CN116381952B - Optical shaping components, optical systems and lidar - Google Patents

Abstract

The embodiment of the present application relates to the field of optical technology and discloses an optical shaping component, an optical system and a laser radar. The optical shaping component includes a microcylindrical array part, a first adjusting part and a second adjusting part; the microcylindrical array part is In order for the light beam to pass through and be shaped; the light exit surface of the first adjustment part and the light exit surface of the second adjustment part are both inclined surfaces, and the size of the first adjustment part along the optical axis direction and the size of the second adjustment part along the optical axis The size of the direction is configured to gradually decrease from the end away from the optical axis to the direction toward the end of the optical axis; the incident surface of the first adjustment part and the incident surface of the second adjustment part are configured so that the energy of the received light beams is equal. Through the above method, embodiments of the present application can overcome the problem of reduced lidar detection range caused by assembly errors.

Description

Optical shaping components, optical systems and lidar

Technical field

The embodiments of the present application relate to the field of optical technology, and specifically relate to an optical shaping component, an optical system and a laser radar.

Background technique

Currently, for lidar, its laser beam forms a Gaussian distribution on the slow axis, that is, the beam energy density in the optical axis direction is the highest, and the greater the angle with the optical axis direction, the lower the beam energy density.

When lidar is used in industrial fields such as automobiles and automated workshops, the lidar needs to be assembled on a car or industrial robot carrier. Due to the influence of assembly accuracy, the optical axis of the lidar will be in line with the distance measurement direction required by the car or industrial robot. There is a deviation between the optical axis of the lidar and the distance measurement direction required by the car or industrial robot, which results in the energy density of the beam being smaller in the distance measurement direction required by the car or industrial robot. This in turn affects the detection distance of lidar.

Contents of the invention

In view of the above problems, embodiments of the present application provide an optical shaping component, an optical system and a lidar to overcome the problem of reduced lidar detection range caused by assembly errors.

According to one aspect of the embodiment of the present application, an optical shaping component is provided, including a microcylindrical array part, a first adjustment part and a second adjustment part; the microcylindrical array part is used for allowing light beams to pass through and perform shaping processing. ; The first adjustment part and the second adjustment part are both used for the light beam to pass through, and the first adjustment part and the second adjustment part are respectively arranged on opposite sides of the optical axis; the light exit surface of the first adjustment part and the second adjustment part The light-emitting surfaces are all inclined surfaces, and the size of the first adjustment part along the optical axis direction and the size of the second adjustment part along the optical axis direction are configured to gradually decrease from the end away from the optical axis to the end toward the optical axis; first The incident surface of the adjustment part and the incident surface of the second adjustment part are configured so that the energy of the received light beams is equal.

In the optical shaping component provided by the embodiment of the present application, by respectively providing a first adjustment part and a second adjustment part with the light-emitting surface being a slope on both sides of the optical axis, the first adjustment part adjusts the light beam passing through it to a negative predetermined value. Angle emission, the second adjustment part adjusts the light beam passing through it to emit at a positive predetermined angle, thereby enhancing the beam energy in the range of negative predetermined angle to positive predetermined angle, and finally forming a small angle trend in the angular space energy distribution diagram. The nearly flat-top, large-angle Gaussian distribution curve can be compatible with the larger directivity deviation of lidar when the optical shaping component is used in the field of lidar, ensuring the ranging performance of lidar.

In an optional manner, the first adjustment part, the second adjustment part and the micro-cylindrical array part have an integrated structure. By arranging the first adjustment part, the second adjustment part and the micro-cylindrical array part into an integrated structure, the number of parts is reduced, the manufacturing cost is reduced, and the accuracy of the optical shaping component is more easily ensured.

In an optional manner, the first adjustment part and the second adjustment part are provided on opposite sides of the microcylindrical array part along the microlens arrangement direction on the microcylindrical array part; or, the first adjustment part and the second adjustment part The adjustment part is provided in the micro-cylindrical area of the micro-cylindrical array part. When processing a single lens, it is relatively easy to process a structure in which the first adjustment part and the second adjustment part are located on both sides of the micro-cylindrical array part, thereby ensuring processing accuracy and improving product qualification rate. Disposing the first adjustment part and the second adjustment part in the micro-cylindrical area of the micro-cylindrical array part can also accommodate larger directivity deviations when the optical shaping component is applied to laser radar.

