CN116381952B - Optical shaping assembly, optical system and laser radar - Google Patents
Optical shaping assembly, optical system and laser radar Download PDFInfo
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- CN116381952B CN116381952B CN202310570524.3A CN202310570524A CN116381952B CN 116381952 B CN116381952 B CN 116381952B CN 202310570524 A CN202310570524 A CN 202310570524A CN 116381952 B CN116381952 B CN 116381952B
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- 230000003287 optical effect Effects 0.000 title claims abstract description 128
- 238000007493 shaping process Methods 0.000 title claims abstract description 67
- 230000007423 decrease Effects 0.000 claims abstract description 7
- 238000010276 construction Methods 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 238000009826 distribution Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000004907 flux Effects 0.000 description 7
- 230000001174 ascending effect Effects 0.000 description 4
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- 239000000969 carrier Substances 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
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- 238000009434 installation Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
- G02B27/095—Refractive optical elements
- G02B27/0955—Lenses
- G02B27/0961—Lens arrays
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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
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
- G02B27/095—Refractive optical elements
- G02B27/0955—Lenses
- G02B27/0966—Cylindrical lenses
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the application relates to the technical field of optics and discloses an optical shaping assembly, an optical system and a laser radar, wherein the optical shaping assembly comprises a micro cylindrical surface array part, a first adjusting part and a second adjusting part; the micro cylindrical surface array part is used for allowing the light beam to pass through and shaping the light beam; the light-emitting surface of the first adjusting part and the light-emitting surface of the second adjusting part are inclined surfaces, and the size of the first adjusting part along the optical axis direction and the size of the second adjusting part along the optical axis direction are configured to gradually decrease from one end away from the optical axis to one end towards the optical axis; the incident surface of the first adjustment portion and the incident surface of the second adjustment portion are configured to receive the light beam with equal energy. By the mode, the method and the device can solve the problem of reduced laser radar detection distance caused by assembly errors.
Description
Technical Field
The embodiment of the application relates to the technical field of optics, in particular to an optical shaping assembly, an optical system and a laser radar.
Background
Currently, in the laser radar, the laser beam forms a gaussian distribution on the slow axis, that is, the beam energy density in the optical axis direction is highest, and the larger the angle between the laser beam and the optical axis direction is, the lower the beam energy density is.
When the laser radar is applied to the industrial fields of automobiles, automatic workshops and the like, the laser radar is required to be assembled on an automobile or industrial robot carrier and is affected by the assembly precision, so that deviation occurs between the optical axis of the laser radar and the ranging direction required by the automobile or industrial robot, namely, the optical axis of the laser radar is not parallel to the ranging direction required by the automobile or industrial robot, and therefore the energy density of a light beam is small in the ranging direction required by the automobile or industrial robot, and the detection distance of the laser radar is affected.
Disclosure of Invention
In view of the above problems, embodiments of the present application provide an optical shaping assembly, an optical system, and a lidar, so as to overcome the problem of reduced detection distance of the lidar due to assembly errors.
According to an aspect of an embodiment of the present application, there is provided an optical shaping assembly including a micro-cylindrical array section, a first adjustment section, and a second adjustment section; the micro cylindrical surface array part is used for allowing the light beam to pass through and shaping the light beam; the first adjusting part and the second adjusting part are used for allowing the light beam to pass through, and the first adjusting part and the second adjusting part are respectively arranged at two opposite sides of the optical axis; the light-emitting surface of the first adjusting part and the light-emitting surface of the second adjusting part are inclined surfaces, and the size of the first adjusting part along the optical axis direction and the size of the second adjusting part along the optical axis direction are configured to gradually decrease from one end away from the optical axis to one end towards the optical axis; the incident surface of the first adjustment portion and the incident surface of the second adjustment portion are configured to receive the light beam with equal energy.
In the optical shaping assembly provided by the embodiment of the application, the first adjusting part and the second adjusting part with the light emitting surface being inclined surfaces are respectively arranged at two sides of the optical axis, the first adjusting part adjusts the light beam passing through the optical shaping assembly to emit at a negative preset angle, and the second adjusting part adjusts the light beam passing through the optical shaping assembly to emit at a positive preset angle, so that the light beam energy in the range from the negative preset angle to the positive preset angle is enhanced, and finally, a distribution curve with a small angle approaching to a flat top and a large angle Gaussian is formed in an angular space energy distribution diagram, so that the optical shaping assembly can be compatible with larger directivity deviation of a laser radar and ensure the ranging performance of the laser radar when being applied to the laser radar field.
