WO2024130643A1 - 一种发射装置、探测装置及终端 - Google Patents

一种发射装置、探测装置及终端 Download PDF

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Publication number
WO2024130643A1
WO2024130643A1 PCT/CN2022/141026 CN2022141026W WO2024130643A1 WO 2024130643 A1 WO2024130643 A1 WO 2024130643A1 CN 2022141026 W CN2022141026 W CN 2022141026W WO 2024130643 A1 WO2024130643 A1 WO 2024130643A1
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WIPO (PCT)
Prior art keywords
light beam
module
transmitting
light
emitting
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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.)
Ceased
Application number
PCT/CN2022/141026
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English (en)
French (fr)
Inventor
肖锡晟
刘军
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP22968941.9A priority Critical patent/EP4641850A4/en
Priority to CN202280102228.4A priority patent/CN120283338A/zh
Priority to PCT/CN2022/141026 priority patent/WO2024130643A1/zh
Publication of WO2024130643A1 publication Critical patent/WO2024130643A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/005—Optical components external to the laser cavity, specially adapted therefor, e.g. for homogenisation or merging of the beams or for manipulating laser pulses, e.g. pulse shaping
    • H01S5/0071—Optical components external to the laser cavity, specially adapted therefor, e.g. for homogenisation or merging of the beams or for manipulating laser pulses, e.g. pulse shaping for beam steering, e.g. using a mirror outside the cavity to change the beam direction
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/02—Structural details or components not essential to laser action
    • H01S5/022—Mountings; Housings
    • H01S5/0225—Out-coupling of light
    • H01S5/02255—Out-coupling of light using beam deflecting elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/4025—Array arrangements, e.g. constituted by discrete laser diodes or laser bar
    • H01S5/4031—Edge-emitting structures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/42—Arrays of surface emitting lasers

Definitions

  • the present application relates to detection technology, which is applied to the fields of intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing, etc., and in particular to a transmitting device, a detection device and a terminal.
  • the advanced driving assistance system plays a very important role in smart cars. It uses the detection device installed on the car to detect the surrounding environment during the driving process of the vehicle, collect data, identify static and moving objects, etc., and combine the navigation map data to perform systematic calculations and analysis, so that the driver can be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.
  • the detection device can be regarded as the "eyes" that perceive the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radars, lidars, and ultrasonic radars.
  • Lidar light detection and ranging
  • Lidar has the advantages of high resolution, good detection performance and strong concealment, and is one of the important detection devices in the field of perception.
  • Lidar is a technology that emits detection signals and obtains relevant information of the target (such as the position, shape, or speed of the target) by receiving the echo reflected by the target.
  • the transmitter of the Lidar often needs to set up multiple lasers.
  • the gap between the fields of view will form a blind spot, which seriously affects the detection performance.
  • the embodiments of the present application provide a transmitting device, a detecting device and a terminal, which can use a mixed light source for detection, reduce the blind spot of the field of view of the detecting device, and enhance the detection performance.
  • an embodiment of the present application provides a transmitting device, including a first transmitting module, a second transmitting module, a circuit board, and a first optical module:
  • the first emission module and the second emission module are electrically connected to the circuit board and are arranged on one side of the circuit board, and the first optical module is placed between the first emission module and the second emission module;
  • the first emission module is used to emit a first light beam, and the first light beam is parallel to the circuit board;
  • the second emission module is used to emit a second light beam, and the direction of the second light beam is away from the circuit board;
  • the first optical module is used to change the direction of the first light beam to obtain a third light beam, and the direction of the third light beam is away from the circuit board.
  • the light emitting direction of the first emission module is parallel to the direction of the circuit board, and the light emitting direction of the second emission module is away from the circuit board.
  • the direction of the first light beam can be folded, so that the direction of the first light beam is also toward the direction away from the circuit board, and the same-direction light emission of light sources (i.e., mixed light sources) with different light emitting directions is realized.
  • the first optical module is set between the first emission module and the second emission module.
  • the distance between the third light beam and the second light beam is reduced compared with the distance between the first emission module and the second emission module, so that the distance between the third light beam and the second light beam is closer.
  • the light emitting gap of the emission device in the case of multiple light sources emitting light can be reduced, the blind area of the field of view can be reduced, the detection efficiency can be improved, and the detection performance can be enhanced.
  • the first emission module includes an edge-emitting laser
  • the second emission module includes a vertical surface emitter laser
  • the vertical surface emitter When the vertical surface emitter is arranged on the circuit board, the light emitting surface is parallel to the surface of the circuit board, so the light emitting direction is away from the circuit board.
  • the vertical surface emitter includes but is not limited to vertical cavity surface emitting lasers (VCSEL) or photonic crystal surface emitting semiconductor lasers (PCSEL).
  • the light emitting surface is the side of the laser, so its light emitting direction is parallel to the circuit board.
  • the EEL can also be replaced by other devices that emit light at the edge of the light emitting element, such as silicon photonic chips.
  • the optical axis of the third light beam is coaxial with the optical axis of the second light beam.
  • the coaxial light beams emitted by the transmitting end can reduce the aperture of the optical lens, reduce the complexity of device design, and improve the stability of the optical path.
  • the optical axis of the third light beam is biased toward the first emission module compared to the optical axis of the second light beam.
  • the angle between the third light beam and the second light beam can be made smaller, or the third light beam and the second light beam can be made parallel but with a reduced interval.
  • a distance between the third light beam and the second light beam is smaller than a distance from the first emission module to the second emission module.
  • the emitting device further includes a lens, and the lens is used to process the third light beam to obtain a fourth light beam, and to process the second light beam to obtain a fifth light beam.
  • the second light beam and the third light beam are emitted through the same lens, which can reduce the size of the emitting device and improve the integration of the device.
  • the fourth light beam has a continuous field of view with the fifth light beam.
  • the field of view gap between the fourth light beam and the fifth light beam is smaller than a first angle, and the first angle is the angle between the first emitting module and the second emitting module relative to the lens.
  • Continuous field of view or reduced field of view gap can further reduce the blind spot field of view and improve detection efficiency and the reliability of detection results.
  • the field of view gap between the fourth light beam and the fifth light beam is related to the distance between the second transmitting module and the first optical module. In this way, by adjusting the distance between the first optical module and the second transmitting module, the field of view gap of the transmitting end can be controlled, and the manufacturer or developer can flexibly set the position of the first optical module according to the needs, thereby improving the compatibility of the transmitting device for different scenes.
  • the second transmitting module is located at the focal plane of the lens.
  • the light beam emitted by the second transmitting module has good collimation when passing through the lens, so as to improve the maximum detection distance of the detection device and ensure the distance measurement capability.
  • the first optical module includes a reflective surface
  • the reflective surface is used to change the direction of the first light beam to obtain a third light beam
  • the mirror shape of the first reflective surface is a convex spherical surface.
  • the convex spherical surface is used to compensate for the relative defocus of the first emission module, thereby improving the collimation of the third light beam and improving the distance measurement capability.
  • the defocus amount of the first transmitting module is related to the distance between the first optical module and the first transmitting module. In this way, by adjusting the distance between the first optical module and the first transmitting module, the defocus amount of the first transmitting module can be controlled, and the manufacturer or developer can flexibly set the position of the first optical module according to the needs, thereby improving the compatibility of the transmitting device for different scenes.
  • the maximum detection distance of the first light beam is smaller than the maximum detection distance of the second light beam. In this way, the light beam emitted by the second emission module can detect the blind area formed during long-distance detection, thereby improving the short-range detection capability of the detection device and enhancing the detection performance of the detection device.
  • the first emission module and the second emission module are used to emit light beams in a time-sharing manner, and the emission times of the first light beam and the second light beam are different. In this way, the emission times of the first light beam and the second light beam are staggered, so that when detecting targets in different fields of view, it is difficult for them to interfere with each other.
  • the first emission module is used to emit the first light beam in a first time period
  • the second emission module is used to emit the second light beam in a second time period, and the first time period and the second time period do not overlap;
  • the second emission module is further used to emit a sixth light beam in the first time period, and the farthest detection distance of the sixth light beam is smaller than the farthest detection distance of the second light beam.
  • the first emission module includes N first lasers, and the second emission module includes M second lasers, where N and M are integers and N>0, M>0;
  • the first transmitting module and the second transmitting module are distributed along a first direction;
  • the first emission module includes N first lasers, and the second emission module includes M second lasers, where N and M are integers and N>1, M>1;
  • the N first lasers are arranged at intervals, and the second direction is perpendicular to the first direction;
  • the N second lasers are arranged at intervals;
  • the transmitting device further includes a light homogenizing component, and the light homogenizing component is used to perform homogenization processing on the light beam from the first transmitting module and the light beam from the second transmitting module in the second direction.
  • an embodiment of the present application further provides a detection device, which includes a transmitting device and a detector, and the laser transmitter includes the transmitting device described in the first aspect or any possible implementation manner of the first aspect.
  • the first transmitting module in the transmitting device is used to transmit a first light beam
  • the second transmitting module in the transmitting device is used to transmit a second light beam
  • the detector is used to receive the echo signal corresponding to the first light beam and the echo signal corresponding to the second light beam.
  • an embodiment of the present application further provides a terminal, which includes the transmitting device described in the first aspect or any item of the first aspect, or includes the detecting device described in the second aspect.
  • the terminal may be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.
  • beneficial effects of the second to third aspects of the present application can refer to the beneficial effects of the first aspect, and will not be described one by one here.
  • FIG1 is a schematic diagram of a transmitting field of view and a receiving field of view of a detection device
  • FIG2 is a transmitting end including a plurality of light sources
  • FIG3 is a schematic diagram of an optical path of a transmitting end
  • FIG4 is a schematic diagram of the structure of a transmitting device provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of a transmitting end field of view provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG9 is a schematic diagram of a beam distance provided in an embodiment of the present application.
  • FIG10 is a schematic diagram of another beam distance provided in an embodiment of the present application.
  • FIG11 is a schematic diagram of an optical path provided in an embodiment of the present application.
  • FIG12 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG13 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG14 is a schematic diagram of a detection range provided in an embodiment of the present application.
  • FIG15 is a schematic diagram of a light-emitting timing provided in an embodiment of the present application.
  • FIG16 is a schematic diagram of another light-emitting timing provided in an embodiment of the present application.
  • FIG17 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG18 is a schematic diagram of the structure of a possible transmitting device provided in an embodiment of the present application.
  • FIG19 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG20 is a schematic diagram of a field of view angle of a launch device provided in an embodiment of the present application.
  • FIG21 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG22 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • FIG. 23 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application.
  • the detection device mentioned in the embodiments of the present application may be a laser radar or other optical detection devices, such as a fusion detection device (for example, a detection device integrating a radar detector and an image sensor). Its working principle is to detect targets within the field of view by emitting detection signals and receiving echoes.
  • a fusion detection device for example, a detection device integrating a radar detector and an image sensor. Its working principle is to detect targets within the field of view by emitting detection signals and receiving echoes.
  • the detection device in the embodiment of the present application can be used in various fields such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, drones, etc., and can complete one or more functions of target detection, distance measurement, speed measurement, target tracking, imaging recognition, etc.
  • the detection device in the embodiment of the present application can be applied to a vehicle-mounted detection device (such as a vehicle-mounted radar), a roadside detection device (such as an intersection radar), etc., and can also be applied to other detection devices, such as detection devices installed on drones, robots, rail cars, bicycles, signal lights, speed measuring devices or base stations, etc.
  • vehicle-mounted detection device such as a vehicle-mounted radar
  • roadside detection device such as an intersection radar
  • other detection devices such as detection devices installed on drones, robots, rail cars, bicycles, signal lights, speed measuring devices or base stations, etc.
  • the present application does not limit the location where the detection device is installed.
  • LOS line of sight
  • the signal e.g., radio wave, laser
  • the angle formed by the two edges of the maximum range of the image of the object to be measured that can pass through the lens, with the lens of the optical instrument as the vertex, 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 in the vertical direction refers to the angle formed by two edges of the maximum range that can be detected in the vertical direction.
