CN116661160A - Multi-line laser projector and electronic equipment - Google Patents
Multi-line laser projector and electronic equipment Download PDFInfo
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- CN116661160A CN116661160A CN202310647691.3A CN202310647691A CN116661160A CN 116661160 A CN116661160 A CN 116661160A CN 202310647691 A CN202310647691 A CN 202310647691A CN 116661160 A CN116661160 A CN 116661160A
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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
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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
- G02B27/0911—Anamorphotic systems
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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
- G02B27/0916—Adapting the beam shape of a semiconductor light source such as a laser diode or an LED, e.g. for efficiently coupling into optical fibers
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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
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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
- G02B27/0972—Prisms
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/1805—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for prisms
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Semiconductor Lasers (AREA)
Abstract
The application belongs to the technical field of semiconductors, in particular to a multi-line laser projector, which comprises a laser light source for generating laser; a laser collimating element corresponding to the laser emitting path for collimating the laser light, and an optical element corresponding to the laser collimating element for adjusting the angle of the at least partially collimated laser light; the laser shaping element corresponds to the propagation path of the laser rays and is provided with a specific shape configuration so that all the laser rays form at least three linear light spots, and at least two linear light spots are provided with intersection points on the same plane; the laser passing through the optical element forms at least three beams, each beam respectively corresponds to the linear light spot, and each beam does not interfere with each other on the same plane. A plurality of laser projectors which only emit one linear laser are integrated, so that the number of laser projector layouts on the service robot is reduced, and the cost is reduced.
Description
Technical Field
The application belongs to the technical field of semiconductors, and particularly relates to a multi-line laser projector and electronic equipment.
Background
The laser projector is widely used as a device capable of projecting laser light in the fields of daily life, medical equipment, industrial production, and the like. With the development of various optical sensors, various optical requirements, such as homogenized surface light field, lattice speckle light field, and linear speckle light field, have been proposed according to practical requirements.
The word line laser projector for projecting the light field of the word line light spot is widely applied due to the characteristics of strong anti-interference performance, stable performance and the like. A word line structured light is applied to a service robot, such as a sweeping robot; the method and the device have the advantages of fast measurement speed, high precision, simple structure, economy, easiness in realization and the like. The measuring principle is that the laser beam emitted by the laser is firstly generated into a continuous laser plane by a cylindrical mirror, and is used for irradiating the measured object and intersecting with the surface of the measured object to form a deformed structure light stripe; and then, the three-dimensional shape geometric information of the surface of the measured object is extracted by utilizing the image geometric information of the deformation structure light fringes shot by the CMOS or CCD probe and combining the system motion parameters during measurement. The processing and calculation of the deformed structure light stripe image are one of the key links of three-dimensional measurement.
Due to the detection requirements of different directions, a plurality of line structure light sensors are installed on the service robot, and the line structure light sensors face different directions. Each line structure light sensor needs a line laser light source and a camera module, which leads to the arrangement of a plurality of line laser light sources and a plurality of camera modules on the service robot, and leads to the occupation of a larger layout space of the structure light module on the service robot; and the number of the plurality of structured light modules is large, which causes the cost of structured light on the service robot to rise.
Disclosure of Invention
One advantage of the present application is that a multi-line laser projector is provided, which integrates a plurality of laser projectors that emit only one line laser, reduces the number of laser projector layouts on a service robot, and reduces the space occupied by the laser projector layouts on the service robot.
The application further provides a multi-line laser projector which emits a plurality of line-shaped lasers to replace the original plurality of line-shaped structure optical modules, so that the number layout of the structure optical modules is reduced, and the cost occupied by the laser projector on the whole machine of the service robot is reduced.
Another advantage of the present application is to provide a multi-line laser projector that can form multiple line lasers, increase the detection range and detection accuracy of the laser projector, and optimize the accuracy of the service robot during operation.
To achieve at least one of the above or other advantages and objects, according to one aspect of the present application, there is provided a multi-line laser projector including
A laser light source for generating laser light;
a laser collimating element corresponding to the laser beam emitted from the laser emitting path for collimating the laser beam, and
an optical element corresponding to the laser collimating element for adjusting the angle of at least a portion of the collimated laser light;
the laser shaping element corresponds to the propagation path of the laser rays and is provided with a specific shape configuration so that all the laser rays form at least three linear light spots, and at least two linear light spots are provided with intersection points on the same plane;
the laser passing through the optical element forms at least three beams, each beam respectively corresponds to the linear light spot, and each beam does not interfere with each other on the same plane.
