CN117554928A - Optical scanning module, laser radar and mobile equipment - Google Patents
Optical scanning module, laser radar and mobile equipment Download PDFInfo
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- CN117554928A CN117554928A CN202410043365.6A CN202410043365A CN117554928A CN 117554928 A CN117554928 A CN 117554928A CN 202410043365 A CN202410043365 A CN 202410043365A CN 117554928 A CN117554928 A CN 117554928A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the application provides an optical scanning module, laser radar and mobile device, and this optical scanning module includes: a scanning module and a beam adjustment module. The scanning module is used for deflecting a plurality of light beams to the light beam adjusting module. The light beam adjusting module is used for receiving a plurality of light beams, wherein the incidence angles of at least two light beams in the plurality of light beams are different. The light beam adjusting module is further used for amplifying the plurality of light beams according to the incidence angles of the light beams, wherein the corresponding amplification ratio of the light beams and the incidence angles of the light beams are in monotonically decreasing function relation. In the optical scanning module, the light beam adjusting module can carry out gradual change adjustment on light beams under different incidence angles, and can be subsequently applied to a laser radar, so that the gradual change adjustment can be carried out on the light beams under different view angles, and the compression degree of the view angles can be reduced while the optical receiving and transmitting caliber is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of laser radars, in particular to an optical scanning module, a laser radar and movable equipment.
Background
The laser radar is composed of a transmitting system, a receiving system, a data processing system and the like, measures distance measurement by measuring the time difference between emergent detection laser and received echo laser, has the advantages of high resolution, high sensitivity, strong anti-interference capability, no influence of illumination condition and the like, and has been widely applied to the fields of automatic driving, logistics vehicles, robots, vehicle-road coordination, public intelligent transportation and the like.
The ranging capability of the laser radar is improved along with the improvement of the receiving aperture of the optical system, and the larger the receiving aperture is, the more energy of the echo beam can be received by the receiving device of the laser radar is. At present, the receiving and transmitting caliber size of the laser radar is limited, and the ranging performance of the radar is limited.
Disclosure of Invention
The embodiment of the application provides an optical beam expanding module, a laser radar and movable equipment, which are used for carrying out unequal multiple beam expanding on light beams incident to different areas of the optical adjusting module through the optical adjusting module, and can be used for expanding the optical receiving and transmitting caliber and improving the ranging capability of the laser radar.
In a first aspect, embodiments of the present application provide an optical scanning module, including: a scanning module and a beam adjustment module. The scanning module is used for deflecting a plurality of light beams to the light beam adjusting module. The light beam adjusting module is used for receiving the plurality of light beams, wherein the incidence angles of at least two light beams in the plurality of light beams are different. The light beam adjusting module is further used for amplifying the plurality of light beams according to the incident angles of the light beams, wherein the corresponding amplification ratios of the light beams and the incident angles of the light beams are in monotonically decreasing function relation.
In some embodiments, the magnification of the beam at the smallest angle of incidence by the beam conditioning module is greater than 1, and/or the magnification of the beam at the largest angle of incidence by the beam conditioning module is greater than or equal to 1.
In some embodiments, the magnification of the beam of light at which the angle of incidence is greatest by the beam adjustment module is equal to 1.
In some embodiments, the beam conditioning module includes a first lens and a second lens disposed in sequence. The light beam with the smallest incidence angle is emitted to a first area of the first lens, and the light beam with the smallest incidence angle is emitted to a second area of the second lens after passing through the first lens; the light beam with the largest incidence angle is emitted to a third area of the first lens, and the light beam with the largest incidence angle passes through the first lens and then emitted to a fourth area of the second lens; the focal length ratio of the first region and the second region is greater than the focal length ratio of the third region and the fourth region.
In some embodiments, the relative curvature of the first lens and the angle of incidence of the light beam are monotonically decreasing functions, wherein the relative curvature of the first lens is the relative curvature of the surface of the first lens distal from the second lens and the surface of the first lens proximal to the second lens; the relative curvature of the second lens and the incident angle of the light beam passing through the first lens to the second lens are in a monotonically increasing function, wherein the relative curvature of the second lens is the relative curvature of the surface of the second lens close to the first lens and the surface of the second lens far away from the first lens.
In some embodiments, the focal length f1 of the first lens and the focal length f2 of the second lens satisfy the following relationship:
-0.75＜f1/f2＜-0.25。
in some embodiments, the first lens has negative optical power and the second lens has positive optical power.
In some embodiments, the first lens and the second lens are both even aspherical lenses.