  • the detection principle of the detection device is: the transmitting end transmits the detection signal to the object space so that the target in the object space can be illuminated by the detection signal; the receiving end can receive the echo signal formed by the reflection of the detection signal on the target, and measure the relevant information of the target based on the echo signal.
  • the detection signal emitted by the detection device Since the power of the signal emitted by the detection device is usually limited, when it is necessary to detect a target at a longer distance, the detection signal emitted has a high degree of collimation and a small divergence angle, which makes the detection signal emitted by the detection device have poor coverage of the close-range area and a large near-field blind area. Especially when the transmitting end and the receiving end are off-axis structures, the near-field blind area will greatly reduce the close-range detection capability of the detection device.
  • Figure 1 is a schematic diagram of the transmitting field of view and the receiving field of view of a detection device.
  • the transmitting end and the receiving end are respectively located at the two ends of the detection device.
  • the transmitting field of view is the object space covered by the detection signal emitted by the transmitting end
  • the receiving field of view is the object space where the receiving end can receive light. Since only the object space covered by the detection signal can the receiving end receive the echo signal of the detection signal, the overlapping area of the transmitting field of view and the receiving field of view is the effective detection range of the detection device. It can be seen that the starting position of the overlapping area is far away from the detection device.
  • the receiving end In the close-range object space before the overlapping area, the receiving end cannot receive the echo signal of the detection signal, thus forming a blind spot in the field of view.
  • the transmitting end of the detection device In order to improve the detection efficiency, the transmitting end of the detection device often needs to be provided with multiple laser emission modules. Multiple emission modules can form multiple emission fields of view, which can improve the detection efficiency to a certain extent.
  • Figure 2 is a transmitting end including multiple light sources
  • Figure 3 is a schematic diagram of the optical path of the transmitting end.
  • Two emission modules i.e., emission module 1 and emission module 2 are provided at the transmitting end of the detection device, which can increase the field of view of the transmitting end, thereby increasing the effective detection range.
  • electrical performance isolation needs to be achieved between the emission modules, which makes it still have gaps between the multiple emission modules, so there will still be field of view gaps between the light beams emitted by the multiple emission modules.
  • the light beams from the emission module 1 and the emission module 2 reach the field of view after passing through the lens (where the dotted line is an exemplary lens main optical axis), and in the field of view, the light beams from the emission module 1 and the emission module 2 still have a field of view gap, which is expressed as an angle of ⁇ . Since the electrical performance isolation needs to be achieved before the emission module, it is impossible to reduce the field of view gap by shortening the distance between the two emission modules. However, the field of view gap ⁇ makes the field of view of the transmitter discontinuous, and there are still blind spots in the field of view, which affects the detection performance.
  • an embodiment of the present application provides a transmitting device, a detecting device and a terminal, which can use a mixed light source for detection, reduce the blind spot of the field of view of the detecting device, and enhance the detection performance.
  • the transmitting device 40 may include a first transmitting module 401, a second transmitting module 402, a circuit board 403 and a first optical module 404.
  • the first transmitting module 401 and the second transmitting module 402 are connected to the same circuit board 403.
  • the circuit board is the support body of electronic components.
  • the circuit board contains conductors as the circuits connecting electronic devices, including but not limited to printed circuit boards (PCB), flexible printed circuit boards (FPC), etc.
  • PCB printed circuit boards
  • FPC flexible printed circuit boards
  • the first transmitting module 401 and the second transmitting module 402 may be electronic devices, and both are electrically connected to the circuit board 403 .
  • the first transmitting module 401 , the second transmitting module 402 and the circuit board 403 are electrically isolated.
  • the first transmitting module 401 and the second transmitting module 402 can be fixed on the circuit board 403 , but are not necessarily electrically connected to the circuit board 403 .
  • the circuit board may be replaced by a substrate, and the substrate may not contain conductors for transmitting electrical signals.
  • the first transmitting module and the second transmitting module may be fixed on the substrate.
  • the first emission module 401 is used to emit a first light beam, and the first light beam is parallel to the circuit board 403. As shown in FIG4 , the first light beam is indicated by an arrow with a reference number 1.
  • the second emission module 402 is used to emit a second light beam, and the direction of the second light beam is away from the circuit board 403. As shown in Fig. 4, the second light beam is represented by an arrow with a reference number 2. For example, the direction of the second light beam is perpendicular to the circuit board.
  • the first optical module 404 is used to change the direction of the first light beam to obtain a third light beam, and the direction of the third light beam is away from the circuit board. As shown in FIG. 4 , the third light beam is represented by an arrow with a label 3 .
  • the light emitting direction of the first emitting module is parallel to the direction of the circuit board, and the light emitting direction of the second emitting module is away from the circuit board.
  • the direction of the first light beam can be folded, so that the direction of the first light beam is also toward the direction away from the circuit board, thereby realizing the same-directional light emission using light sources with different light emitting directions (i.e., mixed light sources).
  • the first optical module 404 is disposed between the first emission module 401 and the second emission module 402. In this way, after the first light beam changes direction after passing through the first optical module, the distance between the third light beam and the second light beam is reduced compared to the distance between the first emission module and the second emission module, so that the distance between the third light beam and the second light beam is closer. Without reducing the distance between the first emission module and the second emission module, the light emission gap of the emission device in the case of multiple light sources can be reduced, the blind area of the field of view can be reduced, the detection efficiency can be improved, and the detection performance can be enhanced. In addition, by providing the first optical module 404, the distance between the first emission module 401 and the second emission module 402 can no longer be strictly limited, so that the isolation space of the driving circuit of the light source is larger, and the flexibility of the circuit board circuit design is improved.
  • FIG 5 is a schematic diagram of a transmitting end field of view provided by an embodiment of the present application.
  • the first light beam emitted by the first transmitting module 401 is folded by the first optical module 404 to obtain a third light beam.
  • the FOV of the first light beam (third light beam) is shown in the shaded part.
  • the FOV of the second light beam emitted by the second transmitting module 402 is shown in the spot part. It can be seen that the third light beam is in the same direction as the second light beam and the distance is greatly shortened, which reduces the blind spot of the field of view.
  • the transmitting device 40 can realize detection with a mixed light source as the transmitting end, reduce the blind spot of the field of view of the detection device, and enhance the detection performance.
  • the first emitting module includes an edge emitting laser
  • the second emitting module includes a vertical surface emitter laser
  • the vertical surface emitter When the vertical surface emitter is arranged on the circuit board, the light emitting surface is parallel to the surface of the circuit board, so the light emitting direction is away from the circuit board.
  • the vertical surface emitter includes but is not limited to vertical cavity surface emitting lasers (VCSEL) or photonic crystal surface emitting semiconductor lasers (PCSEL).
  • the light emitting surface is the side of the laser, so its light emitting direction is parallel to the circuit board.
  • the EEL can also be replaced by other devices that emit light at the edge of the light emitting element, such as silicon photonic chips.
  • the first emission module includes an edge emitting laser
  • the second emission module includes an edge emitter and a second optical module.
  • FIG. 6 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application.
  • the second transmitting module in the transmitting device 60 includes a laser 601 and a second optical module 602.
  • the light-emitting surface of the laser 601 is the side of the laser. After the signal light emitted by the laser 601 is folded by the second optical module 602, a second light beam is obtained, and the second light beam faces away from the circuit board 403. That is, the second light beam has the same direction as the third light beam.
  • the first optical module 404 and the second optical module 602 may belong to the same optical module.
  • both the second light beam and the third light beam face away from the circuit board.
  • the optical axis of the third light beam is coaxial with the optical axis of the second light beam, or the optical axis of the third light beam is offset from the optical axis of the second light beam.
  • the optical axis refers to the center line of the light beam (or light column), or the symmetry axis of the optical system (including the transmitting device, or the optical module, etc.).
  • Case 1 The third light beam is coaxial with the second light beam.
  • FIG. 7 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application.
  • the optical axis of the third light beam is perpendicular to the circuit board 403, and the optical axis of the second light beam is perpendicular to the circuit board 403, so the optical axis of the third light beam is parallel to the optical axis of the second light beam, that is, coaxial.
  • the coaxial light beam emitted from the transmitting end can reduce the aperture of the optical lens, reduce the complexity of device design, and improve the stability of the optical path.
  • the first optical module 404 includes a reflective surface 702, and the reflective surface 702 is used to change the direction of the first light beam, and the angle ⁇ between the reflective surface 702 and the circuit board is 45°.
  • the equivalent light source of the third light beam is the light source 701
  • the equivalent light-emitting surface of the light source 701 is parallel to the circuit board.
  • the second transmitting module includes a vertical surface transmitter
  • the light-emitting surface of the second transmitting module 402 is parallel to the circuit board. Therefore, the equivalent light-emitting surface of the light source 701 is parallel to the equivalent light-emitting surface of the second transmitting module 402, and the optical axis of the third light beam is parallel to the optical axis of the second light beam.
  • the parallelism, coaxiality, angles, etc. described in the embodiments of the present application may be relative, and there may be certain errors in the specific implementation process due to the manufacturing process, installation process, vibration, device aging, etc.
  • the equivalent light source described in the embodiments of the present application is a virtual light source made to facilitate the understanding of the optical path and the technical effects of the optical elements, and does not exist in the actual operation of the transmitting device.
  • Case 2 The optical axis of the third light beam is deviated from the optical axis of the second light beam.
  • the deviated direction may be slight, for example, not exceeding 45°, or less than 25°, or less than 10°.
  • the deflection may be in the direction of the first emission module.
  • FIG8 is a schematic diagram of the structure of another possible emission device provided in an embodiment of the present application.
  • the third light beam deviates from the circuit board 403 and has a deflection toward the first emission module, so that the edges of the light beam 3 and the light beam 2 are more parallel, thereby further reducing the light-emitting gap between the second light beam and the third light beam.
  • the angle of deflection is related to the distance between the light-emitting edge of the third light beam and the light-emitting edge of the second light beam.
  • the angle of deflection is related to the distance between the light-emitting edge of the third light beam and the light-emitting edge of the second light beam.
  • the equivalent light source 801 of the third light beam can be brought closer to the second emission module, thereby making the angle between the third light beam and the second light beam smaller, or making them parallel but with a reduced interval.
  • the deflection between the optical axis of the third light beam and the optical axis of the second light beam can be achieved by placing the first optical module.
  • the reflective surface 802 of the first optical module 404 is used to change the direction of the first light beam to obtain the third light beam, and when the angle ⁇ between the reflective surface 802 and the circuit board is greater than 45°, there is a deflection between the optical axis of the third light beam and the optical axis of the second light beam.
  • the distance between the third light beam and the second light beam is smaller than the distance between the first emission module and the second emission module.
  • the smaller the distance between the third light beam and the second light beam the smaller the gap between the light beams, which helps to maintain the continuity of the field of view and reduce the blind spot.
  • the distance between the third light beam and the second light beam can be expressed in the following ways:
  • Mode 1 When the optical axis of the third light beam is parallel to the optical axis of the second light beam, the distance between the third light beam and the second light beam can be expressed as the distance between the optical axis of the third light beam and the optical axis of the second light beam.
  • the distance between the optical axis of the third light beam and the optical axis of the second light beam is less than the distance from the first emission module to the second emission module.
  • the distance between the first emission module and the second emission module can be the distance between the centers of the first reflection module and the second emission module. Or optionally, the distance between the edges of the first emission module and the second emission module.
  • the distance between the third light beam and the second light beam can represent the distance between the light-emitting center of the third light beam and the light-emitting center of the second light beam.
  • FIG. 9 is a schematic diagram of a light beam distance provided in an embodiment of the present application.
  • the light-emitting center of the third light beam i.e., the shaded portion of label 3
  • the light-emitting center of the second light beam i.e., the shaded portion of label 2
  • the distance between the third light beam and the second light beam is the distance between the light-emitting center of the third light beam and the light-emitting center of the second light beam, i.e., d1 shown in FIG. 9.