In an optional manner, the first adjustment part includes a plurality of first sub-adjustment parts; at least part of the first sub-adjustment part is provided on one side of the micro-cylindrical array part along the micro-lens arrangement direction on the micro-cylindrical array part ; and/or, at least part of the first sub-adjusting portion is provided in the micro-cylindrical area of the micro-cylindrical array portion. By providing a plurality of first sub-adjusting parts, more light beams can be adjusted to emit along a negative predetermined angle.

In an optional manner, the second adjustment part includes a plurality of second sub-adjustment parts; at least part of the second sub-adjustment part is provided on one side of the micro-cylindrical array part along the micro-lens arrangement direction on the micro-cylindrical array part ; and/or, at least part of the second sub-adjusting portion is provided in the micro-cylindrical area of the micro-cylindrical array portion. By providing a plurality of second sub-adjusting parts, more light beams can be adjusted to emit along a positive predetermined angle.

In an optional manner, there is a separate structure between the first adjustment part and the micro-cylinder array part and/or between the second adjustment part and the micro-cylinder array part. Since the microcylindrical lens (that is, the microcylindrical array part) already has a mature processing technology, in order to improve the processing efficiency of the optical shaping component, the first adjustment part and the microcylindrical array part and/or the third A split structure is provided between the second adjustment part and the micro-cylinder array part, so that the original production line of the micro-cylinder array part can be retained, and the production line can be planned to process the first adjustment part and the second adjustment part.

In an optional manner, the first adjustment part and the second adjustment part are provided on one side of the micro-cylindrical array part along the optical axis direction.

In an optional manner, the optical shaping component further includes a lens, the first adjustment part and the second adjustment part are integrated on the lens, and the lens, the first adjustment part and the second adjustment part are an integral structure. By arranging the lens, the first adjustment part and the second adjustment part into an integrated structure, the number of parts of the optical shaping component can be reduced relatively, and the distance between the microcylindrical array part and the first adjustment part and the second adjustment part can be ensured. It is easier to meet assembly accuracy requirements.

In an optional manner, the first adjustment part and the second adjustment part are arranged symmetrically with respect to the optical axis. Arranging the first adjustment part and the second adjustment part symmetrically with respect to the optical axis not only facilitates the processing and manufacturing of the first adjustment part and the second adjustment part, but also makes it easier to ensure that the incident surfaces of the first adjustment part and the second adjustment part receive the The energy of the beams is equal.

According to another aspect of the embodiment of the present application, an optical system is provided, including: a collimating component and an optical shaping component as described above; the collimating component is used to allow a light beam to pass through and perform collimation processing; and the optical shaping component The component is arranged on the side of the collimating component facing the light emission direction, and the optical shaping component is used for allowing the collimated light beam to enter.

According to another aspect of the embodiment of the present application, a laser radar is provided, including a laser light source and the above-mentioned optical system; the laser light source is disposed on a side of the collimating component away from the optical shaping component, and the laser light source is used to input a laser beam to the collimating component. .

The lidar provided by the embodiments of the present application can be compatible with larger pointing deviations, thereby ensuring good ranging performance when it is assembled on carriers such as automobiles and industrial robots.

The above description is only an overview of the technical solutions of the present application. In order to have a clearer understanding of the technical means of the present application, they can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable. , the specific implementation methods of the present application are specifically listed below.

Description of 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 for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the application. Also throughout the drawings, the same reference characters are used to designate the same components. In the attached picture:

Figure 1 is a graph of the energy distribution in angular space of a light beam processed by a microcylindrical array provided by the present invention;

Figure 2 is a schematic diagram illustrating the positive and negative values of angles in optics provided by the present invention;

Figure 3 is a graph showing the energy distribution curve in the angular space of the light beam processed by the optical shaping component provided by the present invention;

Figure 4 is a schematic diagram of the structure and optical path of an optical shaping component according to an embodiment of the present invention;

Figure 5 is a schematic diagram of the structure and optical path comparing the second adjustment part and the micro-cylindrical surface provided by the embodiment of the present invention;

Figure 6 is a schematic structural diagram of an optical shaping component provided by an embodiment of the present invention;

Figure 7 is a schematic structural diagram of an optical shaping component provided by an embodiment of the present invention;

Figure 8 is a schematic structural diagram of an optical shaping component provided by an embodiment of the present invention;