In some embodiments, the scanning module comprises a two-dimensional galvanometer, and the beam adjustment module is disposed on a first side of the two-dimensional galvanometer along a first direction; or the scanning module comprises a one-dimensional galvanometer and a rotating mirror which are sequentially arranged, and the light beam adjusting module is arranged on the first side of the rotating mirror along the first direction.
In a second aspect, an embodiment of the present application further provides a lidar, where the lidar includes a transceiver module and an optical scanning module set in sequence according to any one of the embodiments of the first aspect; the receiving and transmitting module is used for transmitting the detection light beam to the optical scanning module and receiving the echo light beam deflected by the optical scanning module; the optical scanning module is used for deflecting and amplifying the detection light beam, then directing the detection light beam to a view field, performing two-dimensional scanning, receiving the returned echo light beam in the view field, and directing the echo light beam to the receiving and transmitting module after the echo light beam is reduced and deflected.
In a third aspect, an embodiment of the present application further provides a mobile device, which is characterized by comprising a mobile body and a lidar according to the second aspect, where the lidar is mounted on the body.
Compared with the prior art, the beneficial effects of this application are: in distinction from the prior art, embodiments of the present application provide an optical scanning module, a laser radar, and a mobile device, the optical scanning module including: a scanning module and a beam adjustment module. The scanning module is used for deflecting a plurality of light beams to the light beam adjusting module. The light beam adjusting module is used for receiving a plurality of light beams, wherein the incidence angles of at least two light beams in the plurality of light beams are different. The light beam adjusting module is further used for amplifying the plurality of light beams according to the incidence angles of the light beams, wherein the corresponding amplification ratio of the light beams and the incidence angles of the light beams are in monotonically decreasing function relation. In the optical scanning module, the light beam adjusting module can carry out gradual change adjustment on light beams under different incidence angles, and can be subsequently applied to a laser radar, so that the gradual change adjustment can be carried out on the light beams under different view angles, and the compression degree of the view angles can be reduced while the optical receiving and transmitting caliber is improved.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules and steps, and in which the figures do not include the true to scale unless expressly indicated by the contrary reference numerals.
FIG. 1 is a block diagram of an optical scanning module according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a beam adjustment module according to an embodiment of the present application;
FIG. 3 is a schematic diagram of beam transformation of the half field of view of FIG. 2 according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a full field of view beam transformation of FIG. 2 according to an embodiment of the present application;
fig. 5 is a schematic view of a spot shape of a light beam after the light beam with a different incident angle passes through a light beam adjusting module according to an embodiment of the present application;
fig. 6 is a schematic view of spot shapes of light beams corresponding to different exit angles of the light beam emitted to the field of view after passing through the light beam adjusting module according to the embodiment of the present application;
fig. 7 is a block diagram of a laser radar according to an embodiment of the present application.
Detailed Description
The present application is described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the present application in any way. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the present application, which falls within the scope of the present application. It should be noted that, if not conflicting, the various features in the embodiments of the present application may be combined with each other, which is within the protection scope of the present application.
In this application, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items. The words "first," "second," and the like as used herein merely designate the same or similar items that are substantially identical in function and function. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In order to facilitate an understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific examples.
At present, the optical system of the laser radar is limited by the size of a scanning device, the optical receiving and transmitting caliber cannot be enlarged, the range finding capability of the laser radar is improved along with the improvement of the receiving and transmitting caliber of the optical system, and the range finding performance of the radar is limited due to the limited size of the receiving and transmitting caliber. In this regard, in the optical system of the laser radar, a beam expander is used in combination with a scanning module to increase the receiving and transmitting aperture of the laser radar. However, the beam expander used at present expands the beams equally under different angles of view, and although adding this type of beam expander can increase the receiving aperture of the lidar, the following formula of the basic principle of geometrical optics:
；
wherein,for the expansion of beam multiple>For the angle of the field of view of the beam before expansion, +.>For the angle of the field of view of the expanded beam, then under the effect of the beam expander there is +.>That is, after passing through the beam expander, the whole optical field angle of the laser radar will be shrunk, and the larger the beam expansion multiple of the light beam, the more severely the field angle will be shrunk.
Aiming at the technical problems, the embodiment of the application provides an optical scanning module, a laser radar and a mobile device, wherein the optical scanning module is used for gradually expanding light beams under different incidence angles through a light beam adjusting module in the optical scanning module, the magnification is reduced along with the increase of the incidence angle, the magnification is subsequently applied to the laser radar, the magnification can be reduced along with the increase of the field angle of the light beam, and the compression degree of the field angle can be reduced while the ranging capability of the laser radar is improved by the light beam adjusting module, so that the relationship between the ranging capability and the field angle of the laser radar can be balanced.