  • the distance between the first emission module and the second emission module may be the distance between the centers of the first emission module 401 and the second emission module 402, such as d2 shown in FIG9, where d2>d1.
  • FIG9 takes the example that the center of the second emission module 402 coincides with the light emitting center of the second light beam, and in a specific implementation, the two may not coincide.
  • the distance between the first transmitting module and the second transmitting module may be the distance between the edges of the first transmitting module 401 and the second transmitting module 402, such as d3 shown in FIG9 , where d3>d1.
  • FIG9 takes the distance between the edges close to each other as an example for illustration, and in a specific implementation, the edges may also be edges away from each other or edges in the same direction, which will not be described one by one here.
  • the distance between the third light beam and the second light beam may represent the distance between the light-emitting edge of the third light beam and the light-emitting edge of the second light beam.
  • the light-emitting edge may refer to the edge of the two beams that is close to each other, or away from each other, or in the same direction.
  • Figure 10 is a schematic diagram of another beam distance provided in an embodiment of the present application.
  • the lower edge of the light-emitting edge of the second beam i.e., the shaded portion of label 2
  • the upper edge of the light-emitting edge of the third beam i.e., the shaded portion of label 3
  • the distance between the third beam and the second beam can be represented by the distance between the upper edge of the third beam and the lower edge of the second beam, i.e., d4 shown in Figure 10.
  • d2>d4, and/or, d3>d4, and the related description can refer to the description in the aforementioned method 2.
  • the distance between the third light beam and the second light beam may be a pointing angle difference.
  • the distance between the third light beam and the second light beam can be expressed as the angle between the light emitting center of the first light beam, the light emitting center of the second light beam and the center of the lens (or the optical center of the lens).
  • the transmitting device further includes a lens
  • ⁇ 2 is the angle between the light emitting center of the first light beam, the light emitting center of the second light beam and the center of the lens
  • ⁇ 1 is the angle between the first transmitting module, the second transmitting module and the center of the lens
  • ⁇ 2 is less than ⁇ 1.
  • optical path may have certain errors due to the placement of components, manufacturing process, installation process, vibration, component aging, etc.
  • the transmitting device further includes a lens, and the lens is used to process the third light beam to obtain the fourth light beam, and to process the second light beam to obtain the fifth light beam.
  • the second light beam and the third light beam are emitted through the same lens, which can reduce the volume of the transmitting device and improve the integration of the device.
  • the lens refers to an optical element that has a converging effect on light, such as a convex lens, a meniscus lens, etc.
  • the lens may also have a collimating function, such as a collimating lens group.
  • the main optical axis of the lens may coincide with the center of the second emission module.
  • the coincidence may be a coincidence in a partial dimension, for example, a coincidence in the x direction.
  • FIG. 12 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application.
  • the transmitting device 120 includes a lens 1201.
  • the third light beam i.e., the shaded portion of the label 3
  • the fourth light beam i.e., the shaded portion of the label 4
  • the second light beam i.e., the shaded portion of the label 2
  • a fifth light beam i.e., the shaded portion of the label 5
  • the angle between the fourth light beam and the fifth light beam is ⁇ 3.
  • the field of view gap between the fourth light beam and the fifth light beam is smaller than a first angle, where the first angle is an included angle between the first emitting module and the second emitting module relative to a lens.
  • ⁇ 3 is the field of view gap between the fourth light beam and the fifth light beam
  • ⁇ 1 is the angle between the first transmitting module, the second transmitting module and the center of the lens
  • the fourth light beam has a continuous field of view with the fifth light beam.
  • the field of view between the fourth light beam and the fifth light beam can be made continuous through reflection, refraction, etc.
  • the third light beam is deflected so that the optical axis of the fourth light beam is parallel to the optical axis of the fifth light beam, and the gap between the edges is close to 0, so that the field of view between the fourth light beam and the fifth light beam is continuous.
  • Continuous field of view or reduced field of view gap can further reduce the blind spot field of view and improve detection efficiency and the reliability of detection results.
  • the field of view gap between the fourth light beam and the fifth light beam is related to the distance between the second transmitting module and the first optical module.
  • the field of view gap of the transmitting end can be controlled.
  • Manufacturers or developers can flexibly set the position of the first optical module according to needs, thereby improving the compatibility of the transmitting device for different scenarios.
  • the edges between the first emitting module and the second optical module are close to each other, or the distance between them is small, so that the field of view gap of the emitting end can be reduced, thereby narrowing the field of view blind area.
  • the second emitting module is located at the focal plane of the lens.
  • the second emitting module includes a light emitting surface, and the second emitting module is located at the focal plane of the lens.
  • the light beam emitted by the second transmitting module can have better collimation when passing through the lens, so as to improve the maximum detection distance of the detection device and ensure the distance measurement capability.
  • the first emitting module is defocused to a certain extent relative to the focal plane of the lens. As shown in FIG7 , the first emitting module is equivalent to the light source 701, and the light source 701 is defocused relative to the focal plane of the lens.
  • the third light beam can present a certain degree of diffusion effect. After passing through the lens, the third light beam can have a larger field of view and reduce the blind spot.
  • the defocus amount corresponding to the first transmitting module is related to the distance between the first optical module and the first transmitting module. For example, when the second transmitting module is arranged on the focal plane of the lens, the farther the distance between the second transmitting module and the first optical module is, the greater the defocus amount corresponding to the first transmitting module is. In this way, by adjusting the distance between the first optical module and the first transmitting module, the defocus amount of the first transmitting module can be controlled, and the manufacturer or developer can flexibly set the position of the first optical module according to the needs, thereby improving the compatibility of the transmitting device for different scenes.
  • the first optical module includes a reflective surface, which is used to change the direction of the first light beam to obtain a third light beam, and the mirror shape of the first reflective surface is a convex spherical surface.
  • the convex spherical surface compensates for the relative defocus of the first emission module, improves the collimation of the third light beam, and improves the distance measurement capability.
  • Figure 13 is a structural schematic diagram of another possible transmitting device provided in an embodiment of the present application.
  • the first optical module 404 is used to change the mirror shape of the reflection surface of the first light beam from the first transmitting module 401 into a convex spherical surface, so that the light beam after the first light beam passes through the first optical module 404 has a larger field of view angle.
  • the equivalent light source of the third light beam can be regarded as light source 1301. Since the third light beam diverges compared to the first light beam, the distance between the first optical module and the equivalent light source 1301 is smaller than the distance between the first optical module and the first transmitting module. The relative defocus of the first transmitting module and the lens is compensated, which can improve the distance measurement capability.
  • the maximum detection distances of the first light beam and the second light beam are different.
  • the farthest detection distance of the first light beam is smaller than the farthest detection distance of the second light beam.
  • the farthest detection distance of the second light beam is smaller than the farthest detection distance of the first light beam.
  • the second light beam is suitable for long-distance detection
  • the first light beam is suitable for short-distance detection. Therefore, through the mixed light source, the light beam emitted by the first emission module can detect the blind area formed during long-distance detection, thereby improving the short-distance detection capability of the detection device and enhancing the detection performance of the detection device.
  • the maximum detection distance of the first light beam being smaller than the maximum detection distance of the second light beam can be achieved in the following manner:
  • Implementation method 1 The energy density of the first light beam is less than that of the second light beam.
  • the energy density of the signal is related to its maximum detection distance. The smaller the energy density, the smaller the maximum detection distance. Therefore, the first light beam is suitable for short-range detection.
  • the short maximum detection distance of the first light beam can also avoid mutual interference between short-range detection and long-range detection, improve the short-range detection accuracy and long-range detection accuracy of the detection device, and improve the detection performance.
  • Implementation method 2 The power of the first beam is less than the power of the second beam.
  • the power of a signal is related to its maximum detection distance. The smaller the power, the smaller the maximum detection distance. Therefore, the first beam is suitable for short-range detection.
  • the first optical module may be defocused, the first light beam may be diverged, etc. to make the first light beam suitable for close-range detection and/or blind spot detection.
  • the second transmitting module when used for proximity measurement, by setting the second transmitting module to be relatively defocused from the lens, the field of view of the second transmitting module can be expanded, the range of close-range detection can be increased, and the blind spot of the field of view can be further reduced.
  • the first transmitting module and the second transmitting module are used to transmit the light beam in time division, and the emission time of the first light beam and the second light beam is different. In this way, the emission time of the first light beam and the second light beam is staggered, so that when detecting targets in different fields of view, it is difficult for them to interfere with each other.
  • Figure 14 is a schematic diagram of a detection range provided in an embodiment of the present application. It can be seen that the overlapping area between the transmitting field of view and the receiving field of view of the first transmitting module is the overlapping area 1; the overlapping area between the transmitting field of view and the receiving field of view of the second transmitting module is the overlapping area 2. There is an overlap between overlapping area 1 and overlapping area 2. When the two perform detection in time, overlapping area 1 and overlapping area 2 are isolated by time division, reducing mutual interference and improving the effective proportion of the signal received by the detection device.
  • blind spot detection of the near field of view is also achieved without affecting the long-range detection capability, thereby enhancing the detection performance of the detection device.
  • the first emission module is used to emit a first light beam in a first time period
  • the second emission module is used to emit a second light beam in a second time period, and the first time period does not overlap with the second time period.
  • Figure 15 is a schematic diagram of a light-emitting timing provided by an embodiment of the present application.
  • the first light beam is emitted within the T_1 time period in the period
  • the second light beam is emitted within the T_2 time period in the period.
  • the T_1 time period and the T_2 time period do not overlap.
  • the light-emitting timing shown in Figure 15 is an exemplary description based on the periodic light-emitting timing, and the present application is also applicable to non-periodic light-emitting or periodic light-emitting with other duration regularities.
  • the duration of the T_1 time period may be different from the duration of the T_2 time period, such as: the duration of the T_1 time period may be greater than the duration of the T_2 time period, or the duration of the T_1 time period may be less than the duration of the T_2 time period.
  • the first emission module and the second emission module may pause for a period of time and then restart the light emission.
  • the vertical axis of Figure 15 is used to illustrate whether there is a light beam at a certain time, and there is no strict restriction on the variable itself.
  • the variable represented by the coordinate can be whether the transmitting module is powered on, the level of the transmitting module, the power of the signal light emitted by the transmitting module, etc.
  • the second emission module may emit a sixth light beam, and the maximum detection distance of the sixth light beam is different from the maximum detection distance of the second light beam.
  • the farthest detection distance of the first light beam is less than the farthest detection distance of the second light beam
  • the farthest detection distance of the sixth light beam is less than the farthest detection distance of the second light beam.
  • the sixth light beam is suitable for close-range detection within the first time period. In this way, a wider range of close-range detection can be achieved within the first time period, further improving the close-range detection capability of the detection device.
  • the sixth light beam has the same ranging capability as the first light beam.
  • FIG. 16 is another schematic diagram of the light-emitting timing provided by an embodiment of the present application.
  • the first emission module emits the first light beam in the T_1 time period of the cycle
  • the second emission module emits the sixth light beam in the T_1 time period of the cycle
  • the second emission module emits the second light beam in the T_2 time period of the cycle, wherein: the farthest detection distance of the first light beam is less than the farthest detection distance of the second light beam
  • the farthest detection distance of the sixth light beam is also less than the farthest detection distance of the second light beam.
  • the light beams emitted by the first emission module and the second emission module can be regarded as light beams for short-range detection; in the T_2 time period, the light beam emitted by the second emission module can be regarded as light beams for long-range detection.
  • This arrangement not only realizes the time isolation of long-range and short-range detection, but also realizes a larger range of short-range detection, further improves the detection efficiency, improves the short-range detection capability of the detection device, and enhances the detection performance.
  • the vertical axis "power" in Figure 16 is used to illustrate the farthest detection distance of the light beam within a time period.
  • the power can also be replaced by the current of the transmitting module, the energy density of the light beam, the farthest detection distance of the light beam, etc.
  • the first emission module includes multiple (for example, N, N is an integer and N>0) first lasers
  • the second emission module includes multiple (for example, M, N is an integer and M>0) second lasers
  • the first emission module and the second emission module are distributed along a first direction.