Figure 9 is a schematic diagram of the structure and optical path of the optical shaping component provided by the embodiment of the present invention;

Figure 10 is a schematic structural diagram of an optical shaping component provided by an embodiment of the present invention;

Figure 11 is a schematic diagram of the structure and optical path of an optical shaping component provided by an embodiment of the present invention;

Figure 12 is an enlarged view of Figure 11 within the dotted box at A;

Figure 13 is a schematic structural diagram of an optical shaping component provided by an embodiment of the present invention;

Figure 14 is a schematic diagram of the structure and optical path of the optical system provided by the embodiment of the present invention;

Figure 15 is a schematic diagram of the structure and optical path of the laser radar provided by the embodiment of the present invention.

The reference numbers in the specific implementation are as follows:

10. Optical axis; 20. Light emitting surface; 30. Light;

100. Optical shaping component; 110. Microcylinder array part; 121. First adjustment part; 1211. First sub-adjustment part; 122. Second adjustment part; 1221. Second sub-adjustment part; 130. Lens;

1000. Optical system; 200. Collimation component;

10000, lidar; 300, laser light source.

Detailed ways

The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solution of the present application more clearly, and are therefore only used as examples and cannot be used to limit the protection scope of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the technical field belonging to this application; the terms used herein are for the purpose of describing specific embodiments only and are not intended to be used in Limitation of this application; the terms "including" and "having" and any variations thereof in the description and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion.

In the description of the embodiments of this application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying the relative importance or implicitly indicating the quantity or specificity of the indicated technical features. Sequence or priority relationship. In the description of the embodiments of this application, "plurality" means two or more, unless otherwise explicitly and specifically limited.

Reference herein to "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of this phrase 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 skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of this application, the term "and/or" is only an association relationship describing associated objects, indicating that there can be three relationships, such as A and/or B, which can mean: A exists, and A and A exist simultaneously. B, there are three situations B. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

In the description of the embodiments of this application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to It is more than two pieces (including two pieces).

In the description of the embodiments of this application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right" and "vertical" The orientation or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the embodiments of the present application and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the implementation of the present application. Example limitations.

In the description of the embodiments of this application, unless otherwise clearly stated and limited, technical terms such as "installation", "connection", "connection" and "fixing" should be understood in a broad sense. For example, it can be a fixed connection or a removable connection. It can be disassembled and connected, or integrated; it can also be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.

The laser beam forms a Gaussian distribution on the slow axis, that is, the beam energy density in the optical axis direction is the highest, and the greater the angle with the optical axis direction, the lower the beam energy density. When lidar is used in industrial fields such as automobiles and automated workshops, , affected by the assembly accuracy between the lidar and carriers such as automobiles and industrial robots, there will be a deviation between the optical axis of the lidar and the ranging direction required by the automobile or industrial robot, that is, the optical axis of the lidar and the distance measurement direction required by the automobile or industrial robot will appear. The required ranging directions of industrial robots are not parallel, which results in the energy density of the beam of the car or industrial robot being smaller in the required ranging directions, thus affecting the detection range of the lidar.

Specifically, please refer to Figure 1, which shows the angular spatial energy distribution diagram of the current lidar after being shaped by the microcylindrical array. It is a Gaussian curve, close to 0°, that is, in a direction close to parallel to the optical axis. , the energy of the beam is the highest, and as the absolute value of the angle increases, the energy of the beam gradually decreases. Please refer to Figure 2. As shown in the figure, the optical axis 10 is 0°. When the optical axis 10 is rotated counterclockwise by 0-90° along its point on the light exit surface 20, the angle of the light 30 that is parallel to the optical axis 10 is a negative value. , for example, the light ray with -α angle in the figure; the light 30 that is parallel to the optical axis 10 after rotating 0-90° clockwise along its point on the light exit surface 20, its angle is a positive value, for example, the +α angle in the figure light.

Taking the automotive field as an example, when lidar is installed on a car, it is generally required that the angle between the optical axis in its working state and the required detection direction is less than or equal to 0.5°, that is, the directivity accuracy is less than or equal to 0.5°, and then In actual situations, due to the thermal effects and assembly errors of the lidar itself, as well as its installation errors on the vehicle, the final pointing deviation will reach 2° or even higher, which is much higher than the required 0.5°. Therefore, the Ranging performance will be greatly reduced.