In the multi-line laser projector according to the present application, a ratio between edge laser energy and center laser energy in a linear direction of each of the linear spots is 1.0 to 2.0:1.0.
in the multi-line laser projector according to the present application, the three linear light spots are a linear light spot a, a linear light spot b and a linear light spot c, respectively, wherein the linear light spot a and the linear light spot c are parallel on the same plane, and the linear light spot a is perpendicular to the linear light spot b on the same plane.
In the multi-line laser projector according to the application, the FOV of the linear light spot a is 60 ° to 100 °; the FOV of the linear light spot b is 100-150 degrees, and the FOV of the linear light spot a is 60-100 degrees.
In the multi-line laser projector according to the present application, three of the light beams are a light beam L1, a light beam L2, and a light beam L3, respectively, wherein the light beam L1 and the light beam L3 are symmetrical with an optical axis of the light beam L2 as a symmetry axis.
In the multi-line laser projector according to the application, the optical element comprises a first refractive mirror corresponding to the formation of the light beam L1 and a second refractive mirror corresponding to the formation of the light beam L3.
In the multi-line laser projector according to the present application, a gap or a plano-optical lens through which the light beam L2 passes is correspondingly formed between the first refractive mirror and the second refractive mirror.
In the multi-line laser projector according to the present application, the laser shaping element includes a first shaping lens that shapes the light beam L1 to obtain the linear spot La, a second shaping lens that shapes the light beam L2 to obtain the linear spot Lb, and a third shaping lens that shapes the light beam L3 to obtain the linear spot Lc.
In the multi-line laser projector according to the application, the bottom sections of the first shaping lens, the second shaping lens and the third shaping lens are all wavy.
In the multi-line laser projector according to the present application, the wavy shape of the first shaping lens and the wavy shape of the third shaping lens extend along the X-axis direction, and the wavy shape of the second shaping lens extends along the Y-axis direction.
In the multi-line laser projector according to the application, the top surface of one or more of the first shaping lens, the second shaping lens and the third shaping lens is a plane.
In the multi-line laser projector according to the application, the top surface of one or more of the first shaping lens, the second shaping lens and the third shaping lens is concave.
In the multi-line laser projector according to the application, a top section of one or more of the first shaping lens, the second shaping lens and the third shaping lens is wavy.
In the multi-line laser projector according to the application, the number of laser light sources is at least three.
In the multi-line laser projector according to the present application, the laser light source is provided with a plurality of light emitting holes arranged in a straight line direction.
In the multi-line laser projector according to the application, the midpoint connecting line of any two luminous holes is parallel to the linear light spot obtained by the laser light source after being shaped by the laser shaping element on the same plane.
In the multi-line laser projector according to the application, the laser light source is one of VCSEL, HCSEL, EEL, LED.
In the multi-line laser projector according to the present application, at least three collimating parts are provided on the laser collimating element, each of the collimating parts corresponding to the laser light source, respectively.
In the multi-line laser projector according to the application, the optical element is provided with a mounting groove, into which the laser collimating element is at least partially embedded.
In the multi-line laser projector according to the application, the multi-line laser projector further comprises an optical mount, on which the optical element and the laser shaping element are both arranged.
In the multi-line laser projector according to the present application, the multi-line laser projector further includes a substrate, the laser light source is disposed on the substrate, and the optical bracket is fixed on the substrate.
In the multi-line laser projector according to the present application, an electric conductor for lighting a laser light source is connected to the substrate.
In the multi-line laser projector according to the present application, the electric conductor is an FPC.
In the multi-line laser projector according to the application, a distance is reserved between the laser shaping element and the optical bracket.
According to another aspect of the present application, there is also provided an electronic apparatus including:
a multi-line laser projector as described above; and
and the detector is used for receiving the laser emitted by the multi-line laser projector.
Further objects and advantages of the present application will become fully apparent from the following description and the accompanying drawings.
These and other objects, features and advantages of the present application will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.
Drawings
Fig. 1 is a perspective view of a multi-line laser projector of the present application.
Fig. 2 is a perspective view of a multi-wire laser projector of the present application without electrical conductors.