  • FIG. 17 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application.
  • the first transmitting module 401 and the second transmitting module 402 are arranged along the x direction, and the first transmitting module 401 includes a laser, whose light emitting direction is away from the circuit board direction, that is, the z direction; the second transmitting module 402 includes a laser, whose light emitting direction is parallel to the circuit board direction, that is, the x direction.
  • the transmitting module includes a laser, so that the light beam emitted by the transmitting module has no gap in the second direction (such as the y direction), thereby improving the continuity of the field of view in the second direction.
  • the N first lasers are arranged at intervals, and the second direction is perpendicular to the first direction; in the second direction, the N second lasers are arranged at intervals.
  • FIG18 is a schematic diagram of the structure of a possible transmitting device provided in an embodiment of the present application, wherein a first transmitting module 401 and a second transmitting module 402 are arranged along the x direction.
  • the first transmitting module 401 includes four lasers, whose light emitting directions are away from the circuit board direction, i.e., the z direction;
  • the second transmitting module 402 includes three lasers, whose light emitting directions are parallel to the circuit board direction, i.e., the x direction.
  • lasers with larger light-emitting surfaces are difficult and expensive to manufacture, the cost can be reduced by providing multiple separate lasers. Multiple separate lasers can also reduce heat dissipation pressure, avoid high-temperature hot spots on the circuit board, and increase service life.
  • the gap between the first lasers (such as d5 as shown in FIG. 18 ) is smaller than the gap between the second lasers (such as d6 as shown in FIG. 18 ).
  • the transmitting device further includes a light homogenization component, which is used to homogenize the light beam from the first transmitting module and the light beam from the second transmitting module in the second direction.
  • the light homogenization component fills the gap of the laser in the y direction, further reducing the blind area of the field of view.
  • the light homogenization component can be implemented by a microlens array, a light homogenization plate, a light homogenization sheet, or a diffusion plate.
  • Fig. 19 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application, wherein the transmitting device 190 includes a circuit board and a collimating lens group, and may optionally include a light homogenizing component or a reflector, etc.
  • the light homogenizing component may be optionally implemented by a microlens array.
  • the first emission module 401 and the second emission module 402 are arranged on the light source circuit board 403.
  • the light emitting direction of the first emission module 401 is away from the circuit board direction (such as the z direction), and the light emitting direction of the second emission module 402 is parallel to the circuit board direction (such as the x direction).
  • the first optical module 404 is placed between the first emission module and the second emission module to realize the same-direction light emission of the light source.
  • the distribution of the first emission module and the second emission module on the x-y plane is shown in area 1901.
  • the first emission module includes a plurality of first emitters, the plurality of first emitters are distributed along the y direction and there is a gap between two first emitters
  • the second emission module includes a plurality of second emitters, the plurality of second emitters are distributed along the y direction and there is a gap between two second emitters.
  • the edges of the first emission module and the second emission module in the y direction are aligned.
  • FIG20 is a schematic diagram of the field of view of a transmitting device provided in an embodiment of the present application.
  • the second light beam emitted by the second transmitting module 402 has a field of view of ⁇ in the x direction after passing through the collimating lens group and the light homogenizing component (optional).
  • the first light beam emitted by the first transmitting module 401 has a field of view of ⁇ in the x direction after passing through the first optical module 404, the collimating lens group and the light homogenizing component (optional).
  • There is a gap of ⁇ between ⁇ and ⁇ Since the distance between the first optical module 404 and the second transmitting module 402 is relatively close, ⁇ is significantly reduced, which reduces the blind spot of the field of view of the detection device, improves the detection efficiency, and enhances the detection performance.
  • the first light beam and the second light beam may be homogenized by a light homogenization component to achieve a continuous field of view of the emitting device in the y direction.
  • the first optical module 404 folds the optical path so that the equivalent back focus position of the first emitting module 401 is longer than that of the second emitting module 402.
  • the second emitting module 402 is located at the focal plane of the collimating lens group, while the first emitting module 401 has a defocus distance.
  • the first emission module emits the first light beam within T1, and the second emission module emits the sixth light beam within T1, as shown in part (b) of FIG20; the second emission module emits the second light beam within T2, as shown in part (a) of FIG20.
  • the first light beam and the sixth light beam are used for short-range detection, and the second light beam is used for long-range detection.
  • This light-emitting method can improve the field of view of short-range detection, improve detection efficiency, and enhance detection performance.
  • FIG. 19 may also be combined with one or more of the aforementioned designs, and this application will not elaborate on the combinations one by one.
  • Figure 21 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application, wherein the transmitting device 210 comprises a light source circuit board 403 and a collimating lens group.
  • a first transmitting module 401 and a second transmitting module 402 are arranged on the light source circuit board 403, and the distribution of the first transmitting module and the second transmitting module on the x-y plane is shown in area 2101.
  • the first emission module 401 and the second emission module 402 each include a long strip light source, the light emission direction of the first emission module 401 is away from the circuit board direction (such as the z direction), and the light emission direction of the second emission module 402 is parallel to the circuit board direction (such as the x direction).
  • the first optical module 404 is placed between the first emission module and the second emission module to achieve the same direction of light emission of the light source.
  • the edges of the first emission module and the second emission module in the y direction are aligned.
  • the gap between the light beams emitted by the first emission module and the second emission module is significantly reduced, thereby reducing the blind area of the field of view of the detection device, improving the detection efficiency, and enhancing the detection performance.
  • the first optical module 404 in the transmitting device 210 may be a reflector with a slightly convex spherical surface.
  • the convex spherical mirror surface may compensate for the defocus amount of the first transmitting module and improve the distance measurement performance.
  • the slightly convex spherical reflector is close to the second emission module 402, and its inclination angle can be 45°, so that the optical axis of the first emission module 401 can be folded to be parallel to the optical axis of the collimating lens group, so that the light beam emitted by the first emission module 401 and the light beam emitted by the second emission module 402 are coaxial.
  • the collimation system can realize that the light beam emitted by the second emission module 402 presents a field of view angle ⁇ , and the light beam emitted by the first emission module 401 presents a field of view angle ⁇ . Since the first optical module 404 is close to the telemetry light source, the field of view angle ⁇ is close to the field of view angle ⁇ , thereby realizing the continuous light field of the mixed light source and reducing the detection blind area.
  • Figure 20 For related descriptions, please refer to the description of Figure 20.
  • the first optical module 404 folds the optical path so that the equivalent back focus position of the first emitting module 401 is longer than that of the second emitting module 402.
  • the second emitting module 402 is located at the focal plane of the collimating lens group, while the first emitting module 401 has a defocus distance.
  • the first emission module emits the first light beam in T1
  • the second emission module emits the sixth light beam in T1
  • the second emission module emits the second light beam in T2.
  • the first and sixth light beams are used for short-range detection
  • the second light beam is used for long-range detection.
  • This light-emitting method can improve the field of view of short-range detection, improve detection efficiency, and enhance detection performance.
  • FIG. 21 may also be combined with one or more of the aforementioned designs, and this application will not elaborate on the combinations one by one.
  • FIG 22 is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application, wherein the transmitting device 220 comprises a light source circuit board 403, a first transmitting module 401, a second transmitting module 402 and a third transmitting module 2201.
  • the light source circuit board 403 is connected to the first transmitting module 401, the second transmitting module 402 and the third transmitting module 2201.
  • a first optical module 404 is disposed between the first emitting module 401 and the second emitting module 402 .
  • the first optical module 404 is used to change the light beam from the first emitting module 401 so that the light beam from the first emitting module 401 and the light beam from the second emitting module 402 have the same direction.
  • a third optical module 2202 is disposed between the third emitting module 2201 and the second emitting module 402 , and the third optical module 2202 is used to change the light beam from the third emitting module 2201 so that the light beam from the third emitting module 2201 and the light beam from the second emitting module 402 have the same direction.
  • optical path design, component placement design, etc. of the third emission module 2201 can also refer to the design of the first emission module 401, and will not be described one by one here.
  • the transmitting device 230 includes a first transmitting module 2301, a second transmitting module 2302, a circuit board 2303 and an optical module 2304.
  • the first transmitting module 2301 transmits a light beam in a direction away from the circuit board 2303 (referred to as light beam A for easy distinction), and the second transmitting module 2302 transmits a light beam in a direction parallel to the circuit board 2303 (referred to as light beam B for easy distinction).
  • the optical module 2304 is arranged in the light emitting direction of the first transmitting module 2301, and is used to change the direction of the light beam from the first transmitting module 2301 to obtain a light beam in another direction (referred to as light beam C for easy distinction), so that light beam C and light beam B have the same direction.
  • the emitting device shown in FIG. 23 realizes luminescence in the same direction using light sources with different light emitting directions (ie, mixed light sources).
  • the distance between the optical module 2304 and the first emitting module 2301 is smaller than the distance between the first emitting module 2301 and the second emitting module 2302. Accordingly, the distance between the light beam C and the light beam B is reduced compared with the distance between the first emitting module 2301 and the second emitting module 2302, so that the light beam C and the light beam B are adjacent, thereby reducing the gap between the light outputs of different light sources when multiple light sources are emitted.
  • the light beams C and B are directed in the same direction and the distance between them is greatly shortened, which can reduce the blind spot of the detection device.
  • FIG. 23 may also be combined with one or more of the aforementioned designs, and this application will not elaborate on the combinations one by one.
  • An embodiment of the present application also provides a detection device, which includes a transmitting device and a detector.
  • the transmitting device is the transmitting device described in the above embodiments, such as one or more of the transmitting devices 40, 60, 70, 80, 120, 130, 190, 210, 220, or 230.
  • the first transmitting module in the transmitting device is used to transmit the first light beam
  • the second transmitting module in the transmitting device is used to transmit the second light beam.
  • the detector is used to receive the echo signal corresponding to the first light beam and the echo signal corresponding to the second light beam.
  • An embodiment of the present application also provides a terminal, which includes the aforementioned transmitting device and/or detecting device.
  • the terminal may be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.
  • Cartesian coordinate system and the x, y, and z directions shown in the various embodiments of the present application are exemplary symbols for the convenience of understanding and are not intended to limit the embodiments of the present application.
  • the placement of the device, the arrangement direction, and the direction of the light beam may have other designs, and the coordinate system may also use other coordinate systems such as a spherical coordinate system.
  • the words “exemplary” or “for example” are used to indicate examples, illustrations or descriptions. Any embodiment or design described as “exemplary” or “for example” in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as “exemplary” or “for example” is intended to present related concepts in a specific way.
  • At least one refers to one or more, and “plurality” refers to two or more.
  • At least one of the following” or similar expressions refers to any combination of these items, including any combination of single items or plural items.
  • at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple.
  • “And/or” describes the association relationship of associated objects, indicating that three relationships can exist.
  • a and/or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.
  • the character "/" generally indicates that the associated objects before and after are in an "or” relationship.
  • first and second used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.
  • first transmitting module and the second transmitting module are only for the convenience of description, and do not represent the difference in the light-emitting mode, light-emitting order, or importance of the first transmitting module and the second transmitting module.

