CN115718361A - Optical system, camera and vehicle - Google Patents
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- CN115718361A CN115718361A CN202211481428.3A CN202211481428A CN115718361A CN 115718361 A CN115718361 A CN 115718361A CN 202211481428 A CN202211481428 A CN 202211481428A CN 115718361 A CN115718361 A CN 115718361A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 71
- 230000005499 meniscus Effects 0.000 claims description 10
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- 238000005516 engineering process Methods 0.000 description 8
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- 238000012545 processing Methods 0.000 description 7
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- 230000007935 neutral effect Effects 0.000 description 4
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- 201000009310 astigmatism Diseases 0.000 description 3
- 239000005331 crown glasses (windows) Substances 0.000 description 2
- 239000005308 flint glass Substances 0.000 description 2
- 235000013312 flour Nutrition 0.000 description 2
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Abstract
The invention provides an optical system, a camera and a vehicle, wherein the optical system is used for the vehicle camera and sequentially comprises a cylindrical lens, a lens group and an optical filter along the light beam propagation direction, and the surface of the cylindrical lens is a double-cone Zernike surface.
Description
Technical Field
The invention relates to the technical field of camera imaging, in particular to an optical system, a camera and a vehicle.
Background
An Advanced Driving Assistance System (ADAS) of a vehicle comprehensively utilizes key technologies such as artificial intelligence, machine vision, sensors, global positioning and the like, so that a driver can detect possible dangers in advance, and safe and comfortable Driving behaviors are realized. The ADAS forward-looking camera is used as a main sensor to realize the functions of lane departure warning, automatic lane keeping assistance, high-low beam control, traffic sign identification and the like. ADAS foresight camera installs on the installing support of windshield rear end generally, through the environmental data of the automobile driving the place ahead of gathering in real time, carries out static or dynamic object's discernment and listening.
The front windshield of the automobile and the optical axis of the front-view camera form a certain included angle, and the installation angle of the front windshield of the automobile and the optical axis of the front-view camera is generally between 18 degrees and 30 degrees. In the actual use process, an external scene passes through a windshield and is imaged on the surface of the sensor by the camera, and the ADAS system provides information such as characteristic identification and distance of obstacles such as vehicles or pedestrians on a front road by analyzing pictures and videos in the front end view field range. Since the windshield has a certain curvature, the optical path difference between the sagittal direction and the meridional direction after the external light passes through the windshield is different, so that the optimal focal plane positions of the light in the two directions are different, thereby causing aberration, and the phenomenon is called astigmatism. With the development of the resolution of the ADAS camera, the resolution of the current vehicle-mounted forward-looking camera reaches 8M, the requirement on the imaging quality of a lens is higher and higher, and the lens processing technology is remarkably improved in the aspects of manufacturing procedures, tolerance and the like. At present, the high-resolution vehicle-mounted camera usually adopts an AA (Axis Alignment) mode to search an optimal focal plane, the precision reaches 0.1 μm, and the assembly eccentricity error is controlled within +/-5 pixels. But the aberrations introduced by the windshield degrade the image quality captured by the forward looking camera. After the forward-looking camera finishes loading, due to astigmatism introduced by a windshield, the optimal focal plane of the forward-looking camera has different offsets in two directions, and therefore, the captured image has a local defocusing phenomenon in two aspects, which may cause that a characteristic target cannot be clearly imaged, and the identification and application of an automatic driving algorithm are influenced.
Disclosure of Invention
The invention aims to solve the technical problem of correcting aberration introduced by an ADAS vehicle-mounted front-view camera due to a windshield, and particularly relates to a vehicle-mounted camera which can be integrally designed and processed with a front-view automobile windshield. The camera compensates astigmatism introduced by the windshield by introducing the lens with a special surface shape, realizes the best focal plane coincidence of external light rays in the sagittal and meridional directions, and improves the imaging quality of the camera and the windshield overall system. The automatic driving system has the advantages of low integration difficulty, cost saving, simple structure and capability of realizing mass production, and can effectively improve the performance safety of automatic driving.
In addition, other aspects of the present invention are directed to solving or alleviating other technical problems in the prior art.