In a first aspect, an embodiment of the present application provides an optical scanning module 100, referring to fig. 1, the optical scanning module 100 includes: a scanning module 10 and a beam conditioning module 20. The scanning module 10 is configured to deflect a plurality of light beams towards the beam conditioning module 20. The beam adjustment module 20 is configured to receive a plurality of light beams, wherein at least two light beams of the plurality of light beams have different incident angles. The beam adjustment module 20 is further configured to amplify the plurality of light beams according to an incident angle of the light beams, where a corresponding magnification of the light beams and the incident angle of the light beams have a monotonically decreasing function.
For a light beam passing through the scanning module 10 and directed to the beam adjusting module 20, the scanning module 10 can change the propagation direction of the light beam incident on the scanning module 10, so that the light beam can deflect in different directions for scanning.
In one embodiment, the scanning module 10 includes a two-dimensional galvanometer, and the beam adjustment module 20 is disposed on a first side of the two-dimensional galvanometer along a first direction, and the probe beam deflected by the two-dimensional galvanometer is directed to the beam adjustment module. The two-dimensional galvanometer can be a two-dimensional Micro-Electro-mechanical system (MEMS) galvanometer or a galvanometer driven by a motor and other modes, and has two deflection axes in different directions, and can respectively reciprocate around the two deflection axes to perform two-dimensional scanning on the light beam. The two directions can be perpendicular to each other, for example, the two directions can be a horizontal direction and a vertical direction, the deflection angle of the two-dimensional vibrating mirror along the horizontal direction is a horizontal deflection angle, the deflection angle along the vertical direction is a vertical deflection angle, and the maximum value of the horizontal deflection angle and the maximum value of the vertical deflection angle can be the same or different. When the two-dimensional galvanometer scans the light beam in two dimensions in the horizontal direction and the vertical direction, a certain horizontal view field and a certain vertical view field are formed. When the optical scanning module 100 is subsequently applied to a laser radar, the maximum value of the deflection angle of the two-dimensional galvanometer determines the maximum value of the horizontal view field and the vertical view field formed after being reflected by the two-dimensional galvanometer, thereby affecting the maximum view field of the laser radar emitted outwards.
In another specific embodiment, the scanning module 10 includes a one-dimensional galvanometer and a turning mirror that are sequentially arranged, the one-dimensional galvanometer deflects the probe beam along a first direction and directs the probe beam to the turning mirror, and the turning mirror deflects the received probe beam along a second direction, so that two-dimensional scanning is realized through a combination of the one-dimensional galvanometer and the turning mirror. The beam adjustment module 20 is disposed on a first side of the turning mirror along a first direction, and the probe beam deflected by the turning mirror is directed to the beam adjustment module. The rotary mirror is provided with a plurality of side surfaces distributed around the axis array, the side surfaces are reflecting surfaces for reflecting light beams, and the rotary mirror can continuously rotate around the axis of the rotary mirror so that the reflecting surfaces reflect the light beams and realize one-dimensional scanning of the light beams. The one-dimensional galvanometer can be a one-dimensional MEMS galvanometer or a galvanometer driven by a motor and other modes. The one-dimensional vibrating mirror is provided with a deflection axis, and can perform one-dimensional scanning on the light beam in a mode of reciprocating rotation around the deflection axis, wherein the deflection direction of the one-dimensional vibrating mirror and the rotation direction of the rotating mirror are not parallel, if the one-dimensional vibrating mirror can be mutually perpendicular, and thus, the one-dimensional vibrating mirror can be matched with the rotating mirror to realize two-dimensional scanning on the light beam.
In practical applications, the scanning module 10 may further include two one-dimensional galvanometers to realize two-dimensional scanning of the light beam, or include other suitable scanning devices, which are not limited herein.
It can be understood that, if the optical scanning module is applied to a laser radar, the beam emitted to the beam adjustment module 20 through the scanning module 10 is a probe beam, and the beam emitted to the scanning module 10 through the beam adjustment module 20 is an echo beam. For a laser radar designed in a coaxial system, the paths of the detection beam and the echo beam overlap, but the transmission directions are opposite. Therefore, the following description will be made of the optical scanning module using the probe beam; based on the principle of reversibility of the optical path, the optical processing performed by the optical scanning module on the probe beam is also applicable to echo beams transmitted in opposite directions.