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Abstract

发射装置、探测装置及终端，可以应用于探测、智能测绘、智能驾驶等领域。其中，发射装置包含第一发射模组、第二发射模组、电路板和第一光学模组，第一发射模组和第二发射模组与电路板电连接，并且设置在电路板的一侧，第一光学模组放置在第一发射模组和第二发射模组之间。第一发射模组和第二发射模组朝向不同的方向发射光束，第一光学模组可以折转来自第一发射模组的光束的方向，实现不同出光方向的光源的同向发光。进一步的，第一模组设置在第一发射模组和第二发射模组之间，因此折转后的光束与来自第二发射模组的光束距离更近，从而减小了多光源出光的情况下发射装置的出光间隙，减小视野盲区。

Description

一种发射装置、探测装置及终端 技术领域
本申请涉及探测技术，应用于智能驾驶、智能运输、测绘、智能制造等领域，尤其涉及一种发射装置、探测装置及终端。
背景技术
随着信息技术的发展，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。例如，高级驾驶辅助系统(advanced driving assistance system，ADAS)在智能汽车中发挥着十分重要的作用，它是利用安装在车上的探测装置，在车辆行驶过程中探测周围的环境，收集数据，进行静止、移动物体的辨识等，并结合导航仪地图数据，进行系统的运算与分析，从而预先让驾驶者察觉到可能发生的危险，有效增加汽车驾驶的舒适性和安全性。探测装置可以看作是感知环境的“眼睛”，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。
其中，激光雷达(light detection and ranging，Lidar，或称光探测和测距装置)具有分辨率较高、探测性能好、隐蔽性强的优点，是感知领域重要的探测装置之一。激光雷达是一种发射探测信号并通过接收目标反射得到的回波来获取目标的相关信息(例如目标的位置、形状、或速度等特征量)的技术。为了提高探测效率，激光雷达的发射端经常需要设置多个激光器。而多个激光器所发射的光束之间存在视场间隙，造成发射端的发射视野不连续。在视场之间的间隙会形成视野盲区，严重影响探测性能。
如何减少激光雷达的视野盲区，是本领域技术人员亟待解决的问题。
发明内容
本申请实施例提供一种发射装置、探测装置及终端，能够使用混合光源进行探测，缩小探测装置的视野盲区，增强探测性能。
第一方面，本申请实施例提供一种发射装置，包括第一发射模组、第二发射模组、电路板和第一光学模组：
所述第一发射模组和所述第二发射模组与所述电路板电连接，并且设置在所述电路板的一侧，所述第一光学模组放置在所述第一发射模组和所述第二发射模组之间；
所述第一发射模组用于发射第一光束，所述第一光束与所述电路板平行；
所述第二发射模组用于发射第二光束，所述第二光束的朝向背离所述电路板；
所述第一光学模组用于改变所述第一光束的方向得到第三光束，所述第三光束的朝向背离所述电路板。
本申请实施例中，第一发射模组的出光方向为平行于电路板的方向，第二发射模组的出光方向为背离电路板的方向，通过在第一发射模组和第二发射模组之间设置光学模组(便于区分称为第一光学模组)，可以将第一光束的方向折转，从而使得第一光束的方向也朝向背离电路板的方向，实现了使用不同出光方向的光源(即混合光源)的同向发光。进一步的，第一光学模组设置在第一发射模组和第二发射模组之间，第一光束经过第一光学模组改变方向后，第三光束与第二光束之间的距离相比第一发射模组与第二发射模组的距离有所减小，使 得第三光束和第二光束之间的距离更近，在不减小第一发射模组和第二发射模组之间的距离的情况下，可以减小多光源出光的情况下发射装置的出光间隙，减小视野盲区，提升探测效率，增强探测性能。
在第一方面的一种可能的实施方式中，所述第一发射模组包含边发射激光器，所述第二发射模组包含垂直面发射器激光器。
其中，垂直面发射器设置在电路板上时，出光面为平行于电路板的表面，因此，其出光方向为背离电路板的方向。垂直面发射器包含但不限于是垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)、或光子晶体表面发射激光器(photonic crystal surface emitting semiconductor lasers，PCSEL)等。
边缘发射激光器(edge emitting laser，EEL)设置在电路板上时，出光面为激光器的侧面，因此，其出光方向为平行于电路板的方向。可选的，EEL还可以替换为其他在发光元件边缘进行发光的装置，例如硅光芯片等。
在第一方面的又一种可能的实施方式中，所述第三光束的光轴与所述第二光束的光轴共轴。发射端发出的光束共轴，可以减小光学镜头的口径，降低器件设计的复杂度，提升光路的稳定性。
在第一方面的又一种可能的实施方式中，第三光束的光轴相比于第二光束的光轴存在往所述第一发射模组的偏向。通过将第三光束往第一发射模组的方向进行微小的偏转，可以使得第三光束与第二光束之间的夹角更小，或者，平行但间隔减小。
在第一方面的又一种可能的实施方式中，第三光束与第二光束的距离小于第一发射模组至所述第二发射模组的距离。
在第一方面的又一种可能的实施方式中，所述发射装置还包含镜头，所述镜头用于对所述第三光束进行处理得到第四光束，以及，对所述第二光束进行处理得到第五光束。第二光束和第三光束经过同一镜头出射，可以减小发射装置的体积，提升器件的集成度。
在第一方面的又一种可能的实施方式中，所述第四光束与所述第五光束视野连续，
或者，所述第四光束与所述第五光束之间的视野间隙小于第一角度，所述第一角度为所述第一发射模组与所述第二发射模组相对于镜头的夹角。
视野连续或减小视野间隙，可以进一步缩小盲区视野，提升探测效率和探测结果的可靠性。
作为一种可能的实施方式，第四光束与所述第五光束的视野间隙与第二发射模组和第一光学模组之间的距离相关。这样设置，通过调节第一光学模组与第二发射模组之间的距离，就可以控制发射端的视野间隙，厂商或者开发人员可以根据需求灵活地设置第一光学模组的位置，提高了发射装置的对于不同场景的兼容性。
在第一方面的又一种可能的实施方式中，所述第二发射模组位于所述镜头的焦平面。这种实施方式中，第二发射模组发射的光束在经过镜头时具有较好的准直度，以提升探测装置的最远探测距离，保证测远能力。
在第一方面的又一种可能的实施方式中，第一光学模组包含反射面，所述反射面用于改变所述第一光束的方向得到第三光束，所述第一反射面的镜面形为凸球面。通过凸球面补偿第一发射模组的相对离焦量，提升第三光束的准直度，提升测远能力。
可选的，第一发射模组的离焦量与所述第一光学模组与所述第一发射模组之间的距离相关。这样设置，通过调节第一光学模组与第一发射模组之间的距离，则可以控制第一发射模组的离焦量，厂商或者开发人员可以根据需求灵活地设置第一光学模组的位置，提高了发射 装置对于不同场景的兼容性。
在第一方面的又一种可能的实施方式中，所述第一光束的最远探测距离小于所述第二光束的最远探测距离。这样设置，第二发射模组所发射的光束可以对远距离探测时所形成的盲区进行探测，提升了探测装置的近距探测能力，增强了探测装置的探测性能。
在第一方面的又一种可能的实施方式中，所述第一发射模组和所述第二发射模组用于分时发射光束，所述第一光束和所述第二光束的发射时间不同。这样设置，第一光束和第二光束的发射时间相互间错，使得对不同视野内的目标进行探测时，难以相互形成干扰。
在第一方面的又一种可能的实施方式中，所述第一发射模组用于在第一时间段发射所述第一光束；
所述第二发射模组用于在第二时间段发射所述第二光束，所述第一时间段和所述第二时间段不重叠；
所述第二发射模组还用于在所述第一时间段发射第六光束，所述第六光束的最远探测距离小于所述第二光束的最远探测距离。
这种实施方式中，既实现了测远和测近的时间隔离，还实现了更大范围的测近，进一步提升了探测效率，提升探测装置的近距离探测能力，增强了探测性能。
在第一方面的又一种可能的实施方式中，所述第一发射模组包含N个第一激光器，所述第二发射模组包含M个第二激光器，N、M为整数且N＞0，M＞0；
所述第一发射模组和所述第二发射模组沿第一方向分布；
所述第一发射模组包含N个第一激光器，所述第二发射模组包含M个第二激光器，N、M为整数且N＞1，M＞1；
在第二方向上，所述N个第一激光器间隔设置，所述第二方向与所述第一方向垂直；
在所述第二方向上，所述N个第二激光器中间隔设置；
所述发射装置还包含匀光组件，所述匀光组件用于对来自所述第一发射模组的光束和来自所述第二发射模组的光束在所述第二方向上进行均匀化处理。
第二方面，本申请实施例还提供一种探测装置，所述探测装置包含发射装置和探测器，所述激光发射器包含第一方面或者第一方面任意一种可能的实施方式所描述的发射装置。
所述发射装置中的第一发射模组用于发射第一光束，所述发射装置中的第二发射模组用于发射第二光束；
探测器用于接收所述第一光束对应的回波信号以及所述第二光束对应的回波信号。
第三方面，本申请实施例还提供一种终端，该终端包含第一方面或第一方面任一项所描述的发射装置，或者包含第二方面所描述的探测装置。
可选的，终端可以为车辆、无人机、机器人等智能终端或交通工具。
本申请第二方面至第三方面的部分有益效果可以参考第一方面的有益效果，此处不在一一说明。
附图说明
下面将对实施例描述中所需要使用的附图作简单的介绍。
图1是一种探测装置的发射视场和接收视场的示意图；
图2是一种包含多个光源的发射端；
图3是一种发射端的光路示意图；
图4是本申请实施例提供的一种发射装置的结构示意图；
图5是本申请实施例提供的一种发射端视场的示意图；
图6是本申请实施例提供的又一种发射装置的结构示意图；
图7是本申请实施例提供的又一种发射装置的结构示意图；
图8是本申请实施例提供的又一种发射装置的结构示意图；
图9是本申请实施例提供的一种光束距离的示意图；
图10是本申请实施例提供的又一种光束距离的示意图；
图11是本申请实施例提供的一种光路的示意图；
图12是本申请实施例提供的又一种发射装置的结构示意图；
图13是本申请实施例提供的又一种发射装置的结构示意图；
图14是本申请实施例提供的一种探测范围的示意图；
图15是本申请实施例提供的一种发光时序的示意图；
图16是本申请实施例提供的又一种发光时序示意图；
图17是本申请实施例提供的又一种发射装置的结构示意图；
图18是本申请实施例提供的一种可能的发射装置的结构示意图；
图19是本申请实施例提供的又一种发射装置的结构示意图；
图20是本申请实施例提供的一种发射装置的视场角的示意图；
图21是本申请实施例提供的又一种发射装置的结构示意图；
图22是本申请实施例提供的又一种发射装置的结构示意图；
图23是本申请实施例提供的又一种发射装置的结构示意图。
具体实施方式
下面将结合附图对本申请实施例作进一步地详细描述。
为了便于理解，以下示例地给出了部分与本申请实施例相关概念的说明以供参考。如下所述：
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探测信号，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.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，或者称为视场。
一些场景中，以光学仪器的镜头为顶点，以被测目标的物像可通过镜头的最大范围的两 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。
本申请实施例中，垂直方向上的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：发射端将探测信号发射到物空间，使得物空间中的目标能够被探测信号照射；接收端可以接收探测信号在目标上反射形成的回波信号，基于回波信号测量目标的相关信息。
由于探测装置所发射的信号的功率通常是有限的，当需要探测到较远距离的目标时，发射的探测信号的准直度高、发散角度小，这使得探测装置发射的探测信号对近距离区域的覆盖能力差，存在较大的近视野盲区。尤其在发射端和接收端为离轴架构时，近视野盲区将使得探测装置的近距探测能力大大降低。