The invention provides an optical system, a camera and a vehicle, in particular, according to one aspect of the invention, the optical system comprises:
an optical system is used for a vehicle camera and sequentially comprises a cylindrical lens, a lens group and an optical filter along the light beam propagation direction, wherein the surface of the cylindrical lens is a double-cone Zernike surface.
Optionally, in accordance with an embodiment of the present invention, the sagittal height z of the cylindrical lens 1 The following formula is satisfied:
wherein, c x ＝1/R x ，c y ＝1/R y ，R x Is the radius of curvature, R, of the cylindrical lens (1) in the x-direction y Is the radius of curvature, k, of the cylindrical lens (1) in the y-direction x Is the conic constant, k, in the x direction y Is the conic constant in the y direction, α i Is an aspherical coefficient in the x direction, beta i Is an aspherical surface coefficient in the y direction,
is a Zernike polynomial, A i Is a Zernike polynomial coefficient, and N is a Zernike polynomial term.
Optionally, in accordance with an embodiment of the present invention, the cylindrical lens has positive power and has a converging effect on the light beam in the y-direction.
Optionally, according to an embodiment of the present invention, the front and back surfaces of the cylindrical lens are plated with antireflection films to reduce the reflectivity of the surfaces.
Optionally, according to an embodiment of the present invention, the lens group includes, in order along a light beam propagation direction, a first lens, a second lens, a third lens, an aperture stop, a fourth lens, a fifth lens, and a sixth lens.
Optionally, in accordance with an embodiment of the present invention, the first lens is a meniscus lens with positive power, with the object side being convex and the image side being concave.
Optionally, according to an embodiment of the present invention, the front and back surfaces of the first lens are spherical surfaces, and the surfaces are plated with antireflection films.
Optionally, according to an embodiment of the invention, the second lens is a concave lens with negative power, and the object-side surface and the image-side surface of the concave lens are both concave.
Optionally, according to an embodiment of the present invention, the front and back surfaces of the second lens are spherical surfaces, and the surfaces are plated with antireflection films.
Optionally, in accordance with an embodiment of the present invention, the third lens is a meniscus lens with positive power, the object side surface of the meniscus lens being convex and the image side surface of the meniscus lens being concave.
Optionally, according to an embodiment of the present invention, the front and back surfaces of the third lens are spherical surfaces, and the surfaces are plated with antireflection films.
Alternatively, according to an embodiment of the present invention, the aperture stop is disposed between the third lens and the fourth lens, and the center thereof is coaxial with the center of each lens.
Optionally, according to an embodiment of the present invention, the fourth lens is a convex lens with positive optical power, and both the object-side surface and the image-side surface of the fourth lens are convex surfaces.
Optionally, according to an embodiment of the present invention, the front and back surface profiles of the fourth lens are both aspheric, and the sagittal height z of the profile is larger than the sagittal height z of the profile of the fourth lens 4 The following formula is satisfied:
wherein c is a curvature radius, k is a conic constant, and α is an aspheric coefficient.
Optionally, according to an embodiment of the present invention, front and back surfaces of the fourth lens are plated with antireflection films.
Optionally, according to an embodiment of the present invention, the fifth lens is a cemented lens formed by cementing crown glass and flint glass, which can effectively correct the spherical aberration of the system.
Optionally, according to an embodiment of the present invention, the fifth lens element has a negative power, and the object-side surface of the fifth lens element is a convex surface, the cemented surface is a concave surface, the image-side surface is a concave surface, and the surface shapes are all spherical surfaces.
Optionally, according to an embodiment of the present invention, the surfaces of the object-side surface and the image-side surface of the fifth lens element are plated with antireflection films.
Optionally, in accordance with an embodiment of the present invention, the sixth lens element is a meniscus lens element with positive power, and the object-side surface is convex and the image-side surface is concave.
Optionally, according to an embodiment of the present invention, front and back surfaces of the sixth lens element are aspheric, and the surfaces are plated with antireflection films.
Optionally, according to an embodiment of the present invention, the first lens, the second lens, the third lens, the fourth lens, the fifth lens, and the sixth lens are made of glass, and have good thermal stability.