Fig. 3 is an exploded view of the multi-line laser projector of the present application.
Fig. 4 is a top view of the multi-line laser projector of the present application.
Fig. 5 is a cross-sectional view taken along line A-A of fig. 4.
Fig. 6 is a schematic structural view of an optical element according to the present application.
Fig. 7 is a schematic structural diagram of a laser collimating element according to the present application.
Fig. 8 is a schematic diagram of the light beams L1, L2, L3 in the multi-line laser projector according to the present application.
Fig. 9 is a schematic diagram of the linear light spot a, the linear light spot b and the linear light spot c according to the present application.
Detailed Description
The terms and words used in the following description and claims are not limited to literal meanings, but are used only by the applicant to enable a clear and consistent understanding of the application. It will be apparent to those skilled in the art, therefore, that the following description of the various embodiments of the application is provided for illustration only and not for the purpose of limiting the application as defined by the appended claims and their equivalents.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
Although ordinal numbers such as "first," "second," etc., will be used to describe various components, those components are not limited herein. The term is used merely to distinguish one component from another. For example, a first component may be referred to as a second component, and likewise, a second component may be referred to as a first component, without departing from the teachings of the present inventive concept. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, or groups thereof.
Summary of the application
The inventors of the present application have found that, when the laser projector is applied to a service robot, the service robot is generally required to install a plurality of laser projectors for projecting a linear laser beam in order to obtain a better detection accuracy and a wider detection surface. The plurality of laser projectors are installed on the service robot, so that cost rise can be directly caused, and the plurality of laser projectors occupy a plurality of layout spaces, so that the difficulty in layout of devices of the service robot is increased.
According to the application, the plurality of laser projectors which only emit one linear laser are integrated, so that the number of laser projector layouts on the service robot is reduced, and the space occupied by the laser projectors on the service robot is reduced; the cost occupied by the integrated laser projector on the whole machine of the service robot is lower than that of a plurality of single laser projectors; and the integrated laser projector can form a plurality of linear lasers, so that the detection range and the detection precision of the laser projector are increased.
Based on the above, the application provides a multi-line laser transmitter, which comprises a laser light source, wherein the laser light source can emit infrared laser under the electrified state; the laser collimation element is correspondingly arranged above the laser light source, namely, the laser collimation element is positioned on the emergent path of the laser light source and collimates laser rays emitted by the laser light source into parallel laser rays; the optical element is correspondingly arranged above the laser collimation element and is used for carrying out angle adjustment on two beams collimated by the laser collimation element; a laser shaping element which corresponds to the propagation path of the laser light and which has a specific shape configuration such that all the laser light forms at least three linear spots; forming three linear light spots after being shaped by the laser shaping element, wherein at least two linear light spots in the three linear light spots are provided with intersection points on the same plane.
The laser projector of the application is explained in detail below by way of the following examples:
referring to fig. 1 to 4 of the drawings, a multi-line laser projector according to an embodiment of the application is illustrated; the multi-line laser mainly comprises a substrate 10, a laser light source 20, a laser collimation element 30, an optical element 40 and a laser shaping element 50. The laser light source 20 is implemented as a VCSEL (vertical cavity surface emitting laser) type light source, an EEL (edge emitting laser) type light source, a HCSEL (horizontal cavity surface emitting laser) type light source, an LED type light source, or the like. Wherein an extremely low operating threshold can be obtained due to the VCSEL-type light source having an extremely small active layer volume; the wavelength and the threshold value are relatively insensitive to temperature change, and single longitudinal mode emergent can be realized; the circular light spots are emitted and are easy to couple with the optical fibers; and the advantages of simple packaging and the ability to form a two-dimensional laser array, the laser light source 20 of the present application is preferably a VCSEL-type light source.
In this embodiment, the number of the laser light sources 20 is three, however, in other embodiments, the number of the laser light sources 20 may be further selected according to the requirement, and the number of the laser light sources may be more than three according to the requirement; each laser light source 20 is provided with a row of a plurality of luminous holes 201, and the number of the luminous holes 201 is twelve; and the plurality of light emitting holes 201 are all arranged at equal intervals along a straight line direction. Each of the laser light sources 20 forms a linear light spot after passing through the laser shaping element 50; in order to maximize the laser beam emitted from the laser light source 20, a straight line formed by connecting the central points of any two light emitting holes 201 on the laser light source 20 is parallel to a linear light spot formed by the laser light source 20 after being shaped by the laser shaping element 50.
