信号之间的串扰。
结合第一方面，在第一方面的某些实现方式中，一个探测通道对应一个子视场区域。
示例性地，一个子视场区域用于接收一个子视场的回波光信号。
结合第一方面，在第一方面的某些实现方式中，遮光单元的高度为根据入射光的光锥角度确定的。
在一些实现方式中，遮光单元的高度可以为根据入射光(即回波光信号)的焦平面及入射光的光锥角度确定的。在入射光的焦平面位于探测器阵列表面时，遮光单元的高度小于或等于d/2tanθ，其中，在透光单元为正方形时，d为透光单元的长度，θ为入射光的光锥角度。
在上述技术方案中，控制遮光单元的高度小于或等于预设阈值，有助于降低光学阵列单元对与某子视场的回波光信号的遮挡，从而降低回波光信号入射探测器阵列过程中的能量损失，有助于提高激光雷达的探测精度和测远性能。
结合第一方面，在第一方面的某些实现方式中，一个探测器阵列包括n个探测器，n为根据一个探测器阵列的像素合并模式确定的，且n为正整数。
在上述技术方案中，针对一个探测通道设置多个探测器，有助于提高该探测通道接收回波光信号的能力，降低回波光信号的能量损失，从而提高激光雷达的探测精度和测远性能。
结合第一方面，在第一方面的某些实现方式中，透光单元包括透光膜，透光膜的上下表面分别镀有增透膜和/或滤光膜。
在上述技术方案中，在透光单元中设置增透膜，有助于以减少光学阵列结构对回波光信号的能量的影响，在透光单元中设置滤光膜，有助于滤掉回波光信号中的背景光，从而提高探测精度。
结合第一方面，在第一方面的某些实现方式中，多个探测器阵列中每个探测器阵列的表面与透光单元对应的位置设置有微透镜。
在上述技术方案中，在透光单元处设置微透镜，微透镜周围被遮光单元包围，使得微透镜对一个探测通道中的回波光信号有二次会聚的作用，同时减少对近邻探测通道的串扰。
结合第一方面，在第一方面的某些实现方式中，多个探测器阵列中每个探测器阵列的表面设置有微透镜阵列，微透镜阵列中的每个微透镜与每个探测器阵列中的一个探测器对应。
第二方面，提供了一种激光雷达接收系统，该激光雷达接收系统包括如第一方面中任一种可能实现方式中的激光探测组件，以及接收镜头组；接收镜头组用于对探测目标反射的包括至少一个子视场的入射光进行聚焦，以使至少一个子视场的入射光经由激光探测组件的光学阵列结构的透光单元，入射至激光探测组件的探测器阵列。
第三方面，提供了一种激光雷达系统，该激光雷达系统包括如第一方面中任一种可能实现方式中的激光探测组件以及光学发射系统，或者激光雷达系统如第二方面任一实现方式中的激光雷达接收系统以及光学发射系统；其中，光学发射系统发射的激光经由探测目标反射后入射至激光探测组件或者激光雷达接收系统。
第四方面，提供了一种终端设备，该终端设备包括上述第三方面中任一种可能的实现方式中的激光雷达。
结合第四方面，在第四方面的某些实现方式中，该终端设备为车辆。
附图说明
图1是本申请实施例提供的一种的激光雷达系统架构的示意图；
图2是本申请实施例提供的激光雷达探测过程以及对应的接收系统的视场分布的示意图；
图3是本申请实施例提供的激光雷达探测过程的又一示意图；
图4是本申请实施例提供的激光雷达的接收系统的视场分布的又一示意图；
图5是本申请实施例提供的子视场之间产生串扰的一种原理的示意图；
图6是本申请实施例提供的激光探测组件的一种示意图；
图7是本申请实施例提供的激光探测组件的一种示意性侧视图；
图8是本申请实施例提供的激光探测组件的一种示意性俯视图；
图9是本申请实施例提供的激光探测组件的又一种示意性侧视图；
图10是本申请实施例提供的激光探测组件的又一种示意性俯视图；
图11是本申请实施例提供的激光雷达系统架构的又一示意图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
图1示出了本申请实施例提供的激光雷达的示意图。该激光雷达可以包括探测装置101，该探测装置101用于进行激光发射和光信号接收。可选地，激光雷达还可以包括处理装置102，该处理装置102用于进行计算或数据处理等，以获得探测区域的点云数据。更为具体地，探测装置101可以包括发射系统和接收系统。