In an alternative, the first adjustment portion, the second adjustment portion, and the micro cylindrical surface array portion are integrally formed. By arranging the first adjusting part, the second adjusting part and the micro cylindrical surface array part into an integrated structure, the number of parts is reduced, the production and manufacturing cost is reduced, and the precision of the optical shaping assembly is easier to ensure.
In an alternative manner, the first adjusting part and the second adjusting part are arranged at two opposite sides of the micro-cylindrical surface array part along the arrangement direction of the micro lenses on the micro-cylindrical surface array part; or, the first adjusting part and the second adjusting part are arranged in the micro-cylindrical area of the micro-cylindrical array part. When processing single lens, it is comparatively easier to process the structure that first adjustment portion and second adjustment portion are located the micro-cylindrical surface array portion both sides to can guarantee the machining precision, improve the product percent of pass. The first adjusting part and the second adjusting part are arranged in the micro cylindrical surface area of the micro cylindrical surface array part, and the optical shaping assembly is compatible with larger directivity deviation when being applied to a laser radar.
In an alternative manner, the first adjustment portion includes a plurality of first sub adjustment portions; at least part of the first sub-adjusting part is arranged on one side of the micro-cylindrical surface array part along the arrangement direction of the micro lenses on the micro-cylindrical surface array part; and/or, at least part of the first sub-adjusting part is arranged in the micro-cylindrical surface area of the micro-cylindrical surface array part. By providing a plurality of first sub-adjustment portions, more light beams can be adjusted to exit along a negative predetermined angle.
In an alternative manner, the second adjustment portion includes a plurality of second sub adjustment portions; at least part of the second sub-adjusting part is arranged at one side of the micro-cylindrical surface array part along the arrangement direction of the micro lenses on the micro-cylindrical surface array part; and/or at least part of the second sub-adjusting part is arranged in the micro-cylindrical surface area of the micro-cylindrical surface array part. By providing a plurality of second sub-adjustment portions, more light beams can be adjusted to exit along a positive predetermined angle.
In an alternative manner, the first adjusting portion and the micro cylindrical surface array portion and/or the second adjusting portion and the micro cylindrical surface array portion are each in a split structure. Since the micro cylindrical lens (i.e., the micro cylindrical array part) has already been provided with a mature processing technology, in order to improve the processing efficiency of the optical shaping assembly, a split structure is provided between the first adjusting part and the micro cylindrical array part and/or between the second adjusting part and the micro cylindrical array part, so that the original production line of the micro cylindrical array part can be maintained, and the first adjusting part and the second adjusting part can be processed by planning the production line.
In an alternative manner, the first adjustment portion and the second adjustment portion are provided on one side of the micro cylindrical surface array portion in the optical axis direction.
In an alternative, the optical shaping assembly further comprises a lens, the first adjustment portion and the second adjustment portion are integrated on the lens, and the lens, the first adjustment portion and the second adjustment portion are in an integral structure. Through setting up lens, first adjustment portion and second adjustment portion three as an organic whole structure, can reduce the part quantity of optical shaping subassembly relatively, guarantee to satisfy the assembly accuracy requirement more easily between micro-cylindrical array portion and first adjustment portion and the second adjustment portion.
In an alternative, the first adjustment portion and the second adjustment portion are symmetrically disposed with respect to the optical axis. The first adjusting part and the second adjusting part are symmetrically arranged relative to the optical axis, so that the processing and the manufacturing of the first adjusting part and the second adjusting part are facilitated, and the energy equality of light beams received by the incidence surfaces of the first adjusting part and the second adjusting part is ensured more easily.
According to another aspect of an embodiment of the present application, there is provided an optical system including: a collimation assembly and an optical shaping assembly as claimed in any one of the preceding claims; the collimation component is used for allowing the light beam to pass through and carrying out collimation treatment on the light beam; the optical shaping component is arranged on one side of the collimation component facing the light emitting direction, and the optical shaping component is used for allowing the collimated light beam to enter.
According to another aspect of an embodiment of the present application, there is provided a laser radar including a laser light source and the above-described optical system; the laser light source is arranged on one side of the collimation component, which is away from the optical shaping component, and is used for inputting laser beams to the collimation component.