In order to overcome the impact of assembly accuracy on the detection distance, the inventor of the present application thought whether the direction or angle of some of the beams could be adjusted so that the laser beam after shaping could maintain a high level in the range of -2°~+2°. Energy, or in some scenarios with large assembly errors, the laser beam after shaping can maintain high energy in the range of -5°~+5°.

In this regard, the inventor of the present application first considered that the beam with a larger absolute angle range can be adjusted to a smaller range, for example, the beam in the range of -10°~-15° can be adjusted to -2° or -5°, etc. , adjust the beam in the range of 10° to 15° to 2° or 5°, etc., to increase the energy of the beam in the range of -2° to +2° or -5° to +5°. However, in practical research, it was found that, please refer to Figure 1, the angle adjustment of the 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 diagram to the vicinity of the angle after adjustment. on the changing trend of the curve. In this regard, as shown in Figure 1, the energy of the beam in the range of -10°~-15° gradually increases from -15° to -10°, and the energy of the beam near -2° is - Gradually rising from 2° to 0. Therefore, after combining the change trend of the beam in the range of -10° ~ -15° with the change trend of the beam near -2°, the overall change trend of the beam near -2° is still gradually increasing from -2° to 0. It is impossible to maintain a high energy near -2°. The same is true for the adjustment to near -5° and the adjustment in the 10°~15° range, so I won’t go into details.

Based on the above problems, combined with the Gaussian curve distribution characteristics, the inventor of the present application thought that the beam with a negative large angle can be adjusted to a positive small angle, and the beam with a positive large angle can be adjusted to a negative small angle. For details, please refer to Figure 1, Negative Large Angle The beam along the abscissa has an upward trend from left to right, and the beam near the positive small angle has a downward trend from left to right. If part of the upward trend is combined with the downward trend, a line approaching the horizontal line can be formed near the positive small angle. energy distribution. The beam with a positive large angle has a downward trend from left to right, and the beam near a negative small angle has an upward trend from left to right. If part of the downward trend is combined with the upward trend, a waveform approaching the horizontal line can be formed near the negative small angle. Energy distribution. Finally, the angular spatial energy distribution after shaping is shown in Figure 3, which is a distribution curve that approaches a flat top near small angles and a Gaussian distribution curve at large angles. Therefore, a high energy distribution can be maintained near small angles, ensuring that the lidar can be directed in its direction. When the deviation is slightly larger, a longer detection distance can still be maintained.

According to one aspect of the embodiment of the present application, an optical shaping component is provided. For details, please refer to FIG. 4 , which shows the structure of the optical shaping component. As shown in the figure, the optical shaping component 100 includes a microcylinder array part 110, a first adjustment part 121 and a second adjustment part 122. The micro-cylindrical array part 110 is used for allowing light beams to pass through and perform shaping processing. The first adjustment part 121 and the second adjustment part 122 are both used for allowing light beams to pass through. The first adjustment part 121 and the second adjustment part 122 are respectively disposed on opposite sides of the optical axis 10 . The light exit surface of the first adjustment part 121 and the light exit surface of the second adjustment part 122 are both inclined surfaces, and the size d1 of the first adjustment part 121 along the optical axis direction (the direction indicated by the x-axis in the figure) is the same as that of the second adjustment part 122 . The size d2 in the optical axis direction is configured to gradually decrease from the end away from the optical axis 10 to the end toward the optical axis 10 , that is, the size d1 of the first adjustment part 121 is from top to bottom along the direction shown by the y-axis in the figure. Gradually decrease, the size d2 of the second adjustment portion 122 gradually decreases from bottom to top along the direction shown by the y-axis in the figure. The incident surface of the first adjustment part 121 and the incident surface of the second adjustment part 122 are configured so that the energy of the received light beams is equal.

Specifically, as shown in Figure 4, the first adjustment part 121 is used to adjust the light beam passing therethrough to emit at a negative predetermined angle, and the second adjustment part 122 is used to adjust the light beam passing thereto to emit at a positive predetermined angle, For example, the first adjustment part 121 may be used to adjust the light beam passing through it to emit at an angle of -θ, and the second adjustment part 122 may be used to adjust the light beam passing thereto to emit at an angle of +θ.