发射系统可以包括激光发射单元1031和发射镜头组1032，激光发射单元1031用于发射光信号，发射镜头组1032用于对发射的光信号进行整形。接收系统可以包括激光探测阵列1041和接收镜头组1042，激光探测阵列1041可以包含一个或者多个探测单元，其中，一个探测单元可以为由SPAD构成的探测器阵列。进一步的，在探测器包含多个探测单元的情况下，多个探测单元可以是阵列排布的。例如可以为1×2阵列、2×3阵列、或3×3阵列等规格的阵列，本申请对于阵列排布的行数和列数不做限定。可选地，激光探测阵列1041包含多个探测单元时，当激光探测阵列1041在工作时，可能出现只有部分探测单元处于工作状态的情况，此时剩余部分探测单元处于非工作状态(例如，保留状态)。接收镜头组1042用于对入射至激光探测阵列1041的激光进行整形。
激光发射单元1031发射的光信号照射到探测区域上，探测区域中的目标对象可以反射光信号，从而得到发射信号的回波光信号。探测器104接收来自探测区域的光信号，来自探测区域的光信号中包括发射信号的回波光信号，还可能包括一些背景光信号。探测装置通过发射信号与回波光信号之间的时间间隔，可以确定探测区域中的目标对象的距离信息，形成一个或者多个点。进一步的，通过回波光信号的能量强度等信息，还可以得到探测区域中的目标对象的反射强度等信息。
探测装置101在进行探测时，激光发射系统发射的光信号照射到探测区域105中，探测区域105中的探测目标可以反射光信号，从而得到所发射光信号的返回信号(以下简称回波光信号)。接收系统104接收来自探测区域的回波光信号。探测装置101通过发射的光信号与回波光信号之间的时间间隔，可以确定探测区域中的目标对象的距离信息，形成一个或者多个点。进一步的，通过回波光信号的能量强度等信息，还可以得到探测区域中的探测对象的反射强度等信息。
探测装置101可以包括阵列单元发射激光和经由扫描机构发射激光等不同设计。一示例中，如图2中的(a)所示，激光发射单元1031发射的光信号经由发射镜头组1032照射至探测区域105中。又一示例中，如图3和图4所示，发射镜头组1032’包括扫描机构a(如转镜、微振镜、或摆镜等中的一个或者多个)和用于整形的镜头组b(如准直装置、或光路整形器件等)，激光发射单元1031发射的光信号经由镜头组b照射至扫描机构a上，通过调节扫描机构a的角度，可以将发射的光信号照射到探测区域105中的一个子区域上。扫描机构a的扫描形式可以包含点扫、或线扫等扫描形式，扫描的顺序可以为从上到下、从下到上、或从左到右，图3仅以线扫、扫描顺序从上到下的扫描方式作为示例，本申请对扫描机构的扫描顺序等不作具体限定。
如上所述，探测目标反射的光信号中包含多个子视场的回波光信号，回波光信号经由接收镜头组1042聚焦之后经过不同的接收通道聚焦在探测器表面的不同探测单元，即处于工作状态的每个探测单元对应一个接收通道，用于接收一个子视场的回波光信号。一示例中，在激光发射单元1031通过阵列单元发射光信号时，激光探测阵列1041可以包括为多个探测单元，如图2中的(b)所示，激光探测阵列1041可以包括3*3个探测单元，每个探测单元用于接收一个子视场的回波光信号。又一示例中，在激光发射单元1031经由扫描机构发射光信号时，发射光信号照射的探测区域105的子区域可以与激光探测阵列1041的一个子区域对应，如图4所示，该激光探测阵列1041的子区域可以包括多个探测单元(如探测单元1～6)，每个探测单元用于接收一个子视场的回波光信号。
在回波光信号入射至激光探测阵列1041中探测器的表面时，部分光信号会被探测器表面反射，这部分被反射的光信号可能经由接收镜头的镜头表面再次反射，从而入射至近邻探测单元中。例如，以线扫探测为例，如图5所示，子视场2对应的探测单元所接收的回波光信号，经由探测器表面、镜头表面反射，会入射至子视场1和/或子视场3对应的探测单元中，从而影响子视场1和子视场3对应的探测单元所探测结果的准确度。
需要说明的是，图5所示子视场1、子视场2、子视场3对应的探测单元可以为左图所示的探测单元1～6中任三个相邻或不相邻的探测单元，例如，子视场1对应的探测单元可以为探测单元1或2，子视场2对应的探测单元可以为探测单元3或4，子视场3对应的探测单元可以为探测5或6。