The laser radar provided by the embodiment of the application can be compatible with larger pointing deviation, so that the laser radar can still ensure good ranging performance when being assembled on carriers such as automobiles, industrial robots and the like.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a graph showing the energy distribution of a beam processed by a micro-cylindrical array in an angular space;
FIG. 2 is a schematic diagram illustrating the positive and negative values of the angle in optics provided by the present application;
FIG. 3 is a graph showing the energy distribution in angular space of a beam processed by an optical shaping element according to the present application;
FIG. 4 is a schematic view of a structure and an optical path of an optical shaping device according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a structure and an optical path of a second adjusting portion according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of an optical shaping component according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of an optical shaping component according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of an optical shaping component according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a structure and an optical path of an optical shaping device according to an embodiment of the present application;
FIG. 10 is a schematic structural diagram of an optical shaping component according to an embodiment of the present application;
FIG. 11 is a schematic diagram of a structure and an optical path of an optical shaping device according to an embodiment of the present application;
FIG. 12 is an enlarged view of FIG. 11 within the dashed box at A;
FIG. 13 is a schematic structural diagram of an optical shaping component according to an embodiment of the present application;
FIG. 14 is a schematic diagram of the structure and the optical path of an optical system according to an embodiment of the present application;
fig. 15 is a schematic view of a structure and an optical path of a lidar according to an embodiment of the present application.
Reference numerals in the specific embodiments are as follows:
10. an optical axis; 20. a light-emitting surface; 30. light rays;
100. an optical shaping assembly; 110. a micro cylindrical surface array section; 121. a first adjustment section; 1211. a first sub-adjustment section; 122. a second adjustment section; 1221. a second sub-adjustment section; 130. a lens;
1000. an optical system; 200. a collimation assembly;
10000. a laser radar; 300. a laser light source.
Detailed Description
Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.
In the description of embodiments of the present application, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: there are three cases, a, B, a and B simultaneously. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the description of the embodiments of the present application, the term "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two), and "plural sheets" means two or more (including two).
In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.
The laser beam forms Gaussian distribution on a slow axis, namely the beam energy density in the optical axis direction is highest, and the larger the included angle between the laser beam and the optical axis direction is, the lower the beam energy density is, when the laser radar is applied to the industrial fields of automobiles, automatic workshops and the like, the influence of the assembly precision between the laser radar and the carriers such as automobiles and industrial robots can cause deviation between the optical axis of the laser radar and the ranging direction required by the automobiles or the industrial robots, namely the optical axis of the laser radar is not parallel to the ranging direction required by the automobiles or the industrial robots, so that the energy density of the beam is smaller in the ranging direction required by the automobiles or the industrial robots, and the detection distance of the laser radar is further influenced.
Specifically, referring to fig. 1, an angular space energy distribution diagram of a laser radar after shaping a micro cylindrical array is shown, which is a gaussian curve, and the energy of a beam is highest in a direction approaching 0 °, that is, approaching to a direction parallel to an optical axis, and gradually decreases with increasing absolute value of the angle. Referring to fig. 2, as shown in the drawing, the optical axis 10 is 0 °, and the angle of the light ray 30 parallel to the optical axis 10 after rotating counterclockwise by 0-90 ° along the point on the light exit surface 20 is negative, for example, the angle of- α in the drawing; light ray 30, which is parallel to optical axis 10 after rotating clockwise 0-90 ° along its point on light exit surface 20, has a positive angle, such as light ray at +α in the figure.
Taking the automotive field as an example, when the lidar is assembled on an automobile, an included angle between an optical axis of a working state and a required detection direction is generally required to be smaller than or equal to 0.5 degrees, namely, directivity precision is smaller than or equal to 0.5 degrees, and then in actual situations, due to thermal effects and assembly errors of the lidar and an installation error of the lidar on the automobile, final directivity errors can reach 2 degrees or even higher, and are far higher than the required 0.5 degrees, so that the ranging performance of the lidar can be greatly reduced.
In order to overcome the influence of assembly accuracy on the detection distance, the inventor thinks that whether the direction or angle of part of the light beams can be adjusted, so that the light beams after laser radar shaping can keep higher energy within the range of-2 degrees to +2 degrees, or the light beams after laser radar shaping can keep higher energy within the range of-5 degrees to +5 degrees under some scenes with larger assembly errors.