Please refer to Figure 5. Under the premise that the incident light remains unchanged, the dotted line part in the figure represents the structure when the second adjustment part 122 still maintains the original micro-cylindrical surface, and the situation of the outgoing light when the original micro-cylindrical surface is maintained. , the solid line part in the figure represents the structure after the second adjustment part 122 is provided and the situation of the emitted light. As shown in the figure, when the second adjustment part 122 still maintains the original micro-cylindrical surface, the light beam in this area is emitted along the -β1 ~ -β2 range and the +-β3 ~ -β4 range. During the implementation process, β1 , β2, β3 and β4 are all within the range of 10°~15°. After the second adjustment part 122 is provided, the light beam in this area is emitted along an angle of +θ, where θ can be, for example, 2°. Therefore, compared with the original micro-cylindrical method, the second adjustment part 122 can adjust part of the -10°~-15° light beam and part of the 10°~15° light beam to emit at +2°. In the same way, the first adjustment part 121 can adjust part of the -10°~-15° light beam and part of the 10°~15° light beam to emit at -2°, and finally make the light energy near -2° and +2° can be enhanced, thus forming a shaped angular spatial energy distribution as shown in Figure 3, which is a distribution curve that approaches a flat top at small angles and a Gaussian at large angles, thereby ensuring that when the pointing deviation of the lidar after assembly reaches 2°, it can still Ensure better ranging performance. Similarly, θ can also be 3°, 4°, 5°, etc. to better compensate for the pointing deviation after the lidar is assembled.

Furthermore, in order to ensure the accuracy of lidar ranging, it is necessary to ensure that the energy of the emitted light beam in the angular space is symmetrically distributed. Based on this, the first adjustment part 121 and the second adjustment part 122 can be symmetrically arranged on the optical axis 10 On both sides, the incident surface of the first adjusting part 121 and the incident surface of the second adjusting part 122 can also be set so that the energy of the received light beams is equal to ensure that the energy of the light beams adjusted by the two is equal, so that after adjustment, the light beam The angular spatial energy distribution remains symmetrical.

In the optical shaping component 100 provided by the embodiment of the present application, a first adjustment part 121 and a second adjustment part 122 with inclined light-emitting surfaces are respectively provided on both sides of the optical axis 10, and the first adjustment part 121 adjusts the light beam passing through it. Adjusted to emit at a negative predetermined angle, the second adjustment part 122 adjusts the light beam passing through it to emit at a positive predetermined angle, so that the energy of the beam in the range of the negative predetermined angle to the positive predetermined angle is enhanced, and finally the energy distribution in the angular space is The figure forms a distribution curve that approaches a flat top at small angles and a Gaussian distribution curve at large angles, so that when the optical shaping component is used in the field of lidar, it can be compatible with the larger directional deviation of lidar and ensure the ranging performance of lidar.

Please refer to FIG. 4 again. In some embodiments, the first adjustment part 121, the second adjustment part 122 and the micro-cylindrical array part 110 are an integral structure.

By arranging the first adjustment part 121 , the second adjustment part 122 and the micro-cylindrical array part 110 as an integrated structure, the number of parts is reduced, the manufacturing cost is reduced, and the accuracy of the optical shaping component 100 is more easily ensured.

Please refer to FIG. 4 again. As shown in the figure, in some embodiments, the first adjustment part 121 and the second adjustment part 122 are disposed on the micro-cylindrical array part 110 along the micro-lens arrangement direction on the micro-cylindrical array part 110 ( The direction shown by the y-axis in the figure) are opposite sides.

Specifically, the microlens arrangement direction refers to the direction in which multiple microlenses are arranged on the microcylindrical array portion 110 , that is, the direction shown by the y-axis in FIG. 4 .

When processing a single lens, it is relatively easy to process a structure in which the first adjustment part 121 and the second adjustment part 122 are located on both sides of the micro-cylindrical array part 110, thereby ensuring processing accuracy and improving product qualification rate.

Then, in some other embodiments, as shown in FIG. 6 , the first adjustment part 121 and the second adjustment part 122 may also be provided in the micro-cylindrical area of the micro-cylindrical array part 110 .

The energy distribution mentioned in the embodiment of the present application is in angular space. Therefore, whether the first adjustment part 121 and the second adjustment part 122 are provided on opposite sides of the micro-cylindrical array part 110, or the first adjustment part is 121 and the second adjustment part 122 are provided in the micro-cylindrical area of the micro-cylindrical array part 110, and the processing of the light beam is the same as described above.