Further, the laser collimating element 30 corresponds to the beam emitting path of the laser light source 20, and the laser collimating element 30 is configured to shape the laser beam (i.e. a plurality of lasers) emitted from the laser light source 20 into parallel collimated laser beams; the laser collimator 30 is made of a light-permeable material such as plastic or glass, for example, PMMA (polymethyl methacrylate ) plexiglas, EP5000 type polycarbonate resin plastic, or the like. The laser beam emitted from the laser light source 20 forms an incident beam of the laser collimating element 30, the incident beam enters the laser collimating element 30 from the lower end surface of the laser collimating element 30, and then is emitted from the upper end surface of the laser collimating element 30, and the emitted multiple lasers form parallel light paths. The structural characteristics of the laser collimation element 30 will influence the width of the spot (circular spot diameter or elliptical spot major or minor axis), and thus the linewidth parameters of the spot ultimately projected by the laser projector.
Specifically, the laser alignment element 30 is configured as a light-transmitting element having a plurality of alignment portions 31, and the number of alignment portions 31 matches the number of laser light sources 20, that is, one alignment portion 31 corresponds to one laser light source 20. The lower mirror surface (the mirror surface close to the laser light source 20) and the upper mirror surface (the mirror surface opposite to the lower mirror surface and further from the laser light source 20) of the collimating part are curved surfaces. The distance between the lower mirror surface of the collimating mirror and the light source 10 will affect the line width parameter and the spot quality of the finally formed light spot, and needs to be set reasonably according to the requirement.
Referring to fig. 3 and 7, in the present application, the number of the laser light sources 20 is three, and the three laser light sources 20 are arranged in a straight direction, and the wide sides of two laser light sources 20 respectively located at both ends are parallel to a straight line along which the three laser light sources 20 are arranged, and the long sides of the laser light sources 20 located in the middle are parallel to a straight line along which the three laser light sources 20 are arranged. Each collimating part 31 thus collimates the laser light emitted by the individual laser light source 20 correspondingly, forming three collimated laser light beams and mutually parallel laser light beams. The arrangement of the collimation parts 31 corresponding to the laser light sources 20 one by one can control the distance between the laser collimation element 30 and the laser light sources 20 to collimate more lasers in the minimum range, so as to control the volume of the whole multi-line laser projector, and reserve more layout spaces of other components for the service robot during design. Of course, in other embodiments, the laser collimating element 30 may have only one collimating portion 31, that is, one collimating portion 31 may collimate the laser light emitted from the three laser light sources 20.
Referring to fig. 6, the optical element 40 is correspondingly disposed on the collimated laser transmission path, and when the laser passes through the optical element, part of the laser passes through the optical element to perform emission angle adjustment, and the laser collimated by the three collimation portions is optically refracted, where the optical element is made of a light-permeable material such as plastic, glass, etc., for example, PMMA (polymethyl methacrylate ) plexiglass, EP5000 type polycarbonate resin plastic, etc.
As shown in fig. 3 to 8, the optical element 40 includes an optical base 43, a first refractive mirror 41, and a second refractive mirror 42, and the first refractive mirror 41, the second refractive mirror 42, and the optical base 43 are integrated. The bottom surface of the first refractor 41 is a horizontal plane, the top surface is an inclined plane, and the light beam collimated by the collimation portion 31 at one side edge is incident from the bottom surface of the first refractor 41 and is emitted through the top surface of the first refractor 41, thereby forming a refracted light beam L1. The second refractive mirror 42 is symmetrical to the first refractive mirror 41, that is, the first refractive mirror 41 and the second refractive mirror 42 are in the same shape, the bottom surface of the second refractive mirror 42 is a horizontal plane, the top surface of the second refractive mirror 42 is an inclined plane, and the light beam collimated by the collimating part 31 corresponding to the laser light source 20 positioned at the edge of the other side and below the laser light source 20 is emitted from the bottom surface of the second refractive mirror 42, passes through the inside of the second refractive mirror 42, and is emitted from the top surface of the second refractive mirror 42, thereby forming a refracted light beam L3.