In this regard, the inventors of the present application have first considered that the light beam having a larger absolute value of angle can be adjusted to a smaller range, for example, the light beam having a range of-10 ° to-15 ° can be adjusted to-2 ° or-5 °, and the light beam having a range of 10 ° to 15 ° can be adjusted to 2 ° or 5 °, so as to increase the energy of the light beam having a range of-2 ° to +2° or-5 ° to +5°. However, in practical research, referring to fig. 1, it is found that the angle adjustment of the light beam in a certain angle range can be understood as combining the curve change trend corresponding to the angle range before adjustment in the angular space energy distribution map with the curve change trend near the angle after adjustment. In this regard, as shown in FIG. 1, the energy of the light beam in the range of-10 DEG to-15 DEG is gradually increased from-15 DEG to-10 DEG, and the energy of the light beam in the vicinity of-2 DEG is gradually increased from-2 DEG to 0. Therefore, after the light beam variation trend within the range of-10 degrees to-15 degrees is combined with the light beam variation trend near-2 degrees, the overall variation trend of the light beam near-2 degrees is gradually increased from-2 degrees to 0 degrees, higher energy cannot be kept near-2 degrees, and the adjustment is similar to the adjustment within the range of-5 degrees and 10 degrees to 15 degrees, so that redundant description is omitted.
Based on the above-mentioned problems, in combination with gaussian distribution characteristics, the present inventors have conceived that a light beam with a negative large angle can be adjusted to a positive small angle, and a light beam with a positive large angle can be adjusted to a negative small angle, and specifically refer to fig. 1, the light beam with a negative large angle has an ascending trend from left to right along the abscissa, and the vicinity of the light beam with a positive small angle has a descending trend from left to right, and if a part of the ascending trend is combined with the descending trend, an energy distribution situation approaching to a horizontal line can be formed in the vicinity of the positive small angle. The light beam with positive large angle is descending trend from left to right, and the light beam near negative small angle is ascending trend from left to right, if part of descending trend is combined with ascending trend, energy distribution approaching horizontal line can be formed near negative small angle. Finally, the spatial energy distribution of the shaped relief angle is shown in fig. 3, and is a distribution curve which is approximately flat-topped and gaussian at a large angle and is approximately small in angle, so that the high energy distribution can be kept near the small angle, and the laser radar can still keep a long detection distance when the pointing deviation of the laser radar is slightly large.
In accordance with one aspect of an embodiment of the present application, an optical shaping element is provided, and in particular, with reference to fig. 4, a structure of the optical shaping element is shown. As shown in the figures, the optical shaping assembly 100 includes a micro-cylindrical array section 110, a first adjustment section 121, and a second adjustment section 122. The micro cylindrical array portion 110 is used for passing and shaping the light beam. The first adjustment portion 121 and the second adjustment portion 122 are used for passing the light beam, and the first adjustment portion 121 and the second adjustment portion 122 are respectively disposed on two opposite sides of the optical axis 10. The light emitting surface of the first adjusting portion 121 and the light emitting surface of the second adjusting portion 122 are inclined surfaces, and the dimension d1 of the first adjusting portion 121 in the optical axis direction (the direction shown by the x-axis in the drawing) and the dimension d2 of the second adjusting portion 122 in the optical axis direction are configured to gradually decrease from one end away from the optical axis 10 to one end toward the optical axis 10, that is, the dimension d1 of the first adjusting portion 121 gradually decreases from top to bottom in the direction shown by the y-axis in the drawing, and the dimension d2 of the second adjusting portion 122 gradually decreases from bottom to top in the direction shown by the y-axis in the drawing. The incident surface of the first adjustment portion 121 and the incident surface of the second adjustment portion 122 are configured to receive the same energy of the light beam.
Specifically, as shown in fig. 4, the first adjusting section 121 is configured to adjust the light beam passing therethrough to exit at a negative predetermined angle, the second adjusting section 122 is configured to adjust the light beam passing therethrough to exit at a positive predetermined angle, for example, the first adjusting section 121 may be configured to adjust the light beam passing therethrough to exit at an angle- θ, and the second adjusting section 122 may be configured to adjust the light beam passing therethrough to exit at an angle +θ.