Alternatively, according to an embodiment of the present invention, the filter may be a reflective neutral density filter, or may be an absorptive neutral density filter.
Optionally, according to an embodiment of the present invention, the optical filter is mounted on the mechanical mounting base, and can be matched with threaded lens sleeves of different specifications to selectively transmit the light source wavelength.
According to another aspect of the present invention, there is provided a camera head, wherein the camera head comprises the optical system described above.
According to a further aspect of the invention, there is provided a vehicle, wherein the vehicle comprises a camera as described above.
The beneficial effects of the invention include:
1. the invention provides a front-view vehicle-mounted camera capable of correcting aberration of a windshield, which is provided with the optical system, wherein the optical system is designed by taking the curvature radius and the inclination angle of the windshield into consideration, and the optimal focal planes of a meridian plane and a sagittal plane in a field range are optimized in an acceptable plane range by introducing a cylindrical lens to effectively compensate optical path difference caused by the windshield. After the actual processing and assembly of the optical system of the camera are finished, the camera and a windshield are used as an integral optical system in the actual use process, so that clear imaging can be realized, and the optical performance and the safety performance of an automatic driving system are improved;
2. the front-view vehicle-mounted camera capable of correcting the aberration of the windshield provided by the invention is simple in structure and small in number of parts, wherein an optical system of the front-view vehicle-mounted camera consists of a cylindrical lens and six lenses. The processing technology of each part is mature, and the mass production can be realized. For the assembly of the optical system in the camera, an AA (axial alignment) machine can be adopted to accurately align the optical axes of the cylindrical lens and the six lenses in sequence, so as to realize the coincidence of the optimal focal planes of the meridian plane and the sagittal plane. The component processing technology and the lens assembling equipment technology are widely applied to the production of vehicle-mounted lenses. Therefore, the optical system and the camera provided by the invention have mass production landing performance;
3. when present vehicle-mounted camera and windshield carry out integrated installation, mainly through adjusting the installation angle between camera and the windshield, control windshield to the influence of camera imaging quality. The allowable tolerance of the installation angle of the camera is small, and the angle requirement is strict. The optical system in the front-view vehicle-mounted camera capable of correcting the aberration of the windshield, which is provided by the invention, takes the influence of the windshield into consideration during design, and the vehicle-mounted camera and the windshield are designed and simulated as an integral optical system. Simulation results show that the actual installation angle of the camera and the windshield is within a large allowable range, clear imaging can be guaranteed, and the integration difficulty in the actual loading process of the camera can be reduced. In addition, the system simulation result can effectively evaluate the optical performance of the sensor after actual loading, the risk is reduced, and the cost can be saved. Therefore, the optical system and the camera provided by the invention have the advantages of low integration difficulty and cost saving.
Drawings
The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,
fig. 1 shows a schematic structural diagram of an optical system proposed according to an embodiment of the present invention;
FIG. 2 illustrates a defocus curve of a prior art front view vehicle-mounted camera placed behind a front windshield;
fig. 3 illustrates a defocus curve of a proposed camera placed behind a front windshield according to an embodiment of the present invention.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structural modes and implementation modes without changing the essential spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like, are used for descriptive and distinguishing purposes only and are not to be construed as indicating or implying relative importance of the respective components.
Referring to fig. 1, there is shown a schematic structural view of an optical system according to an embodiment of the present invention. The optical system is used for a vehicle camera, in particular for a forward-looking ADAS vehicle-mounted camera. For convenience of description, the direction of the optical axis of each lens is defined as a z direction, a vertical direction in a plane perpendicular to the z direction is defined as a y direction, and a horizontal direction is an x direction. The optical system 100 includes a cylindrical lens 1, a lens group, and a filter 9 in this order along the light beam propagation direction. The cylindrical lens 1 has a biconical Zernike (Zernike) surface shape. The cylindrical lens 1 has a curvature radius on a surface defined by an optical axis and a vertical direction, and a plane surface defined by a surface perpendicular to the optical axis and the vertical direction.
It should be understood that the optical system can of course also be used for other camera means or optical means than a vehicle camera.