A space 44 is reserved between the first refractor 41 and the second refractor 42, the space 44 can be a space which is reserved directly, or the space is filled by a flattening lens, and the rest of light beams collimated by the collimating part 31 positioned in the middle pass through the space 44 between the first refractor 41 and the second refractor 42 or the flattening lens to form light beams L2; the light beams L1 and L3 are symmetrical with the central optical axis of the light beam L2 as a symmetry axis, so that the light beams L1, L2 and L3 do not interfere with each other on the same plane, i.e. the light beams L1, L2 and L3 do not intersect.
Referring to fig. 8 and 9, laser shaping elements 50 are provided on propagation paths corresponding to the light beams L1, L2, and L3, and the laser shaping elements 50 have a specific shape configuration such that the light beams L1, L2, and L3 form three linear spots, respectively. The laser shaping element 50 includes a first shaping lens 51, a second shaping lens 52 and a third shaping lens 53, where the first shaping lens 51 corresponds to the optical path of the light beam L1, the light beam L1 is shaped by the first shaping lens 51 to form a linear light spot a, the second shaping lens 52 corresponds to the optical path of the light beam L2, and the light beam L2 passes through the second shaping lens 52 to form a linear light spot b; the third shaping lens 53 corresponds to the light path of the light beam L3, and the light beam L3 forms a light spot c after passing through the third shaping lens 53; the linear light spots a and c are parallel on the same plane, and the linear light spot a is perpendicular to the linear light spot b on the same plane.
Further, the FOV of the linear light spot a is 60-100 degrees, and the FOV is preferably 80 degrees; the ratio of the edge laser energy to the center laser energy of the linear light spot a in the linear length direction is 1.0-2.0: 1.0. the FOV of the linear light spot b is 100-150 degrees, the preferable FOV is 100 degrees, and the ratio of the edge laser energy to the center laser energy in the linear length direction of the linear light spot b is 1.0-2.0: 1.0. the FOV of the linear light spot c is 60-100 degrees, the preferable FOV is 80 degrees, and the ratio between the edge laser energy and the center laser energy of the linear light spot c in the linear direction is 1.0-2.0: 1.0.
referring to fig. 3 to 5, the material of the shaping lenses (i.e., the first shaping lens 51, the second shaping lens 52, and the third shaping lens 53) in the present application affects the refractive index of the laser beam, and in the embodiment of the present application, the first shaping lens 51 is made of a light-permeable material such as plastic, glass, etc., for example, PMMA (polymethyl methacrylate ) organic glass, EP5000 polycarbonate resin plastic, etc., and the bottom section of the first shaping lens 51 is waved, which waved extends along the X-axis direction. The top surface of the first shaping lens 51 is flat, concave or wavy in cross section.
In the embodiment of the present application, the second shaping lens 52 corresponds to the beam of the beam L2, and the beam L2 is shaped by the second shaping lens 52 to form the linear light spot b; in the present embodiment, the second shaping lens 52 is made of a light-permeable material such as plastic, glass, or the like, for example, PMMA (polymethyl methacrylate ) plexiglass, EP5000 polycarbonate plastic, or the like, and the bottom section of the second shaping lens 52 is wavy, the wavy shape extends along the Y-axis direction, and the top surface of the second shaping lens 52 is a flat surface, a concave surface, or a surface having a wavy cross section.
In the embodiment of the present application, the third shaping lens 53 corresponds to the beam of the beam L3, and the beam L3 is shaped by the third shaping lens 53 to form the linear light spot c. The third shaping lens 53 is made of a light-permeable material such as plastic, glass, or the like, for example, PMMA (polymethyl methacrylate ) plexiglass, EP5000 polycarbonate resin plastic, or the like, and the bottom section of the third shaping lens 53 is wavy, which is extended in the X-axis direction. The top surface of the third shaping lens 53 is flat, concave or wavy in cross section.
In one specific example of the present application, the laser light source 20 is mounted to the substrate 10. Specifically, the substrate 10 is implemented as a ceramic substrate including a ceramic substrate 11 and a circuit layer 12 formed on the ceramic substrate 11, and the laser light source 20 is electrically connected to the circuit layer 12. More specifically, the laser light source 20 may be electrically connected to the circuit layer 12 by conductive structures such as conductive paste and electrical connection lines. It should be understood that the number of the laser light sources 20 is at least three, three circuit layers 12 are disposed on the substrate 10 and electrically connected to each other, and each of the laser light sources 20 is connected to the corresponding circuit layer 12 by conductive adhesive or electrical connection lines, respectively. Wherein each circuit layer 12 is comprised of a positive conductor and a negative conductor. The substrate 10 may be implemented as another type of substrate, and the laser light source 20 may be electrically connected to the substrate 10 by another method, which is not limited to the present application. And an electrical conductor 13 is connected to the substrate, the electrical conductor 13 is used for supplying current to the circuit layer 12 on the substrate 10 to light the laser light source, the electrical conductor 13 is an FPC, and different conductive wires can be selected according to the requirement.