Referring to fig. 5, on the premise that the incident light is unchanged, the dashed line portion in the figure indicates the structure that is presented when the original micro-cylindrical surface is still maintained at the second adjusting portion 122, and the outgoing light is retained when the original micro-cylindrical surface is maintained, and the solid line portion in the figure indicates the structure after the second adjusting portion 122 is provided, and the outgoing light is retained. As shown in the figure, when the original micro-cylindrical surface is still maintained at the second adjusting portion 122, the light beams at the area are emitted along the- β1 to- β2 range and the + - β3 to- β4 range, and in the implementation process, β1, β2, β3 and β4 are all within the range of 10-15 degrees. After the second adjustment portion 122 is provided, the light beam at this region exits along an angle +θ, which may be, for example, 2 °. Therefore, compared with the original micro-cylindrical surface mode, the second adjusting part 122 can adjust a part of light beams of-10 degrees to-15 degrees and a part of light beams of 10 degrees to 15 degrees to be emitted at +2 degrees, and the first adjusting part 121 can adjust a part of light beams of-10 degrees to-15 degrees and a part of light beams of 10 degrees to 15 degrees to be emitted at-2 degrees, so that the light energy near-2 degrees and +2 degrees is finally enhanced, and the angular space energy distribution after shaping is shown in fig. 3 and is a distribution curve approaching to a flat top and a large-angle Gaussian near a small angle, so that good ranging performance can be ensured when the pointing deviation after laser radar assembly reaches 2 degrees. Similarly, θ may be 3 °, 4 °, 5 °, etc. to better compensate for the pointing deviation of the lidar after assembly.
Further, in order to ensure accuracy of laser radar ranging, it is necessary to ensure that energy of the outgoing beam in the angular space is symmetrically distributed, and based on this, the first adjustment portion 121 and the second adjustment portion 122 may be symmetrically disposed on both sides of the optical axis 10, or the incident surface of the first adjustment portion 121 and the incident surface of the second adjustment portion 122 may be set to have equal energy of the received beam, so as to ensure that energy of the two adjusted beams is equal, so that the angular space energy distribution of the beam remains symmetrical after adjustment.
In the optical shaping module 100 provided by the embodiment of the application, the first adjusting part 121 and the second adjusting part 122 with inclined light emitting surfaces are respectively arranged at two sides of the optical axis 10, the first adjusting part 121 adjusts the light beam passing through the first adjusting part to emit at a negative preset angle, and the second adjusting part 122 adjusts the light beam passing through the second adjusting part to emit at a positive preset angle, so that the light beam energy in the range from the negative preset angle to the positive preset angle is enhanced, and finally, a distribution curve with a small angle approaching to a flat top and a large angle Gaussian is formed in the angular space energy distribution diagram, so that when the optical shaping module is applied to the laser radar field, the optical shaping module can be compatible with larger directional deviation of the laser radar, and the ranging performance of the laser radar is ensured.
Referring again to fig. 4, in some embodiments, the first adjustment portion 121, the second adjustment portion 122, and the micro cylindrical array portion 110 are integrally formed.
By providing the first adjustment portion 121, the second adjustment portion 122, and the micro cylindrical array portion 110 as an integral structure, the number of parts is reduced, the manufacturing cost is reduced, and it is easier to secure the accuracy of the optical shaping module 100.
Referring again to fig. 4, in some embodiments, the first adjustment portion 121 and the second adjustment portion 122 are disposed on opposite sides of the micro cylindrical array portion 110 along the direction of arrangement of the micro lenses on the micro cylindrical array portion 110 (the direction shown by the y-axis in the figure), as shown in the figure.
Specifically, the microlens array direction refers to a direction in which a plurality of microlenses are arranged on the micro cylindrical surface array section 110, that is, a direction shown by a y-axis in fig. 4.
When a single lens is processed, it is relatively easy to process the structure in which the first and second adjustment portions 121 and 122 are located at both sides of the micro cylindrical surface array portion 110, so that the processing accuracy can be ensured and the product yield can be improved.
Then, in other embodiments, as shown in fig. 6, the first adjustment portion 121 and the second adjustment portion 122 may be provided in the micro cylindrical region of the micro cylindrical array portion 110.