请参见图1，图1是一种探测装置的发射视场和接收视场的示意图，发射端和接收端分别位于探测装置的两端，发射视场为被发射端发射的探测信号覆盖的物空间，接收视场为接收端能够接收到光的物空间。由于只有被探测信号覆盖的物空间，接收端才能够接收到探测信号的回波信号，因此发射视场和接收视场的交叠区为探测装置的有效探测范围。可以看出，交叠区的起始位置在距离探测装置较远的位置，在交叠区之前的近距离物空间，接收端接收不到探测信号的回波信号，便形成视野盲区。发射端和接收端的离轴程度越大，这样的近距视野盲区将越大，影响探测效率。
为了提高探测效率，探测装置的发射端经常需要设置多个激光发射模组。多个发射模组可以形成多个发射视场，可以在一定程度上提升探测效率。请参见图2和图3，图2是一种包含多个光源的发射端，图3是一种发射端的光路示意图。在探测装置的发射端设置两个发射模组(即：发射模组1和发射模组2)，可以增大发射端的视野，从而增大有效探测范围。但是，发射模组之间需要实现电气性能隔离，这使得多个发射模组之间仍然具有间隙，因此多个发射模组所发射的光束之间还是会存在视场间隙。如图3所示，来自发射模组1和发射模组2的光束经过镜头后到达视野(其中虚线为示例性的镜头主光轴)，在视野中，来自发射模组1和发射模组2的光束仍然存在视场间隙，即表示为γ的夹角。由于发射模组之前的需要实现电气性能隔离，因此无法通过拉近两个发射模组之间的距离来缩小该视场间隙。而视场间隙γ使得发射端视野不连续，仍然存在视野盲区，影响了探测性能。
有鉴于此，本申请实施例提供一种发射装置、探测装置及终端，能够使用混合光源进行探测，缩小探测装置的视野盲区，增强探测性能。
下面对本申请实施例的方案进行详细说明。
请参见图4，图4是本申请实施例提供的一种可能的发射装置的结构示意图，发射装置40可以包括第一发射模组401、第二发射模组402、电路板403和第一光学模组404。其中，第一发射模组401与第二发射模组402连接于同一块电路板403上。其中：
电路板是电子元件的支撑体，电路板中有导体作为连接电子器件的线路，包含但不限于是印刷线路板(printed circuit board，PCB)、柔性线路板(flexible printed circuit board，FPC)等。
可选的，第一发射模组401和第二发射模组402可以是电子器件，二者共同与电路板403 之间电连接。
或者可选的，第一发射模组401、第二发射模组402与电路板403之间电气性能隔离，此时，第一发射模组401和第二发射模组402可以固定在电路板403上，而不一定与电路板403之间电连接。
可替换的，电路板也可以替换为基板，基板中可以不包含传输电信号的导体。第一发射模组和第二发射模组可以固定在基板上。
其中，第一发射模组401用于发射第一光束，第一光束与电路板403平行。如图4，第一光束通过标号1的带箭头表示。
第二发射模组402用于发射第二光束，第二光束的朝向背离电路板403。如图4，第二光束通过标号2的带箭头表示。例如，第二光束的方向垂直于电路板。
第一光学模组404用于改变第一光束的方向得到第三光束，第三光束的朝向背离电路板。如图4，第三光束通过标号3的带箭头表示。
本申请实施例中，第一发射模组的出光方向为平行于电路板的方向，第二发射模组的出光方向为背离电路板的方向，通过在第一发射模组和第二发射模组之间设置第一光学模组，可以将第一光束的方向折转，从而使得第一光束的方向也朝向背离电路板的方向，实现了使用不同出光方向的光源(即混合光源)的同向发光。
可选的，第一光学模组404设置在第一发射模组401和第二发射模组402之间。如此，第一光束经过第一光学模组改变方向后，第三光束与第二光束之间的距离相比第一发射模组与第二发射模组的距离有所减小，使得第三光束和第二光束之间的距离更近，在不减小第一发射模组和第二发射模组之间的距离的情况下，可以减小多光源出光的情况下发射装置的出光间隙，减小视野盲区，提升探测效率，增强探测性能。此外，通过设置第一光学模组404，使得第一发射模组401与第二发射模组402之间的距离可以不再被严格限制，从而使得光源的驱动电路的隔离空间更大，提升电路板电路设计的灵活性。
请参见图5，图5是本申请实施例提供的一种发射端视场的示意图，第一发射模组401发射的第一光束经过第一光学模组404折转后得到第三光束，第一光束(第三光束)的FOV如阴影部分所示。第二发射模组402发射的第二光束的FOV如斑点部分所示。可以看出，第三光束与第二光束朝向相同且距离大大缩短，减小了视野盲区。
综上，发射装置40能够实现以混合光源为发射端进行探测，缩小探测装置的视野盲区，增强探测性能。
应理解，本申请各个实施例中所示的x、y、z坐标是为了方便理解所做出的示例性的标识，不作为对本申请实施例的限定。
下面基于图4所示的发射装置，提供一些可能的设计。以下的多种设计可以单独实施，也可以组合实施。为了便于理解，下文中对于组合实施的情况也会进行示例性的描述，下面先分别介绍一些可能的设计。
作为一种可能的设计，第一发射模组包含边发射激光器，第二发射模组包含垂直面发射器激光器。
其中，垂直面发射器设置在电路板上时，出光面为平行于电路板的表面，因此，其出光方向为背离电路板的方向。垂直面发射器包含但不限于是垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)、或光子晶体表面发射激光器(photonic crystal surface emitting semiconductor lasers，PCSEL)等。
边缘发射激光器(edge emitting laser，EEL)设置在电路板上时，出光面为激光器的侧边，因此，其出光方向为平行于电路板的方向。可选的，EEL还可以替换为其他在发光元件边缘进行发光的装置，例如硅光芯片等。
不限于前述的设计，作为又一种可能的设计，第一发射模组包含边发射激光器，第二发射模组包含边发射器和第二光学模组。
请参见图6，图6是本申请实施例提供的又一种可能的发射装置的结构示意图，发射装置60中的第二发射模组包含激光器601和第二光学模组602。其中，激光器601的出光面为激光器的侧面，由激光器601发射的信号光经过第二光学模组602折转后，得到第二光束，第二光束背离电路板403。即：第二光束与第三光束的朝向相同。
可选的，第一光学模组404和第二光学模组602可以属于同一个光学模组。
上文中提到，第二光束和第三光束均背离电路板。
不限于前述的设计，作为一种可能的设计，第三光束的光轴与第二光束的光轴共轴，或者，第三光束的光轴相比于第二光束的光轴存在偏向。其中，光轴是指光束(或光柱)的中心线，或者光学系统(包含发射装置、或光学模组等)的对称轴。
下面分别对两种可能的情况进行示例性的介绍：
情况1：第三光束与所述第二光束的共轴。请参见图7，图7是本申请实施例提供的又一种可能的发射装置的结构示意图。在图7所示的发射装置70中，第三光束的光轴垂直于电路板403，第二光束的光轴垂直于电路板403，因此第三光束的光轴和第二光束的光轴平行，即，共轴。
发射端发出的光束共轴，可以减小光学镜头的口径，降低器件设计的复杂度，提升光路的稳定性。
在图7所示的发射装置70中，第一光学模组404中包含反射面702，反射面702用于改变第一光束的方向，该反射面702与电路板的夹角θ为45°。在这种情况下，第三光束的等效光源为光源701，且光源701的等效出光面平行于电路板。若第二发射模组包含垂直面发射器，则第二发射模组402的出光面平行电路板。因此，光源701的等效出光面平行于第二发射模组402的等效出光面，第三光束的光轴和第二光束的光轴平行。
需要说明的是，本申请各实施例中描述的平行、共轴、角度等可能是相对的，具体实施过程中因制作工艺、安装工艺、震动、器件老化等可能存在一定误差。另外，本申请各实施例中描述的等效光源是为了方便理解光路以及光学元件的技术效果所做出的虚拟的光源，在发射装置的实际运行过程中并不存在。
情况2：第三光束的光轴相比于第二光束的光轴存在偏向。可选的，偏向可以是轻度的，例如不超过45°，或者小于25°，或者，小于10°。
作为一种可能的实施方式，偏向可以是往第一发射模组的方向。请参见图8，图8是本申请实施例提供的又一种可能的发射装置的结构示意图。在图8所示的发射装置80中，第三光束背离电路板403，且具有往第一发射模组的偏向，从而使得光束3与光束2的边缘更加平行，从而进一步的减小第二光束与第三光束之间的出光间隙。
可选的，偏向的角度与第三光束的出光边缘和第二光束的出光边缘之间的距离相关。例如，由于第一发射模组401的出光边缘与第一光学模组404的边缘之间难以实现完全贴合，而第三光束的出光边缘与第一光学模组靠近第二发射模组之间也存在距离，即第三光束的出光边缘和第二光束的出光边缘之间存在距离。通过将第三光束往第一发射模组的方向进行微小的偏转(例如不超过45°)，可以使得第三光束的等效光源801更加靠近第二发射模组， 从而使得第三光束与第二光束之间的夹角更小，或者，平行但间隔减小。
作为一种可能的实施方式，第三光束的光轴与第二光束的光轴之间偏向可以通过第一光学模组的放置方式来实现。示例性的，如图8所示，第一光学模组404的反射面802用于改变第一光束的方向得到第三光束，当反射面802与电路板的夹角θ大于45°时，第三光束的光轴与第二光束的光轴之间存在偏向。
不限于前述的设计，作为又一种可能的设计，第三光束与第二光束的距离小于第一发射模组至第二发射模组的距离。第三光束与第二光束的距离越小，则出光之间的间隙越小，有助于视野的连续，缩小盲区。
可选的，第三光束与第二光束之间距离可以通过如下几种方式表示：
方式一：第三光束的光轴和第二光束光轴的平行的情况下，第三光束与第二光束的距离可以表示为第三光束的光轴与所述第二光束的光轴之间的距离。
这种方式中，第三光束的光轴与所述第二光束的光轴之间的距离，小于，第一发射模组至第二发射模组的距离。可选的，第一发射模组与第二发射模组的距离可以为第一反射模组与第二发射模组的中心之间的距离。或者可选的，第一发射模组和第二发射模组的边缘之间的距离。
方式二：第三光束与第二光束的距离可以表示第三光束的出光中心与第二光束的出光中心之间的距离。示例性的，请参见图9，图9是本申请实施例提供的一种光束距离的示意图，第三光束(即标号3的阴影部分)的出光中心即第一光束在第一光学模组404形成的光斑中心，第二光束(即标号2的阴影部分)的出光中心为第二发射模组402的出光表面的中心，第三光束与第二光束的距离为第三光束的出光中心与第二光束的出光中心之间的距离，即：图9所示的d1。
可选的，第一发射模组与第二发射模组的距离可以为第一发射模组401与第二发射模组402的中心之间的距离，如图9所示的d2，d2＞d1。当然，图9以第二发射模组402的中心与第二光束的出光中心重合为例进行示意，具体实现方式中，二者也可以不重合。
或者可选的，第一发射模组与第二发射模组的距离可以为第一发射模组401和第二发射模组402的边缘之间的距离，如图9所示的d3，d3＞d1。当然，图9以二者靠近对方的边缘之间的距离为例进行示意，具体实现方式中，边缘也可以为远离对方的边缘或者同方向的边缘，此处不再一一说明。
方式三：第三光束与第二光束的距离可以表示第三光束的出光边缘与第二光束的出光边缘之间的距离。可选的，出光边缘可以指二者靠近对方的边缘，或者远离对方的边缘，或者同向的边缘。
示例性的，请参见图10，图10是本申请实施例提供的又一种光束距离的示意图，第二光束(即标号2的阴影部分)的出光边缘的下边缘靠近第三光束，第三光束(即标号3的阴影部分)的出光边缘的上边缘靠近第二光束，第三光束与第二光束的距离可以表示第三光束的上边缘与第二光束的下边缘之间距离，即：图10所示的d4。
其中，d2＞d4，和/或，d3＞d4，相关描述可以参考前述方式二中的描述。
方式四：第三光束与第二光束的距离可以为指向角度差。
例如，在发射装置还包含镜头的情况下，第三光束与第二光束的距离可以表示为第一光束的出光中心与第二光束的出光中心与镜头中心(或镜头的光心)之间的夹角。如图11是本申请实施例提供的又一种光路的示意图，发射装置还包含镜头，λ2即第一光束的出光中心与第二光束的出光中心与镜头中心之间的夹角，λ1即第一发射模组与第二发射模组与镜头中心 之间的夹角，λ2小于λ1。