An optical bracket 60 is arranged on the substrate, and the optical bracket adopts black sunlight PC; the bottom of the optical bracket 60 is glued to the substrate 10, and the optical bracket 60 houses all the laser light sources 20 described above within the optical bracket 60; the laser alignment element 30 and the optical element 40 are both positioned inside the optical bracket 60, wherein the bottom of the optical element 40 is flared to some extent, and the alignment element 30 is embedded in the bottom of the optical element 40 and glued together. The optical element 40 is embedded inside the optical mount 60. Three windows are provided at the top of the optical bracket 60, wherein the three windows are a first window 601, a second window 602 and a third window 603, each window corresponds to one plastic lens, that is, the first plastic lens 51 is correspondingly installed on the first window 601, the second plastic lens 52 is correspondingly installed on the second window 602, the third plastic lens 53 is correspondingly installed on the third window 603, and a space 62 is reserved between the edge of the upper half of the plastic lens and the inner wall of the window, and the space 62 is used as filling glue to fix the plastic lens on the inner wall of the window 61.
In summary, the multi-line laser projector is illustrated, and the multi-line laser projector can project three linear light spots, wherein two linear light spots are parallel to each other, and the other linear light spot is perpendicular to the two linear light spots, so that the multi-line laser projector can meet specific application scenarios, for example, obstacle avoidance of a service robot.
Schematic electronic device
According to another aspect of the present application, there is also provided an electronic apparatus including the laser projector as described above and a detector for receiving laser light emitted from the laser projector, the specific structure and function of the laser projector having been described in detail in the description of the laser projector illustrated in fig. 1 to 6 above, and thus, repetitive description thereof will be omitted.
The electronic device can be implemented as a sweeping robot or other devices which need to be capable of projecting and forming a linear light spot a and a linear light spot c which are parallel to each other in the X-axis direction and keep the middle laser energy substantially consistent with the edge laser energy, and meanwhile, a linear light spot b which is parallel to each other in the Y-axis direction and keeps the middle laser energy substantially consistent with the edge laser energy, wherein the linear light spot a and the linear light spot c are parallel to each other on the same plane, and the linear light spot a and the linear light spot c are perpendicular to the linear light spot b on the same plane at the same time.
It is noted that in the apparatus and method of the present application, the components or steps of the different embodiments may be disassembled and/or assembled without departing from the principles of the present application. Such decomposition and/or recombination should be considered to be included within the scope of the present application.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
Claims (25)
1. A multi-line laser projector, comprising
A laser light source for generating laser light;
a laser collimating element corresponding to the laser beam emitted from the laser emitting path for collimating the laser beam, and
an optical element corresponding to the laser collimating element for adjusting the angle of at least a portion of the collimated laser light;
the laser shaping element corresponds to the propagation path of the laser rays and is provided with a specific shape configuration so that all the laser rays form at least three linear light spots, and at least two linear light spots are provided with intersection points on the same plane;
the laser passing through the optical element forms at least three beams, each beam respectively corresponds to the linear light spot, and each beam does not interfere with each other on the same plane.
2. The multi-line laser projector according to claim 1, wherein a ratio between edge laser energy and center laser energy in a linear length direction of each of the linear spots is 1.0 to 2.0:1.0.
3. the multi-line laser projector according to claim 1, wherein the three linear light spots are a linear light spot a, a linear light spot b and a linear light spot c, respectively, wherein the linear light spot a and the linear light spot c are parallel on the same plane, and the linear light spot a is perpendicular to the linear light spot b on the same plane.
4. A multi-line laser projector according to claim 3, wherein the FOV of the linear spot a is 60 ° -100 °; the FOV of the linear light spot b is 100-150 degrees, and the FOV of the linear light spot a is 60-100 degrees.