Disposing the first adjustment part 121 and the second adjustment part 122 in the micro-cylindrical area of the micro-cylindrical array part 110 can also accommodate greater directivity deviation when the optical shaping component 100 is applied to lidar.

Please refer to FIG. 7 . As shown in the figure, in some embodiments, the first adjustment part 121 may be disposed on one side of the micro-cylinder array part 110 , and the second adjustment part 122 may be disposed on one side of the micro-cylinder array part 110 . Microcylindrical area.

As shown in FIGS. 6 and 7 , it should be noted that when the first adjustment part 121 and/or the second adjustment part 122 are provided in the micro-cylinder area of the micro-cylinder array part 110 , during processing, It is best to ensure a smooth transition between the spherical surface that emits light from the microcylindrical surface and the inclined surface that emits light from the first adjustment part 121 and/or the second adjustment part 122, and prevent the spherical surface that emits light from the microcylindrical surface from intersecting with the first adjustment part 121 and/or the second adjustment part 122. The connection between the inclined surfaces of the light emitting portion 122 forms a stepped structure, which affects the optical path.

Referring to FIG. 8 , as shown in the figure, in some embodiments, the first adjustment part 121 includes a plurality of first sub-adjustment parts 1211 . At least part of the first sub-adjusting part 1211 is provided on one side of the micro-cylindrical array part 110 along the micro-lens arrangement direction on the micro-cylindrical array part 110; and/or, at least part of the first sub-adjusting part 1211 is provided on the micro-cylindrical array part 110 The micro-cylindrical area of part 110. By providing a plurality of first sub-adjusting parts 1211, more light beams can be adjusted to emit along a negative predetermined angle.

Please continue to refer to FIG. 8 , as shown in the figure, in some embodiments, the second adjustment part 122 includes a plurality of second sub-adjustment parts 1221 . At least part of the second sub-adjusting part 1221 is provided on one side of the micro-cylindrical array part 110 along the micro-lens arrangement direction on the micro-cylindrical array part 110; and/or, at least part of the second sub-adjusting part 1221 is provided on the micro-cylindrical array part 110 The micro-cylindrical area of part 110. Similarly, by providing a plurality of second sub-adjusting parts 1221, more light beams can be adjusted to emit along a positive predetermined angle.

It should be noted that for the method of using only a plurality of first sub-adjusting parts 1211, it is necessary to ensure that the total energy of the light beams received by the incident surfaces of all the first sub-adjusting parts 1211 is equal to the energy received by the incident surface of the second adjusting part 122. The energy of the beam. For the method of using only a plurality of second sub-adjusting parts 1221, it is necessary to ensure that the total energy of the light beam received by the incident surface of all the second sub-adjusting parts 1221 is equal to the energy of the light beam received by the incident surface of the first adjusting part 121. For the method of using multiple first sub-adjusting parts 1211 and multiple second sub-adjusting parts 1221 at the same time, the number of the first sub-adjusting parts 1211 and the second sub-adjusting parts 1221 may be equal or different, but It is ensured that the total energy of the light beams received by the incident surfaces of all the first sub-adjusting parts 1211 is equal to the total energy of the light beams received by the incident surfaces of all the second sub-adjusting parts 1221 .

Please refer to FIG. 9 . As shown in the figure, in some embodiments, there are Split structure.

Since the micro-cylindrical lens (that is, the micro-cylindrical array part 110) already has mature processing technology, in order to improve the processing efficiency of the optical shaping component 100, the space between the first adjustment part 121 and the micro-cylindrical array part 110 is And/or the second adjustment part 122 and the micro-cylinder array part 110 are provided with a separate structure, so that the original production line of the micro-cylinder array part 110 can be retained, and the production line can be planned to process the first adjustment part 121 and the second adjustment part 122.

Further, please refer to FIG. 9 again. As shown in the figure, in some embodiments, the first adjustment part 121 and the second adjustment part 122 are disposed on the micro-cylindrical array part 110 along the optical axis direction (the x-axis in FIG. 4 direction shown).

Specifically, the first adjustment part 121 and the second adjustment part 122 can both be arranged on the right side of the micro-cylinder array part 110 as shown in FIG. 9 , and of course they can also be arranged on the left side, or one of them can be arranged on the left side. One is set on the right. None of these settings will affect the energy distribution of the beam in angular space.