In one embodiment of the present invention, the sagittal height z of the cylindrical lens 1 1 Satisfies the following formula
Wherein, c x ＝1/R x ，c y ＝1/R y ，R x Is the radius of curvature, R, of the cylindrical lens in the x-direction y Is the radius of curvature, k, of the cylindrical lens in the y-direction x Is the conic constant, k, in the x direction y Is the conic constant in the y direction, α i Is an aspheric coefficient in the x direction, beta i Is an aspherical surface coefficient in the y direction,
is a Zernike polynomial, A i Is a Zernike polynomial coefficient, and N is a Zernike polynomial term.
In one embodiment of the invention, the cylindrical lens 1 has a positive power, which has a converging effect on the light beam in the y direction.
In one embodiment of the present invention, the front and rear surfaces of the cylindrical lens 1 are coated with anti-reflection films (AR coating) to reduce the surface reflectivity.
In one embodiment of the present invention, the lens group includes, in order in the light beam propagation direction, a first lens 2, a second lens 3, a third lens 4, an aperture stop 5, a fourth lens 6, a fifth lens 7, and a sixth lens 8. An aperture stop 5 is arranged between the third lens 4 and the fourth lens 6, and the center of the aperture stop 5 is coaxial with the center of each lens. All the lenses in the lens group are arranged in the optical system 100 symmetrically with respect to the optical axis center, that is, the optical centers of all the lenses in the lens group are located on the optical axis.
In one embodiment of the present invention, the first lens element 2 is a meniscus lens element with positive power, and has a convex object-side surface and a concave image-side surface.
In one embodiment of the present invention, the front and rear surface surfaces of the first lens 2 are both spherical surfaces, and the surfaces are coated with anti-reflection films (AR coating).
In one embodiment of the present invention, the second lens 3 is a concave lens having a negative refractive power, and has a concave object-side surface and a concave image-side surface.
In one embodiment of the present invention, the front and rear surface surfaces of the second lens element 3 are spherical surfaces, and are coated with anti-reflection coatings (AR coating).
In one embodiment of the present invention, the third lens element 4 is a meniscus lens element with positive power, and has a convex object-side surface and a concave image-side surface.
In one embodiment of the present invention, the front and rear surface surfaces of the third lens 4 are both spherical surfaces, and the surfaces are coated with anti-reflection films (AR coating).
In one embodiment of the present invention, the aperture stop 5 is provided between the third lens 4 and the fourth lens 6, with its center coaxial with the center of each lens.
In one embodiment of the present invention, the fourth lens element 6 is a convex lens element with positive refractive power, and has a convex object-side surface and a convex image-side surface.
In one embodiment of the present invention, the front and rear surface profiles of the fourth lens element 6 are both aspherical surfaces, and the sagittal height z thereof is larger 4 The following formula is satisfied:
where c is the radius of curvature, k is the conic constant, and α is the aspheric coefficient.
In one embodiment of the present invention, front and rear surfaces of the fourth lens 6 are coated with antireflection films (AR coating).
In one embodiment of the present invention, the fifth lens 7 is a cemented lens formed by cementing crown glass and flint glass, and can effectively correct the spherical aberration of the system.
In an embodiment of the present invention, the fifth lens element 7 has a negative power, and has a convex object-side surface, a concave cemented surface, a concave image-side surface, and spherical surfaces.
In one embodiment of the present invention, the surfaces of the object-side surface and the image-side surface of the fifth lens element 7 are coated with an antireflection film (AR coating).
In one embodiment of the present invention, the sixth lens element 8 is a meniscus lens element with positive power, and has a convex object-side surface and a concave image-side surface.
In an embodiment of the present invention, front and back surface shapes of the sixth lens element 8 are aspheric, and the surface is coated with an antireflection film.
In one embodiment of the present invention, the materials of the first lens 2, the second lens 3, the third lens 4, the fourth lens 6, the fifth lens 7, and the sixth lens 8 are all glass, and thus have good thermal stability.
In one embodiment of the present invention, the filter 9 may be a reflective neutral density filter or an absorptive neutral density filter.