5. The multi-line laser projector of claim 1 wherein three of the beams are beam L1, beam L2 and beam L3, respectively, wherein the beam L1 and the beam L3 are symmetrical about the optical axis of the beam L2.
6. The multi-line laser projector of claim 5 wherein the optical element includes a first refractive mirror corresponding to the beam L1 and a second refractive mirror corresponding to the beam L3.
7. The multi-line laser projector of claim 6 wherein the first refractive mirror and the second refractive mirror form a void or a piano lens therebetween through which the light beam L2 passes.
8. The multi-line laser projector of claim 5 wherein the laser shaping element comprises a first shaping lens that shapes beam L1 to obtain linear spot a, a second shaping lens that shapes beam L2 to obtain linear spot b, and a third shaping lens that shapes beam L3 to obtain linear spot c.
9. The multi-line laser projector of claim 8 wherein the bottom sections of the first, second and third shaping lenses are each wavy.
10. The multi-line laser projector of claim 9 wherein the undulations of the first and third shaping lenses extend in the X-axis direction and the undulations of the second shaping lens extend in the Y-axis direction.
11. The multi-line laser projector of claim 8 wherein a top surface of one or more of the first, second and third shaping lenses is planar.
12. The multi-line laser projector of claim 8 wherein a top surface of one or more of the first, second and third shaping lenses is concave.
13. The multi-line laser projector of claim 8 wherein a top cross-section of one or more of the first, second and third shaping lenses is wavy.
14. The multi-line laser projector of claim 1 wherein the number of laser light sources is at least three.
15. The multi-line laser projector of claim 1 wherein the laser light source is provided with a plurality of light emitting apertures aligned in a linear direction.
16. The multi-line laser projector according to claim 15, wherein the line connecting the midpoints of any two of the light emitting holes is parallel to a linear light spot obtained by shaping the laser light source by the laser shaping element on the same plane.
17. The multi-line laser projector of claim 1 wherein the laser light source is one of VCSEL, HCSEL, EEL, LED.
18. The multi-line laser projector of claim 14 wherein the laser alignment element has at least three alignment portions thereon, each alignment portion corresponding to a respective one of the laser sources.
19. A multi-line laser projector as claimed in claim 1 wherein the optical element is provided with a mounting slot into which the laser alignment element is at least partially embedded.
20. The multi-line laser projector of claim 1 further comprising an optical mount, the optical element and the laser shaping element each being disposed on the optical mount.
21. The multi-line laser projector of claim 20 further comprising a substrate, the laser light source being disposed on the substrate, the optical mount being secured to the substrate.
22. The multi-line laser projector of claim 20 wherein an electrical conductor is attached to the substrate for illuminating the laser light source.
23. The multi-line laser projector of claim 22 wherein the electrical conductor is an FPC.
24. The multi-line laser projector of claim 20 wherein the laser shaping element is spaced from the optical mount.
25. An electronic device, comprising:
the multi-line laser projector of any of claims 1 to 24; and
and the detector is used for receiving the laser emitted by the laser projector.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310647691.3A CN116661160A (en) | 2023-06-02 | 2023-06-02 | Multi-line laser projector and electronic equipment |
| CN202311274909.1A CN117977379A (en) | 2023-06-02 | 2023-09-28 | Multi-line laser projector and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310647691.3A CN116661160A (en) | 2023-06-02 | 2023-06-02 | Multi-line laser projector and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116661160A true CN116661160A (en) | 2023-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310647691.3A Pending CN116661160A (en) | 2023-06-02 | 2023-06-02 | Multi-line laser projector and electronic equipment |
| CN202311274909.1A Pending CN117977379A (en) | 2023-06-02 | 2023-09-28 | Multi-line laser projector and electronic equipment |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311274909.1A Pending CN117977379A (en) | 2023-06-02 | 2023-09-28 | Multi-line laser projector and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024041298A1 (en) * | 2022-08-26 | 2024-02-29 | 北京石头世纪科技股份有限公司 | Multi-line laser and cleaning device |
-
2023
- 2023-06-02 CN CN202310647691.3A patent/CN116661160A/en active Pending
- 2023-09-28 CN CN202311274909.1A patent/CN117977379A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024041298A1 (en) * | 2022-08-26 | 2024-02-29 | 北京石头世纪科技股份有限公司 | Multi-line laser and cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117977379A (en) | 2024-05-03 |
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Application publication date: 20230829 |