It should be noted that the above-mentioned separation between the first adjustment part 121 and the micro-cylindrical array part 110 and/or between the second adjustment part 122 and the micro-cylindrical array part 110 does not mean that there is a separate structure. It means that the first adjustment part 121 and the second adjustment part 122 must have a separate structure. Therefore, two separate lenses can be used between the first adjustment part 121 and the second adjustment part 122 as shown in Figure 9. Can also be integrated on a lens.

For the first adjustment part 121 and the second adjustment part 122 integrated into one lens, this application proposes an implementation. Please refer to Figure 10 for details. As shown in the figure, the optical shaping component 100 also includes a lens 130, a first adjustment part 121 and the second adjustment part 122 are integrated on the lens 130, and the lens 130, the first adjustment part 121 and the second adjustment part 122 are an integral structure.

By arranging the lens 130, the first adjustment part 121 and the second adjustment part 122 into an integrated structure, the number of components of the optical shaping component 100 can be relatively reduced, ensuring that the microcylindrical array part 110 and the first adjustment part 121 and It is easier to meet the assembly accuracy requirements between the second adjustment parts 122 .

When the first adjustment part 121 and the second adjustment part 122 are both arranged on the light emitting side of the microcylindrical array part 110 along the optical axis direction, the light beam can also be adjusted as shown in Figures 11 and 12 to achieve The energy distribution of the beam in the angular space approaches the flat top at small angles and Gaussian at large angles. Specifically, as shown in Figures 11 and 12, a part of the light beam after a certain micro-cylindrical processing, without the first adjustment part 121, should have been in the dotted line part of the figure with +γ1 to +γ2 Angle range shot. In some embodiments, the first adjustment part 121 is disposed on a side of a certain micro-cylindrical surface along the optical axis toward the light emission direction, so that after the part of the light is adjusted by the first adjustment part 121, the solid line part in the figure is predetermined. The angle range of -θ1 to -θ2 is emitted, where the predetermined angle range of -θ1 to -θ2 is the negative predetermined angle mentioned above. For example, γ1=10°, γ2=12°, θ1=3°, θ2=1° can adjust the beam emitted from a certain micro-cylindrical surface with an angle ranging from +10° to +12° to -3°~ -1°. In the same way, the second adjustment part 122 may, for example, adjust the light beam emitted from a certain micro-cylindrical surface with an angle ranging from -10° to -12° to +1° to +3°.

Through the above method, the energy distribution of the final emitted light in the angular space can also be made to approach a flat top in a small angle range and a Gaussian state in a large angle, which meets the requirement of lidar to be compatible with larger pointing deviations.

Furthermore, for the specific embodiments shown in FIGS. 11 and 12 , the first adjustment part 121 and the second adjustment part 122 can also be integrated on one lens 130 to form a structure as shown in FIG. 13 .

In some embodiments, the first adjustment part 121 and the second adjustment part 122 are arranged symmetrically with respect to the optical axis 10 .

Arranging the first adjustment part 121 and the second adjustment part 122 symmetrically with respect to the optical axis 10 not only facilitates the processing and manufacturing of the first adjustment part 121 and the second adjustment part 122 , but also makes it easier to ensure the adjustment of the first adjustment part 121 and the second adjustment part 122 . The energy of the light beams received by the incident surface of the portion 122 is equal.

According to another aspect of the embodiment of the present application, an optical system is provided. Please refer to FIG. 14 for details, which shows the structure and optical path of the optical system 1000. As shown in the figure, the optical system 1000 includes a collimating component 200 and the optical shaping component 100 in any of the above embodiments. The collimating component 200 is used to allow the light beam to pass through and perform collimation processing. The optical shaping component 100 is disposed on the side of the collimating component 200 facing the light emitting direction, and the optical shaping component 100 is used for allowing the collimated light beam to enter.

According to another aspect of the embodiment of the present application, a lidar is also provided. For details, please refer to Figure 15, which shows the structure and optical path of the lidar. As shown in the figure, lidar 10000 includes a laser light source 300 and the above-mentioned optical system 1000. The laser light source 300 is disposed on the side of the collimating component 200 away from the optical shaping component 100. The laser light source 300 is used to input a laser beam to the collimating component 200.

The lidar 10000 provided by the embodiment of the present application can be compatible with larger pointing deviations, thereby ensuring good ranging performance when it is assembled on carriers such as automobiles and industrial robots.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application. scope. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any way.

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.