为了降低入射各子视场的回波光信号之间的串扰，本申请实施例提供一种激光探测组件，该激光探测组件包括多个探测器阵列和光学阵列结构。其中，多个探测器阵列与光学阵列结构一一对应，光学阵列结构包括至少一个透光单元和设置在相邻透光单元中间的遮光单元，至少一个透光单元中的每个透光单元与多个探测器阵列中的一个探测器阵列相对应，一个探测器阵列对应一个探测通道。
参见图6，以激光探测组件是以3×3阵列排布为例，图6示出了本申请实施例提供的激光探测组件21的侧视图和俯视图，一个光学阵列结构与9个探测阵列(如探测器阵列a～i)对应，光学阵列结构包括9个透光单元，相邻透光单元之间设置遮光单元。应理解，一个探测器阵列对应一个探测通道，该探测通道对应的子视场的回波光信号通过透光单元入射至该探测器阵列。从图6可见，在设置光学阵列结构之后，遮光单元可以阻挡部分反射光线，例如，避免探测器阵列1反射的光线入射至探测器阵列2，从而降低串扰。需要说明的是，探测器阵列1、2可以为探测器阵列a～i中任两个相邻的探测器阵列。
在一些实现方式中，为了在保证遮光单元防串扰能力的前提下，降低遮光单元导致的回波光信号的能量损失，光学阵列结构的遮光单元的高度可以是根据入射光锥的角度确定的，更具体地，光学阵列结构的遮光单元的高度，可以是根据入射光锥的角度以及入射光锥的焦平面的位置确定的。以焦平面位于探测器阵列表面、光学阵列结构为栅格结构为例，特别地，以光学阵列结构为正方形栅格结构为例，则遮光单元的高度可以满足公式：H≤d/2tanθ，其中，H为栅格高度，d为栅格单元的内边长，θ为入射光锥的角度。例如，以栅格单元的内边长d为20um，θ为30°为例，遮光部分的高度H可以小于或等于40um。在一些示例中，若透光单元的形状为圆形，则d可以圆的直径；若透光单元的形状为椭圆形，则d可以为椭圆短轴的长度。在另一些示例中，在入射光锥的焦平面不是探测器阵列表面时，则焦平面至遮光单元最高点之间的距离可以为H。通过以上设计，能够降低透光单元周围的遮光单元对入射该透光单元的回波光信号的光锥的遮挡，从而减小回波光信号的能量损失，有助于提高激光雷达的测距能力。
可选地，激光探测组件21中的一个探测器阵列可以包括多个探测器。在具体实现时，一个探测器阵列所包括的探测器的数量可以与探测器的图像读出模式相匹配。例如，以图像读出模式为合并(binning)模式、探测器为SPAD为例，若binning模式为每3x3个像素合并为1个像素，则一个探测器阵列可以包括3n*3n个SPAD，其中，n为正整数。
在实际实现时，激光探测阵列1041实际能接收到回波光信号的区域，与激光发射单元1031所发射的光信号的远场分布相关，发射光信号的远场分布对应在激光探测阵列1041上的区域即为需要部署光学阵列结构的区域。因此，可以根据探测装置所发射的光信号的远场分布，确定回波光信号对应的多个子视场，进而确定激光探测组件中分别与多个子视场对应的位置，进而根据激光探测组件与子视场对应的位置，在不阻挡每个子视场的入射光锥的位置设置遮光单元。也就是说，光学阵列结构的透光部分可以为探测装置发射的光信号经探测目标反射后照射在激光探测阵列的位置，透光单元的大小可以根据照射在激光探测阵列的光斑大小确定，例如，透光部分的面积大于或等于照射在激光探测阵列的光斑大小。上述依据发射系统所发射的光信号在接收系统设计光学阵列结构的方法，无需针对接收系统探测器阵列的全部表面都设置光学阵列结构，可以仅针对部分探测器阵列设置光学阵列结构，例如，以图5所示激光探测阵列为例，可以仅在虚线框处的区域1部分设置光学阵列结构，在剩余部分不设置光绪阵列结构。这样，一方面可以选择性地提高部分探测器阵列的探测精度；另一方面，由于只设置了部分光学阵列结构，因此与探测器阵列的全部表面都设置光学阵列结构相比，可以降低激光雷达的整机成本。
以下结合图7至图10介绍本申请实施例提供的激光探测组件21的一些可能的结构设计。
图7、图8分别示出了本申请实施例提供的激光探测组件21的一种结构的侧视图和俯视图。如图7所示，光学阵列结构的透光单元包括透光膜，透光膜上下表面可以分别镀增透膜，以减少光学阵列结构对回波光信号的能量的影响；透光膜上下表面还可以分别镀有滤光膜，以过滤掉入射光锥中的背景光，消除背景光对探测结果的影响。进一步地，可以在透光膜上下表面的相应位置设置遮光材料以构成遮光单元。