In one embodiment of the invention, the filter 9 is mounted on a mechanical mounting base of the camera head, and can be matched with different specifications of threaded lens sleeves. The filter 9 selectively transmits the wavelength of the light source.
The front-view vehicle-mounted camera with the optical system can be used as an integral optical system with a windshield in the actual use process after the actual processing and assembly are finished, so that clear imaging is realized, and the optical performance and the safety performance of an automatic driving system are improved. When an optical system of the foresight vehicle-mounted camera is designed, the influence of a windshield is considered, the curvature radius and the inclination angle of the windshield are used as parameters of system design, the optical path difference caused by the windshield is effectively compensated by introducing the cylindrical lens 1, and the optimal focal plane of a meridian plane and a sagittal plane in a view field range is optimized in an acceptable plane range, so that the imaging quality of the whole optical system is ensured. By designing and simulating the vehicle-mounted camera and the windshield as an integral optical system, the optical performance of the sensor after actual loading can be effectively evaluated, the risk is reduced, and the cost can be saved. Simulation results show that the actual installation angle of the camera and the windshield is within a large allowable range, clear imaging can be guaranteed, and the integration difficulty in the actual loading process of the camera is greatly reduced. In addition, the front-view vehicle-mounted camera has a small number of parts, and an optical system of the front-view vehicle-mounted camera is composed of a cylindrical lens and six lenses. The processing technology of each part is mature, and the mass production can be realized. For the assembly of the camera, an AA (axial alignment) machine table can be adopted to accurately align the optical axes of the cylindrical lens and the six lenses in sequence, so that the best focal planes of the meridian plane and the sagittal plane are superposed. The component processing technology and the lens assembling equipment technology are widely applied to the production of vehicle-mounted lenses. Therefore, the optical system and the camera provided by the invention can effectively improve the performance safety of automatic driving, and have the advantages of low integration difficulty, cost saving, simple structure and capability of realizing mass production.
In a particular embodiment of the invention, such an optical system was simulated. In the simulation, a visible light band is adopted as an operating wavelength, and the design wavelength is lambda 1 ＝486nm，λ 2 ＝588nm，λ 3 =656nm. The camera has a field of view angle of HFOV =30 °, VFOV =15 °, numerical aperture FN =2.0, and employs an image sensor pixel of 8M, a pixel size of 2.1 μ M, and a line logarithm of the image quality evaluation of 119lp/mm. In this embodiment, the structural data of each optical element is as follows:
in this embodiment, the structural data of the cylindrical lens 1 is as follows:
| flour mark | β 2 | β 3 | β 4 | β 6 |
| S1 | -1.7868E-3 | -6.982E-5 | 1.183E-5 | 3.855E-7 |
| S2 | 7.06E-4 | -7.514E-5 | 1.168E-5 | 5.096E-007 |
In this embodiment, the aspherical lenses 6, 8 have the following configuration data:
| flour mark | k | α 4 | α 6 | α 8 | α 10 | α 12 |
| S9 | 1.24 | -5.199E-5 | 2.535E-7 | 1.33E-8 | -2.99E-10 | 2.626E-12 |
| S10 | 0.237 | 1.351E-4 | 1.300E-7 | 1.734E-8 | -3.217E-10 | 3.638E-12 |
| S14 | 4.646 | 8.091E-4 | -2.074E-6 | 1.920E-8 | -8.423E-10 | 1.233E-10 |
| S15 | 5.010 | 1.083E-3 | 7.024E-6 | -6.371E-9 | 8.889E-9 | -4.861E-11 |
Another aspect of the present invention also proposes a camera comprising the optical system 100 described above, which is particularly used as a forward looking ADAS vehicle camera.