上述的四种方式是为了便于理解所做出的示例性举例。另外，图9-图11所示的情况也是几种可能的光路示意，具体实施过程中因元器件摆放位置、制作工艺、安装工艺、震动、器件老化等可能使得光路存在一定误差。
不限于前述的设计，在又一种可能的设计中，发射装置还包含镜头，所述镜头用于对第三光束进行处理得到第四光束，以及，对第二光束进行处理得到第五光束。第二光束和第三光束经过同一镜头出射，可以减小发射装置的体积，提升器件的集成度。
其中，镜头是指对光线具有会聚作用的光学元件，例如凸透镜、弯月透镜等。一些场景中，镜头可能还具有准直功能，例如准直镜组。
可选的，镜头的主光轴可以与第二发射模组的中心重合。进一步的，重合可以是部分维度的重合，例如，在x方向重合。
请参见图12，图12是本申请实施例提供的又一种可能的发射装置的结构示意图，发射装置120包含镜头1201，第三光束(即标号3的阴影部分)经过镜头后得到第四光束(即标号4的阴影部分)，第二光束(即标号2的阴影部分)经过镜头后得到第五光束(即标号5的阴影部分)。可选的，第四光束与第五光束之间的夹角为λ3。
在又一种可能的实施方式中，第四光束与第五光束之间的视野间隙小于第一角度，所述第一角度为所述第一发射模组与所述第二发射模组相对于镜头的夹角。
结合图11和图12，λ3即第四光束与第五光束之间的视野间隙，λ1即第一发射模组与第二发射模组与镜头中心之间的夹角，λ3＜λ1。
结合图3，不难看出，多光源的情况下，由于光源至今的电气性能隔离会使得两个光源的光信号之间具有较大的角度间隙(如图3所示的角度γ)。通过本申请实施例的方案，可以大大减小两个发射模组所发射的光束的视野间隙(λ3＜γ)，从而扩大覆盖范围，缩小视野盲区。
在一种可能的实施方式中，第四光束与第五光束之间视野连续。一些场景中，通过反射、或折射等作用，可以使得第四光束与第五光束之间视野连续。例如，将通过将第三光束进行偏转，使得第四光束的光轴与第五光束的光轴平行，且边缘之间的间隙接近于0，第四光束与第五光束之间视野连续。
视野连续或减小视野间隙，可以进一步缩小盲区视野，提升探测效率和探测结果的可靠性。
作为一种可能的实施方式，第四光束与第五光束的视野间隙与第二发射模组和第一光学模组之间的距离相关。通过调节第一光学模组与第二发射模组之间的距离，就可以控制发射端的视野间隙，厂商或者开发人员可以根据需求灵活地设置第一光学模组的位置，提高了发射装置对于不同场景的兼容性。
示例性的，第一发射模组和第二光学的之间的边缘紧贴，或者间距较小，可以使得发射端的视野间隙减小，缩小视野盲区。
不限于前述的设计，在又一种可能的设计中，第二发射模组位于镜头的焦平面。或者进一步的，第二发射模组包含出光面，第二发射模组位于镜头的焦平面。
将第二发射模组设置在焦平面上，可以使得第二发射模组发射的光束在经过镜头时具有较好的准直度，以提升探测装置的最远探测距离，保证测远能力。
不限于前述的设计，在又一种可能的设计中，第一发射模组相对于镜头的焦平面存在一定的离焦。如图7所示，第一发射模组等效于光源701，光源701相对于镜头的焦平面存在 离焦。
通过将第二发射模组相对离焦，可以使得第三光束呈现一定程度的弥散效果，经过镜头后得到第三光束可以具有更大的视野，缩小盲区。
可选的，第一发射模组对应的离焦量与第一光学模组与第一发射模组之间的距离相关。例如，在第二发射模组设置在镜头的焦平面上的情况下，第二发射模组与第一光学模组之间的距离越远，则第一发射模组对应的离焦量越大。这样设置，通过调节第一光学模组与第一发射模组之间的距离，则可以控制第一发射模组的离焦量，厂商或者开发人员可以根据需求灵活地设置第一光学模组的位置，提高了发射装置对于不同场景的兼容性。
作为一种可能的实施方式，第一光学模组包含反射面，反射面用于改变第一光束的方向得到第三光束，第一反射面的镜面形为凸球面。通过凸球面补偿第一发射模组的相对离焦量，提升第三光束的准直度，提升测远能力。
请参见图13，图13是本申请实施例提供的又一种可能的发射装置的结构示意图，在图13所示的发射装置130中，第一光学模组404用于改变来自第一发射模组401的第一光束的反射面的镜面形为凸球面，从而使得第一光束经过第一光学模组404后的光束具有更大的视场角。
此外，第三光束的等效光源可以看作是光源1301，而由于第三光束相比于第一光束发散，使得第一光学模组与等效光源1301之间的距离小于第一光学模组与第一发射模组之间的距离，第一发射模组的相对与镜头的离焦量得到补偿，可以提升测远能力。
不限于前述的设计，在又一种可能的设计中，第一光束和第二光束的最远探测距离不同。
例如，第一光束的最远探测距离小于第二光束的最远探测距离。再如，第二光束的最远探测距离小于第一光束的最远探测距离。
下面以第一光束的最远探测距离较小为例进行介绍。
在第一光束的最远探测距离小于第二光束的最远探测距离的情况下，第二光束适用于远距离探测，第一光束适用于近距离探测。因此，通过混合光源，第一发射模组所发射的光束可以对远距离探测时所形成的盲区进行探测，提升了探测装置的近距探测能力，增强了探测装置的探测性能。
作为一种可能的实施方式，第一光束的最远探测距离小于第二光束的最远探测距离可以通过以下方式实现：
实现方式一，第一光束的能量密度小于第二光束的能量密度。信号的能量密度与其最远探测距离相关，能力密度越小，最远探测距离越小。因此，第一光束适用于近距离探测。另外，第一光束的最远探测距离较短，也可以避免近距离探测和远距离探测的相互干扰，提升探测装置的近距探测准确性和远距探测准确性，提升探测性能。
实现方式二，第一光束的功率小于第二光束的功率。信号的功率与其最远探测距离相关，功率越小，最远探测距离越小。因此，第一光束适用于近距离探测。
上述实现方式仅为示例，具体实施情况中也可以通过设置第一光学模组离焦、将第一光束发散等方式来使得第一光束适用于近距离探测和/或补盲探测。
作为一种可能的实施方式，在第二发射模组用于测近的情况下，通过设置第二发射模组与镜头相对离焦，可以扩大第二发射模组的视野，提升近距离探测的范围，进一步减小视野盲区。
不限于前述的设计，在又一种可能的设计中，第一发射模组和第二发射模组用于分时发射光束，第一光束和第二光束的发射时间不同。这样设置，第一光束和第二光束的发射时间 相互间错，使得对不同视野内的目标进行探测时，难以相互干扰。
请参见图14，图14是本申请实施例提供的一种探测范围的示意图。可以看出，第一发射模组的发射视场与接收视场的交叠区为交叠区1；第二发射模组的发射视场与接收视场的交叠区为交叠区2。交叠区1与交叠区2存在重叠。当二者分时进行探测时，交叠区1和交叠区2则通过时分的方式形成隔离，降低互相干扰，提升了探测装置接收的信号的有效比例。
可选的，当第一光束和第二光束分别用于近距离探测和远距离探测时，还实现了在不影响远距离探测能力的情况下，对近视野范围的补盲探测，增强了探测装置的探测性能。
作为一种分时发光的示例，第一发射模组用于在第一时间段内发射第一光束，第二发射模组用于在第二时间段内发射第二光束，第一时间段与第二时间段不重叠。
请参见图15，图15是本申请实施例提供的一种发光时序的示意图。如图15所示，在一个探测周期T内，第一光束在周期中的T _1时间段内被发射，第二光束在周期中的T _2时间段内被发射。T _1时间段和T _2时间段不重叠。当然，图15所示的发光时序是以周期性的发光时序为例进行示例性的描述，对于非周期性的发光、或者具有其他时长规律的周期性发光，本申请同样适用。示例性的，T_1时间段的时长可以不同于T_2时间段的时长，如：T_1时间段的时长可以大于T_2时间段的时长，或者，T_1时间段的时长可以小于T_2时间段的时长。示例性的，经历多个T_1时间段和多个T_2时间段后，第一发射模组和第二发射模组可以暂停一段时间，再重新开始发光。
需要说明的是，图15的纵坐标为了表明某时间上是否有光束所作的示意，对于变量本身不作严格限制，例如，做坐标表示的变量可以为发射模组是否上电、发射模组的电平、发射模组所发射的信号光的功率等。
作为一种可能的实施方式，在第二时间段内，第二发射模组可以发射第六光束，第六光束的最远探测距离与第二光束的最远探测距离不同。
示例性的，在第一光束的最远探测距离小于第二光束的最远探测距离的情况下，第六光束的最远探测距离小于第二光束的最远探测距离。这样设置，第六光束适用于在第一时间段内进行近距离探测。如此可以实现在第一时间段内进行更大范围的近距离探测，进一步提升探测装置的近距离探测能力。可选的，第六光束与第一光束的测距能力相等。
请参见图16，图16是本申请实施例提供的又一种发光时序示意图。如图16所示，在一个探测周期T内，第一发射模组在周期中T _1时间段发射第一光束，第二发射模组在周期中T _1时间段发射第六光束，第二发射模组在周期中的T _2时间段内发射第二光束，其中：第一光束的最远探测距离小于第二光束的最远探测距离，第六光束的最远探测距离也小于第二光束的最远探测距离。因此，在T _1时间段内，第一发射模组和第二发射模组所发射的光束可以看作是用于近距离的探测的光束；在T _2时间段内，第二发射模组所发射的光束可以看作是用于远距离探测的光束。这样设置，既实现测远和测近的时间隔离，还实现了更大范围的测近，进一步提升了探测效率，提升探测装置的近距离探测能力，增强了探测性能。
需要说明的是，图16的纵坐标“功率”，是为了表明时间段内光束的最远探测距离所作的示意，功率还可以替换为发射模组的电流、光束的能力密度、光束的最远探测距离等。
不限于前述的设计，在又一种可能的设计中，第一发射模组包含多个(例如为N个，N为整数且N＞0)第一激光器，第二发射模组包含多个(例如为M个，N为整数且M＞0)第二激光器，所述第一发射模组和所述第二发射模组沿第一方向分布。
作为一种可能的实施方式，M＝1，N＝1。图17是本申请实施例提供的又一种可能的发射装置的结构示意图。其中，第一发射模组401和第二发射模组402沿x方向排列，第一发射 模组401包含一个激光器，其出光方向为背离电路板方向，即z方向；第二发射模组402包含一个激光器，其出光方向为平行于电路板方向，即x方向。发射模组包含一个激光器，使得发射模组发射的光束在第二方向(如y方向)上没有间隙，从而可以提升第二方向上的视野连续性。
作为又一种可能的实施方式，N＞1，M＞1。在第二方向上，N个第一激光器间隔设置，第二方向与所述第一方向垂直；在所述第二方向上，所述N个第二激光器中间隔设置。
图18是本申请实施例提供的一种可能的发射装置的结构示意图，第一发射模组401和第二发射模组402沿x方向排列。第一发射模组401包含4个激光器，其出光方向为背离电路板方向，即z方向；第二发射模组402包含3个激光器，其出光方向为平行于电路板方向，即x方向。
由于出光面较大的激光器制作难度高、成本高，通过设置分离的多个激光器，可以降低成本；分离的多个激光器还可以减小散热压力，避免电路板存在高热的热点，提升使用寿命。
作为一种可能的实施方式，第一激光器之间的间隙(如图18所示的d5)小于第二激光器之间的间隙(如图18所示的d6)。
在一种可能的实施方式中，发射装置还包含匀光组件，所述匀光组件用于对来自第一发射模组的光束和来自第二发射模组的光束在第二方向上进行均匀化处理。通过匀光组件，使得激光器在y方向上的缝隙被填补，进一步减小视野盲区。
可选的，匀光组件可以通过微透镜阵列、匀光板、匀光片、或扩散板等装置实现。
以上对本申请实施例的一些可能的设计进行了介绍。具体实施过程中，上述的多个设计之间还可以进行组合。以下对部分设计的组合进行示例性地介绍。应理解，以下实施例中未解释到的模块、逻辑，可以参考前述设计中的描述，以下的实施例之间也可以进行组合。
请参见图19，图19是本申请实施例提供的又一种可能的发射装置的结构示意图，发射装置190包含电路板和准直镜组，可选包含匀光组件、或反射镜等。其中，匀光组件可选通过微透镜阵列实现。
其中，光源电路板403上设置了第一发射模组401和第二发射模组402，第一发射模组401的出光方向为背离电路板方向(如z方向)，第二发射模组402的出光方向为平行于电路板方向(如x方向)。其中，第一发射模组和第二发射模组之间放置第一光学模组404，实现光源的同向出光。