对于图7、图8所示光学隔离结构，遮光单元的高度H可以为设置在透光膜上下表面的遮光材料的厚度与透光膜(可能镀有滤光膜和/或增透膜)的厚度之和。
在一些实现方式中，探测器阵列和光学阵列结构之间还可以设置微透镜阵列(micro-lens array，MLA)，以提高对入射探测器阵列的光信号的汇聚能力，MLA中每个微透镜与探测器阵列中的一个探测器一一对应。
在一些实现方式中，图7、图8所示光学阵列结构中，遮光材料可以为光刻胶，透光膜可以为聚二甲基硅氧烷(PDMS)、聚甲基丙烯酸甲酯(PMMA)、二氧化硅等。更为具体地，光学阵列结构可以是通过光刻方法制成的。例如，在透光膜(可能镀有增透膜和/或滤光膜)上下表面分别旋涂预设厚度的光刻胶，通过光刻曝光去除光学阵列结构的透光单元的光刻胶，保留下光刻胶作为遮光单元。在具体实现时，可以通过调整旋涂速度调节光刻胶的厚度，从而调节遮光单元的高度；或者，通过调节透光膜的厚度，从而调节遮光单元的高度。
图9、图10分别示出了本申请实施例提供的激光探测组件21的又一种结构的侧视图和俯视图。如图9所示，每个探测器阵列的表面与透光单元对应的位置设置有微透镜，微透镜的材料可以为二氧化硅，或者也可以为其他透光材料。微透镜可以是通过湿法刻蚀直接在探测器表面制备的。可以理解的是，一个微透镜可以与探测器阵列中的多个探测器对应。
可选地，图9、图10所示光学阵列结构可以是直接在探测器阵列表面制造的，或者，也可以是单独制造后装配在探测器阵列210表面的。
示例性地，光学阵列结构中遮光单元的材料可以为光刻胶或麦拉(mylar)片，例如，通过飞秒激光在预设厚度(如H)的光刻胶或麦拉片上将透光单元对应的部分去除，留下遮光单元对应的部分，从而得到光学阵列结构。
可选地，在图9、图10所示的激光探测组件21中，探测器阵列和光学隔离结构之间还可以设置MLA，MLA中每个微透镜与探测器阵列中的一个探测器对应。
需要说明的是，图7至图10所示的光学阵列结构仅为示例性说明，在实际实现时，光学阵列结构的透光单元也可以为除了栅格以外的其他样式的图案。例如，光学阵列结构的透光单元也可以为圆形或椭圆形，或者也可以为其他形状。另外，本申请描述激光探测组件时，以激光探测组件是3×3阵列排布为例进行说明，在实际实现时，激光探测组件也可以为其他排布方式，例如激光探测组件也可以为9×9阵列排布，或者1×3阵列排布，或者也可以为其他排布方式，本申请对此不作具体限定。
还需说明的是，本申请实施例提供的激光探测组件21可以设置在探测装置101中激光探测阵列1041的一个感光区域。
图1至图3所示的激光发射单元1031可以理解为只包括一个发射通道(或称发光区域)，在实际实现时，探测装置101中的激光发射单元1031还可以包括多个发射通道。一个实施例中，由激光发射单元1031在同一时刻所发射的多道探测光束，可以是由多个激光器产生的。例如，每个激光器可以对应一个光束发射通道。另一个实施例中，单个激光器所产生的单个探测光信号，经光束分离装置可以分离得到的多道探测光信号，使得激光发射单元1031可以通过单个激光器在同一时刻发射多道探测光束，每个发射通道对应激光探测阵列1041的一个感光区域，该感光区域可以包括本申请实施例提供的多个探测器阵列和光学阵列结构。
如图11所示，以激光发射单元1031包括两个发射通道为例，其中，黑色线条代表发射通道1的光信号，灰色线条代表发射通道2的光信号，发射通道1和发射通道2发射的光信号分别照射到探测区域105的子区域，经由探测目标反射后，回波光信号经由接收镜头组1042分别入射至与发射通道1对应的感光区域A，以及与发射通道2对应的感光区域B。可以理解的是，在上述应用场景中，本申请实施例提供的激光探测组件21可以设置在感光区域A和/或感光区域B中，更具体地，可以设置在感光区域A的部分区域和/或感光区域B中的部分区域。