The energy distribution mentioned in the embodiment of the present application is an angular space, and thus the beam processing is the same as that described above, regardless of whether the first adjustment part 121 and the second adjustment part 122 are disposed on opposite sides of the micro cylindrical array part 110 or the first adjustment part 121 and the second adjustment part 122 are disposed in the micro cylindrical region of the micro cylindrical array part 110.
The first adjustment portion 121 and the second adjustment portion 122 are provided in the micro-cylindrical region of the micro-cylindrical array portion 110, and can be compatible with larger directivity deviation when the optical shaping module 100 is applied to a laser radar.
Referring to fig. 7, in some embodiments, the first adjusting portion 121 may be disposed on one side of the micro cylindrical array portion 110, and the second adjusting portion 122 may be disposed on the micro cylindrical area of the micro cylindrical array portion 110.
As shown in fig. 6 and 7, in the case where the first adjustment unit 121 and/or the second adjustment unit 122 are provided in the micro-cylindrical region of the micro-cylindrical array unit 110, it is preferable to ensure smooth transition between the spherical surface of the micro-cylindrical light emission and the inclined surface of the first adjustment unit 121 and/or the inclined surface of the second adjustment unit 122 during processing, and to prevent the junction between the spherical surface of the micro-cylindrical light emission and the inclined surface of the first adjustment unit 121 and/or the inclined surface of the second adjustment unit 122 from forming a stepped structure to affect the light path.
Referring to fig. 8, as shown in the drawings, in some embodiments, the first adjustment part 121 includes a plurality of first sub-adjustment parts 1211. At least a part of the first sub-adjustment portion 1211 is provided at one side of the micro cylindrical array portion 110 in the arrangement direction of the micro lenses on the micro cylindrical array portion 110; and/or, at least part of the first sub-adjustment portion 1211 is disposed in the micro-cylindrical region of the micro-cylindrical array portion 110. By providing the plurality of first sub-adjustment portions 1211, more light beams can be adjusted to exit along a negative predetermined angle.
With continued reference to fig. 8, in some embodiments, the second adjustment portion 122 includes a plurality of second sub-adjustment portions 1221, as shown. At least a part of the second sub-adjustment part 1221 is disposed on one side of the micro-cylindrical array part 110 along the arrangement direction of the micro lenses on the micro-cylindrical array part 110; and/or, at least part of the second sub-adjustment part 1221 is disposed in the micro-cylinder area of the micro-cylinder array part 110. Also, by providing a plurality of second sub-adjustment portions 1221, more light beams can be adjusted to exit along a positive predetermined angle.
It should be noted that, in the case of using only the plurality of first sub-adjustment portions 1211, it is necessary to ensure that the total energy of the light fluxes received by the incident surfaces of all the first sub-adjustment portions 1211 is equal to the energy of the light fluxes received by the incident surfaces of the second adjustment portions 122. In the case of using only the plurality of second sub-adjustment sections 1221, it is necessary to ensure that the total energy of the light fluxes received by the incident surfaces of all the second sub-adjustment sections 1221 is equal to the energy of the light fluxes received by the incident surfaces of the first adjustment sections 121. In the case of employing the plurality of first sub-adjustment portions 1211 and the plurality of second sub-adjustment portions 1221 at the same time, the number of first sub-adjustment portions 1211 and the number of second sub-adjustment portions 1221 may be equal or unequal, but it is ensured that the total energy of the light fluxes received at the incident surfaces of all the first sub-adjustment portions 1211 is equal to the total energy of the light fluxes received at the incident surfaces of all the second sub-adjustment portions 1221.
Referring to fig. 9, in some embodiments, the first adjusting portion 121 and the micro cylindrical array portion 110 and/or the second adjusting portion 122 and the micro cylindrical array portion 110 are separated.
Since the micro cylindrical lens (i.e., the micro cylindrical array part 110) has already been provided with a mature processing technology, in order to improve the processing efficiency of the optical shaping module 100, the first adjusting part 121 and the micro cylindrical array part 110 and/or the second adjusting part 122 and the micro cylindrical array part 110 are provided with separate structures, so that the original production line of the micro cylindrical array part 110 can be maintained, and the first adjusting part 121 and the second adjusting part 122 can be processed by planning the production line.
Further, referring to fig. 9 again, as shown in the drawing, in some embodiments, the first adjustment portion 121 and the second adjustment portion 122 are disposed on one side of the micro cylindrical surface array portion 110 in the optical axis direction (the direction shown by the x-axis in fig. 4).