第一发射模组和第二发射模组在x-y平面上的分布如区域1901所示。第一发射模组包含的多个第一发射器，多个第一发射器沿y方向分布且两个第一发射器之间存在间隙，第二发射模组包含的多个第二发射器，多个第二发射器沿y方向分布且两个第二发射器之间存在间隙。可选的，第一发射模组和第二发射模组在y方向上的边缘对齐。
图20是本申请实施例提供的一种发射装置的视场角的示意图，如图20的(a)部分所示，在x方向上，第二发射模组402所发射的第二光束，经过准直镜组和匀光组件(可选)后，在x方向上的视场角为ɑ。如图20的(b)部分所示，第一发射模组401所发射的第一光束，经过第一光学模组404、准直镜组和匀光组件(可选)后，在x方向上的视场角为β。ɑ与β之间存在γ的间隙，由于第一光学模组404与第二发射模组402的距离较近，使得γ显著减小，缩小了探测装置的视野盲区，提升了探测效率，增强了探测性能。
作为一种可能的实施方式，在y方向上，通过匀光组件可以对第一光束和第二光束进行均匀化处理，实现发射装置在y方向上的视野连续。
作为一种可能的实施方式，第一光学模组404折转光路使得第一发射模组401的等效后焦位置比第二发射模组402长。在z方向上，第二发射模组402位于准直镜组焦平面，而第一发射模组401则存在一段离焦距离。
作为一种可能的实施方式，在一个周期T内，第一发射模组在T1内发射第一光束，第二发射模组在T1发射第六光束，参见图20的(b)部分；第二发射模组在T2发射第二光束，如图20的(a)部分。其中，第一光束和第六光束用于近距离探测，第二光束用于远距离探测，这种发光方式可以提升近距离探测的视野，提升探测效率，增强探测性能。
图19所示的实施例还可以与前述的一种或者多种设计结合，对于结合的情况本申请不再一一赘述。
请参见图21，图21是本申请实施例提供的又一种可能的发射装置的结构示意图，发射装置210包含光源电路板403和准直镜组。其中，光源电路板403上设置了第一发射模组401和第二发射模组402，第一发射模组和第二发射模组在x-y平面上的分布如区域2101所示。
第一发射模组401和第二发射模组402各包含一个长条形的光源，第一发射模组401的出光方向为背离电路板方向(如z方向)，第二发射模组402的出光方向为平行于电路板方向(如x方向)。其中，第一发射模组和第二发射模组之间放置第一光学模组404，实现光源的同向出光。
可选的，第一发射模组和第二发射模组在y方向上的边缘对齐。通过设置第一光学模组404，使得第一发射模组和第二发射模组发射的光束之间的间隙显著减小，缩小了探测装置的视野盲区，提升了探测效率，增强了探测性能。
发射装置210中的第一光学模组404可以为微凸球面的反射镜，凸球形的镜面可以补偿第一发射模组的离焦量，提升测远性能。
示例性的，微凸球面的反射镜紧贴第二发射模组402，其倾斜角可以为45°，从而可以将第一发射模组401的光轴折转至与准直镜组光轴平行，实现第一发射模组401发射的光束和第二发射模组402发射的光束共轴。
作为一种可能的实施方式，在x方向上，准直系统可以实现第二发射模组402发射光束呈现视场角ɑ，第一发射模组401发射光束呈现视场角β，由于第一光学模组404紧贴测远光源，因此视场角β紧贴着视场角ɑ，从而实现混合光源的发光视野连续，缩小探测盲区。相关描述可以参见对图20的说明。
作为一种可能的实施方式，第一光学模组404折转光路使得第一发射模组401的等效后焦位置比第二发射模组402长。在z方向上，第二发射模组402位于准直镜组焦平面，而第一发射模组401则存在一段离焦距离。
作为一种可能的实施方式，在一个周期T内，第一发射模组在T1内发射第一光束，第二发射模组在T1发射第六光束；第二发射模组在T2发射第二光束。其中，第一光束和第六光束用于近距离探测，第二光束用于远距离探测，这种发光方式可以提升近距离探测的视野，提升探测效率，增强探测性能。
图21所示的实施例还可以与前述的一种或者多种设计结合，对于结合的情况本申请不再一一赘述。
请参见图22，图22是本申请实施例提供的又一种可能的发射装置的结构示意图，发射装置220包含光源电路板403、第一发射模组401、第二发射模组402和第三发射模组2201。 其中，光源电路板403与第一发射模组401、第二发射模组402和第三发射模组2201连接。
第一发射模组401和第二发射模组402之间设置了第一光学模组404，第一光学模组404用于改变来自第一发射模组401的光束，使得来自第一发射模组401的光束和来自第二发射模组402的光束朝向相同。
第三发射模组2201和第二发射模组402之间设置了第三光学模组2202，第三光学模组2202用于改变来自第三发射模组2201的光束，使得来自第三发射模组2201的光束和来自第二发射模组402的光束朝向相同。
图22所示的实施例还可以与前述的一种或者多种设计结合，对于结合的情况本申请不再一一赘述。另外，对于第三发射模组2201的光路设计、元件摆放设计等，也可以参照第一发射模组401的设计，此处不再一一说明。
请参见图23，图23是本申请实施例提供的又一种可能的发射装置的结构示意图，发射装置230包含第一发射模组2301、第二发射模组2302、电路板2303和光学模组2304。
第一发射模组2301往背离电路板2303的方向发射光束(便于区分称为光束A)，第二发射模组2302往平行于电路板2303的方向发射光束(便于区分称为光束B)。光学模组2304设置在第一发射模组2301的出光方向上，用于改变来自第一发射模组2301的光束的方向，得到朝向另一方向的光束(便于区分称为光束C)，使得光束C和光束B朝向相同。
通过图23所示的发射装置实现了使用不同出光方向的光源(即混合光源)的同向发光。
作为一种可能的设计，光学模组2304与第一发射模组2301之间的距离小于第一发射模组2301与第二发射模组2302之间的距离，相应的，光束C和光束B之间的距离相比第一发射模组2301与第二发射模组2302之间的距离有所减小，使得光束C和光束B相邻，从而可以减小多光源出光的情况下，不同光源的出光之间的间隙。
总之，光束C和光束B朝向相同且距离大大缩短，可以减小探测装置的视野盲区。
图23所示的实施例还可以与前述的一种或者多种设计结合，对于结合的情况本申请不再一一赘述。
本申请实施例还提供一种探测装置，该探测装置包含发射装置和探测器，所述发射装置为前述实施例中所描述的发射装置，例如发射装置40、发射装置60、发射装置70、发射装置80、发射装置120、发射装置130、发射装置190、发射装置210、发射装置220、或发射装置230中的一项或者多项发射装置。
示例性的，发射装置中的第一发射模组用于发射第一光束，发射装置中的第二发射模组用于发射第二光束。探测器用于接收所述第一光束对应的回波信号以及所述第二光束对应的回波信号。
本申请实施例还提供一种终端，终端包含前述的发射装置和/或探测装置。
可选的，终端可以为车辆、无人机、机器人等智能终端或交通工具。
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。
另外，本申请各个实施例中所示的笛卡尔坐标系，以及x、y、z方向是为了方便理解所 做出的示例性的标识，不作为对本申请实施例的限定。具体实施过程中，器件的摆放方式、排列方向、光束的朝向可能有其他设计，坐标系也可以使用球坐标系等其他坐标系。
本申请实施例中，“示例性的”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“示例性的”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“示例性的”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，第一发射模组和第二发射模组，只是为了便于描述，而并不是表示这第一发射模组和第二发射模组的发光方式、发光顺序、或重要程度等的不同。

Claims (15)

  1. 一种发射装置，其特征在于，所述发射装置包含第一发射模组、第二发射模组、电路板和第一光学模组，
    所述第一发射模组和所述第二发射模组与所述电路板电连接，并且设置在所述电路板的一侧，所述第一光学模组放置在所述第一发射模组和所述第二发射模组之间；
    所述第一发射模组用于发射第一光束，所述第一光束与所述电路板平行；
    所述第二发射模组用于发射第二光束，所述第二光束的朝向背离所述电路板；
    所述第一光学模组用于改变所述第一光束的方向得到第三光束，所述第三光束的朝向背离所述电路板。
  2. 根据权利要求1所述的发射装置，其特征在于，所述第一发射模组包含边发射激光器，所述第二发射模组包含垂直面发射器激光器。
  3. 根据权利要求1或2所述的发射装置，其特征在于，所述第三光束的光轴与所述第二光束的光轴共轴，或者，第三光束的光轴相比于第二光束的光轴存在往所述第一发射模组的偏向。
  4. 根据权利要求1-3任一项所述的发射装置，其特征在于，第三光束与所述第二光束的距离小于所述第一发射模组至所述第二发射模组的距离。
  5. 根据权利要求1-4任一项所述的发射装置，其特征在于，所述发射装置还包含镜头，所述镜头用于对所述第三光束进行处理得到第四光束，以及，对所述第二光束进行处理得到第五光束。
  6. 根据权利要求5所述的发射装置，其特征在于，所述第四光束与所述第五光束视野连续，
    或者，所述第四光束与所述第五光束之间的视野间隙小于第一角度，所述第一角度为所述第一发射模组与所述第二发射模组相对于镜头的夹角。
  7. 根据权利要求5或6所述的发射装置，其特征在于，所述第二发射模组位于所述镜头的焦平面。
  8. 根据权利要求7所述的发射装置，特征在于，所述第一光学模组包含反射面，所述反射面用于改变所述第一光束的方向得到第三光束，所述第一反射面的镜面形为凸球面。
  9. 根据权利要求1-8任一项所述的发射装置，其特征在于，所述第一光束的最远探测距离小于所述第二光束的最远探测距离。
  10. 根据权利要求9所述的发射装置，其特征在于，所述第一发射模组和所述第二发射模组用于分时发射光束，所述第一光束和所述第二光束的发射时间不同。
  11. 根据权利要求9或10所述的发射装置，其特征在于，
    所述第一发射模组用于在第一时间段发射所述第一光束；
    所述第二发射模组用于在第二时间段发射所述第二光束，所述第一时间段和所述第二时间段不重叠；
    所述第二发射模组还用于在所述第一时间段发射第六光束，所述第六光束的最远探测距离小于所述第二光束的最远探测距离。
  12. 根据权利要求1-11任一项所述的发射装置，其特征在于，所述第一发射模组包含N个第一激光器，所述第二发射模组包含M个第二激光器，N、M为整数且N＞0，M＞0；
    所述第一发射模组和所述第二发射模组沿第一方向分布；
    所述第一发射模组包含N个第一激光器，所述第二发射模组包含M个第二激光器，N、M为整数且N＞1，M＞1；
    在第二方向上，所述N个第一激光器间隔设置，所述第二方向与所述第一方向垂直；
    在所述第二方向上，所述N个第二激光器中间隔设置；
    所述发射装置还包含匀光组件，所述匀光组件用于对来自所述第一发射模组的光束和来自所述第二发射模组的光束在所述第二方向上进行均匀化处理。
  13. 一种探测装置，其特征在于，所述探测装置包含发射装置和探测器，所述发射装置包含权利要求1-12任一项所述的发射装置；
    所述发射装置中的第一发射模组用于发射第一光束，所述发射装置中的第二发射模组用于发射第二光束；
    探测器用于接收所述第一光束对应的回波信号以及所述第二光束对应的回波信号。
  14. 一种终端，其特征在于，所述终端包含如权利要求1-12任一项所述的发射装置，或者包含如权利要求13所述的探测装置。
  15. 根据权利要求14所述的终端，其特征在于，所述终端为车辆、无人机或者机器人。
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