Referring to fig. 2 and 3, there are shown an out-of-focus curve of a front view vehicle-mounted camera placed behind a front windshield and an out-of-focus curve of a camera placed behind a front windshield according to the above-described embodiment of the present invention, respectively. As can be seen from fig. 2, although the existing vehicle-mounted camera can have better imaging quality after the design and assembly are completed, when the existing vehicle-mounted camera is installed on a windshield with an inclination angle of 20 °, the difference between the best focal planes of the central field of view rays focused on the meridian plane and the sagittal plane is 13 μm, so that the image quality of the corresponding position is affected after the field of view rays pass through the windshield and the vehicle-mounted camera. As can be seen from fig. 3, in the case of using the optical system according to the above specific embodiment of the present invention, after the light beams of each field pass through the windshield and the front-view camera, the deviation of the best focal plane focused in the meridional direction and the sagittal direction of the image plane is small. Therefore, compared with the existing camera, the camera provided with the optical system of the invention can effectively correct the aberration introduced by the windshield when being placed behind the windshield, and the imaging quality is improved.
It should be understood that the camera of the present invention may be mounted on a variety of vehicles, including cars, vans, passenger vehicles, hybrid vehicles, electric vehicles, and the like. Therefore, the subject matter of the present invention is also intended to protect various vehicles equipped with the camera of the present invention.
It should be understood that all of the above preferred embodiments are exemplary and not restrictive, and that various modifications and changes in the specific embodiments described above, which would occur to persons skilled in the art upon consideration of the above teachings, are intended to be within the scope of the invention.
Claims (10)
1. An optical system (100) for a vehicle camera, the optical system (100) comprising a cylindrical lens (1), a lens group and an optical filter (9) in sequence along a light beam propagation direction, characterized in that the cylindrical lens (1) has a double-cone zernike profile.
2. The optical system (100) of claim 1, wherein the sagittal height z of the cylindrical lens (1) 1 The following formula is satisfied:
wherein, c x =1/R x ，c y =1/R y ，R x Is the radius of curvature, R, of the cylindrical lens (1) in the x-direction y Is the radius of curvature, k, of the cylindrical lens (1) in the y-direction x Is the conic constant, k, in the x direction y Is the conic constant in the y direction, α i Is an aspherical coefficient in the x direction, beta i Is an aspherical coefficient in the y direction, Z i (p, φ) is a Zernike polynomial, A i Is a Zernike polynomial coefficient, and N is a Zernike polynomial term.
3. The optical system (100) according to claim 1, wherein the cylindrical lens (1) has a positive optical power and has a converging effect on the light beam in the y-direction.
4. The optical system (100) according to claim 1, characterized in that the lens group comprises, in order in the direction of propagation of the light beam, a first lens (2), a second lens (3), a third lens (4), an aperture stop (5), a fourth lens (6), a fifth lens (7) and a sixth lens (8).
5. The optical system (100) of claim 4, wherein the first lens element (2) is a meniscus lens element of positive power, having a convex object-side surface and a concave image-side surface, and wherein the front and back surface profiles of the first lens element (2) are spherical.
6. The optical system (100) of claim 4, wherein the second lens (3) is a concave lens with negative power, the object-side surface and the image-side surface of the concave lens are both concave, and the front and back surface shapes of the second lens (3) are both spherical.
7. The optical system (100) of claim 4, wherein the third lens element (4) is a meniscus lens element of positive power, having a convex object-side surface and a concave image-side surface, and wherein the front and back surface profiles of the third lens element (4) are spherical.
8. The optical system (100) according to claim 4, wherein the aperture stop (5) is arranged between the third lens (4) and the fourth lens (6) with its center coaxial with the center of each lens.
9. A camera head, characterized in that it comprises an optical system (100) according to any one of claims 1 to 8.
10. A vehicle characterized by comprising a camera according to claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211481428.3A CN115718361A (en) | 2022-11-24 | 2022-11-24 | Optical system, camera and vehicle |
| PCT/CN2023/123718 WO2024109364A1 (en) | 2022-11-24 | 2023-10-10 | Optical system, camera and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211481428.3A CN115718361A (en) | 2022-11-24 | 2022-11-24 | Optical system, camera and vehicle |
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| CN115718361A true CN115718361A (en) | 2023-02-28 |
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| CN202211481428.3A Pending CN115718361A (en) | 2022-11-24 | 2022-11-24 | Optical system, camera and vehicle |
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| WO (1) | WO2024109364A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117543320A (en) * | 2024-01-10 | 2024-02-09 | 四川中久大光科技有限公司 | Compact laser output method, laser output head and laser device |
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