Specifically, the first adjustment portion 121 and the second adjustment portion 122 may be disposed on the right side of the micro cylindrical surface array portion 110 as shown in fig. 9, or may be disposed on the left side, or disposed on the right side, respectively, in such a manner that the energy distribution of the light beam in the angular space is not affected.
Note that, the above-described split structure between the first adjustment portion 121 and the micro cylindrical array portion 110 and/or between the second adjustment portion 122 and the micro cylindrical array portion 110 does not necessarily mean a split structure between the first adjustment portion 121 and the second adjustment portion 122, and thus, two split lenses may be used between the first adjustment portion 121 and the second adjustment portion 122 as shown in fig. 9, or may be integrated into one lens.
For the first adjustment portion 121 and the second adjustment portion 122 integrated into one lens, an embodiment of the present application is presented, and referring to fig. 10 specifically, as shown in the drawings, the optical shaping device 100 further includes a lens 130, the first adjustment portion 121 and the second adjustment portion 122 are integrated onto the lens 130, and the lens 130, the first adjustment portion 121 and the second adjustment portion 122 are in an integrated structure.
By arranging the lens 130, the first adjusting portion 121 and the second adjusting portion 122 as an integral structure, the number of components of the optical shaping module 100 can be relatively reduced, and the requirement of assembly accuracy can be more easily satisfied between the micro cylindrical surface array portion 110 and the first adjusting portion 121 and the second adjusting portion 122.
When the first adjusting portion 121 and the second adjusting portion 122 are disposed on the light emitting side of the micro cylindrical surface array portion 110 along the optical axis direction, the adjustment of the light beam can be performed as shown in fig. 11 and 12, so as to meet the requirement that the energy distribution of the light beam in the angular space is small-angle and tends to be flat-topped, and large-angle gaussian. Specifically, as shown in fig. 11 and 12, a part of the light beam after a certain micro-cylindrical process, without the first adjustment portion 121, should be emitted in the angle range of +γ1 to +γ2 as a dotted line portion in the figure. In some embodiments, the first adjusting portion 121 is disposed on a side of a micro-cylindrical surface facing the light emitting direction along the optical axis, so that after the portion of light is adjusted by the first adjusting portion 121, the portion of the light is emitted in a predetermined angle range from- θ1 to- θ2, where the predetermined angle range from- θ1 to- θ2 is the negative predetermined angle described above. For example, γ1=10°, γ2=12°, θ1=3°, θ2=1°, and the adjustment of the light beam emitted through a certain micro-cylindrical surface in the range of +10° to +12° to-3 ° to-1 °. The second adjustment unit 122 may similarly adjust the light beam emitted from a certain micro-cylindrical surface to +1° to +3° within a range of-10 ° to-12 °.
Through the mode, the energy distribution of finally emergent light rays in an angular space can be similar to a flat top in a small angle range, and the requirements of laser radar compatibility and larger pointing deviation are met in a large-angle Gaussian state.
Further, for the embodiment shown in fig. 11 and 12, the first adjustment portion 121 and the second adjustment portion 122 may be integrated on one lens 130, so as to form the structure shown in fig. 13.
In some embodiments, the first adjustment portion 121 and the second adjustment portion 122 are symmetrically disposed with respect to the optical axis 10.
The first adjustment portion 121 and the second adjustment portion 122 are symmetrically arranged with respect to the optical axis 10, which facilitates the processing and manufacturing of the first adjustment portion 121 and the second adjustment portion 122, and also makes it easier to ensure that the energy of the light fluxes received by the incident surfaces of the first adjustment portion 121 and the second adjustment portion 122 are equal.
In accordance with another aspect of an embodiment of the present application, an optical system is provided, and referring specifically to fig. 14, a structure and an optical path of an optical system 1000 are shown. As shown in the figures, the optical system 1000 includes a collimation assembly 200 and an optical shaping assembly 100 as in any one of the embodiments described above. The collimation assembly 200 is used for passing and collimating the light beam. The optical shaping element 100 is disposed on a side of the collimating element 200 facing the light emitting direction, and the optical shaping element 100 is used for allowing the collimated light beam to enter.