需要说明的是，感光区域A和感光区域B的焦平面可以位于同一平面，或者也可以位于不同平面。例如，在感光区域A和感光区域B对应于接收镜头组1042的同一光轴时，感光区域A和感光区域B的焦平面可以位于同一平面；在感光区域A和感光区域B对应于接收镜头组1042的不同光轴时，感光区域A和感光区域B的焦平面可以位于不同平面。
以上结合图6至图10，详细介绍了本申请实施例提供的激光探测组件，除了上述激光探测组件，本申请实施例还提供了一种激光雷达接收系统，该激光雷达接收系统可以包括上述激光探测组件21，以及接收镜头组。其中，接收镜头组用于对探测目标反射的包括至少一个子视场的回波光信号进行聚焦，以使至少一个子视场的回波光信号经由光学阵列结构的透光单元，入射至激光探测组件的探测器阵列。
本申请实施例还提供了一种激光雷达系统，该激光雷达系统可以包括上述激光探测组件21或者激光雷达接收系统。
本申请实施例还提供了一种终端设备，该终端设备可以包括上述激光雷达。
可选地，该终端设备可以为车辆。本申请实施例中涉及的车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。
在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”是一种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。本申请中，“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-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种激光探测组件，其特征在于，包括多个探测器阵列和光学阵列结构；其中，所述多个探测器阵列与所述光学阵列结构一一对应；
    所述光学阵列结构包括至少一个透光单元和设置在相邻透光单元中间的遮光单元，所述至少一个透光单元中的每个透光单元与所述多个探测器阵列中的一个探测器阵列相对应，所述一个探测器阵列对应一个探测通道。
  2. 根据权利要求1所述的激光探测组件，其特征在于，所述一个探测通道对应一个子视场区域。
  3. 根据权利要求1或2所述的激光探测组件，其特征在于，所述遮光单元的高度为根据入射光的光锥角度确定的。
  4. 根据权利要求1至3中任一项所述的激光探测组件，其特征在于，所述一个探测器阵列包括n个探测器，n为根据所述一个探测器阵列的像素合并模式确定的，且n为正整数。
  5. 根据权利要求1至4中任一项所述的激光探测组件，其特征在于，所述透光单元包括透光膜，所述透光膜的上下表面分别镀有增透膜和/或滤光膜。
  6. 根据权利要求1至4中任一项所述的激光探测组件，其特征在于，所述多个探测器阵列中每个探测器阵列的表面与所述透光单元对应的位置设置有微透镜。
  7. 根据权利要求1至6中任一项所述的激光探测组件，其特征在于，所述多个探测器阵列中每个探测器阵列的表面设置有微透镜阵列，所述微透镜阵列中的每个微透镜与所述每个探测器阵列中的一个探测器对应。
  8. 一种激光雷达接收系统，其特征在于，所述激光雷达接收系统包括如权利要求1至7中任一项所述的激光探测组件，以及接收镜头组；
    所述接收镜头组用于对探测目标反射的包括至少一个子视场的入射光进行聚焦，以使所述至少一个子视场的入射光经由所述激光探测组件的所述光学阵列结构的透光单元，入射至所述激光探测组件的所述探测器阵列。
  9. 一种激光雷达系统，其特征在于，所述激光雷达系统包括如权利要求1至7中任一项所述的激光探测组件以及光学发射系统；或者，
    所述激光雷达系统包括如权利要求8所述的激光雷达接收系统，以及光学发射系统；
    其中，所述光学发射系统发射的激光经由探测目标反射后入射至所述激光探测组件或者所述激光雷达接收系统。
  10. 一种终端设备，其特征在于，包括如权利要求9所述的激光雷达系统。
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CN111398935A (zh) * 2018-12-27 2020-07-10 深圳市速腾聚创科技有限公司 激光雷达接收系统
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