In accordance with another aspect of the embodiments of the present application, a lidar is provided, and referring specifically to fig. 15, a structure and an optical path of the lidar are shown. As shown in the figure, the laser radar 10000 includes a laser light source 300 and the above-described optical system 1000. The laser light source 300 is disposed on a side of the collimation assembly 200 facing away from the optical shaping assembly 100, and the laser light source 300 is configured to input a laser beam to the collimation assembly 200.
The laser radar 10000 provided by the embodiment of the application can be compatible with larger pointing deviation, so that good ranging performance can be ensured when the laser radar 10000 is assembled on carriers such as automobiles, industrial robots and the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict.
Claims (11)
1. An optical shaping component, characterized in that the optical shaping component comprises a micro-cylindrical surface array part, a first adjusting part and a second adjusting part;
the micro cylindrical surface array part is used for allowing light beams to pass through and shaping the light beams;
the first adjusting part and the second adjusting part are used for allowing the light beam to pass through, and the first adjusting part and the second adjusting part are respectively arranged at two opposite sides of the optical axis; the light-emitting surface of the first adjusting part and the light-emitting surface of the second adjusting part are inclined surfaces, and the size of the first adjusting part along the optical axis direction and the size of the second adjusting part along the optical axis direction are configured to gradually decrease from one end away from the optical axis to one end towards the optical axis;
the incident surface of the first adjustment portion and the incident surface of the second adjustment portion are configured to receive the light beam with equal energy.
2. The optical shaping assembly of claim 1 wherein the first adjustment portion, the second adjustment portion, and the micro-cylindrical array portion are of unitary construction.
3. The optical shaping module according to claim 2, wherein,
the first adjusting part and the second adjusting part are arranged on two opposite sides of the micro cylindrical surface array part along the arrangement direction of the micro lenses on the micro cylindrical surface array part; or alternatively, the first and second heat exchangers may be,
the first adjusting portion and the second adjusting portion are disposed in a micro-cylindrical region of the micro-cylindrical array portion.
4. The optical shaping assembly of claim 2 wherein the first adjustment portion comprises a plurality of first sub-adjustment portions;
at least part of the first sub-adjusting part is arranged at one side of the micro-cylindrical surface array part along the arrangement direction of micro lenses on the micro-cylindrical surface array part; and/or, at least part of the first sub-adjusting part is arranged in the micro-cylindrical surface area of the micro-cylindrical surface array part.
5. The optical shaping assembly of claim 2 wherein the second adjustment portion comprises a plurality of second sub-adjustment portions;
at least part of the second sub-adjusting part is arranged at one side of the micro-cylindrical surface array part along the arrangement direction of micro lenses on the micro-cylindrical surface array part; and/or, at least part of the second sub-adjustment part is arranged in the micro-cylindrical surface area of the micro-cylindrical surface array part.
6. The optical shaping assembly of claim 1 wherein the first adjustment portion and the micro-cylindrical array portion and/or the second adjustment portion and the micro-cylindrical array portion are in a split configuration.
7. The optical shaping module according to claim 6, wherein the first adjustment portion and the second adjustment portion are provided on one side of the micro cylindrical surface array portion in the optical axis direction.
8. The optical shaping assembly of claim 7 further comprising a lens, wherein the first adjustment portion and the second adjustment portion are each integral to the lens, and wherein the lens, the first adjustment portion, and the second adjustment portion are each of a unitary construction.
9. The optical shaping assembly according to any one of claims 1-8 wherein the first and second adjustment portions are symmetrically disposed with respect to an optical axis.
10. An optical system, comprising: a collimation assembly and an optical shaping assembly according to any one of claims 1-9;
the collimation component is used for allowing the light beam to pass through and carrying out collimation treatment on the light beam;
the optical shaping component is arranged on one side of the collimation component facing the light emitting direction, and the optical shaping component is used for allowing the collimated light beam to enter.
11. A lidar comprising a laser light source and the optical system of claim 10;
the laser light source is arranged on one side of the collimation assembly, which is away from the optical shaping assembly, and is used for inputting laser beams to the collimation assembly.
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| CN202310570524.3A CN116381952B (en) | 2023-05-19 | 2023-05-19 | Optical shaping assembly, optical system and laser radar |
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| CN202310570524.3A CN116381952B (en) | 2023-05-19 | 2023-05-19 | Optical shaping assembly, optical system and laser radar |
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| CN116381952B true CN116381952B (en) | 2023-09-12 |
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| CN116381952A (en) | 2023-07-04 |
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