For ease of illustration, the present application is described in terms of an embodiment in which the scanning module 10 includes a two-dimensional galvanometer, the probe beam being directed toward the scanning module 10, and the scanning module 10 reflecting the probe beam toward the beam conditioning module 20 at different angles of incidence. Taking the horizontal direction as an example, the probe beam is emitted to the scanning module 10, the exit angle of the emitted beam reflected by the scanning module 10 is equal to the incident angle of the incident beam emitted to the scanning module 10, and the two-dimensional galvanometer reciprocates around the horizontal deflection axis, and the probe beam covers a horizontal field of view, for example, -15 ° to 15 ° (the clockwise rotation angle around the rotation axis perpendicular to the horizontal plane is positive) after being reflected by the two-dimensional galvanometer. When the two-dimensional vibrating mirror deflects to the forward boundary position, the detection light beam irradiates to one side edge of the horizontal view field, such as-15 degrees; when the two-dimensional vibrating mirror deflects to a negative boundary position, the detection light beam irradiates to the other side edge of the horizontal view field, such as 15 degrees; when the two-dimensional galvanometer is deflected to the neutral position, the probe beam is directed toward the center of the horizontal field of view, e.g., 0 °. When the horizontal field of view formed by the probe beam is directed against the beam adjustment module 20, the angle of incidence of the probe beam directed toward the beam adjustment module 20 at the central portion of the horizontal field of view is minimized; the angle of incidence of the probe beam at the edge portion of the horizontal field of view to the beam conditioning module 20 is maximized. The vertical direction is similar to the horizontal direction, the two-dimensional vibrating mirror simultaneously reciprocates around the vertical sheet rotating shaft, and the detection light beam covers a vertical view field, for example, -10 degrees to 5 degrees after being reflected by the two-dimensional vibrating mirror. When the two-dimensional vibrating mirror deflects to the boundary position, the detection light beam irradiates to the edge of the vertical view field, such as-10 degrees and 5 degrees; when the two-dimensional galvanometer is deflected to the neutral position, the probe beam is directed toward the center of the vertical field of view, e.g., -7.5 °. When the vertical field of view formed by the probe beam is directed toward the beam adjustment module 20, the angle of incidence of the probe beam directed toward the beam adjustment module 20 at the central portion of the vertical field of view is smallest, and the angle of incidence of the probe beam directed toward the beam adjustment module 20 at the edge portion of the vertical field of view is largest. Alternatively, the probe beam forming the 0 ° direction of the vertical field of view of the probe beam may be directed to the beam adjustment module 20 with a minimum incidence angle, i.e. the probe beam forming the 0 ° direction of the vertical field of view is collinear with the optical axis of the beam adjustment module 20, in which case the incidence angle of the probe beam forming the-10 ° direction of the vertical field of view is the largest.
The scanning device combining the one-dimensional vibrating mirror and the rotating mirror and the scanning device combining the two one-dimensional vibrating mirrors are similar to the two-dimensional vibrating mirrors, and can form view fields in two directions. The probe beams within the field of view can be directed to the beam conditioning module 20 at different angles of incidence.
In the description of the present application, unless otherwise indicated, the incident angle is the angle between a light ray exiting from the scanning module 10 to the beam adjustment module 20 and the normal of the surface of the beam adjustment module 20 when the light ray intersects the surface of the beam adjustment module 20. In general, when the incident angle of the probe beam and the horizontal deflection angle of the scanning module 10 when the probe beam passes through the scanning module 10 are in a monotonically increasing function relationship, that is, the smaller the horizontal deflection angle of the scanning module 10, the smaller the incident angle, the larger the horizontal deflection angle of the scanning module 10, the larger the incident angle, the minimum value of the incident angle corresponds to the minimum value of the horizontal deflection angle of the scanning module 10, the maximum value of the incident angle corresponds to the maximum value of the horizontal deflection angle of the scanning module 10, and the relationship between the horizontal angle of view of the probe beam and the horizontal deflection angle is known that the incident angle of the probe beam and the horizontal angle of view of the probe beam are in a monotonically increasing function relationship, that is, the smaller the horizontal angle of view of the probe beam, the smaller the incident angle, the larger the horizontal angle of view of the probe beam, the minimum value of the incident angle corresponds to the minimum value of the horizontal angle of the probe beam, and the maximum angle corresponds to the maximum value of the horizontal angle of the probe beam.
Magnification can be used to characterize the magnification of the beam size, i.e., the magnification in the formulation of the geometric optics rationale. The corresponding magnification of the light beam and the incidence angle of the light beam are in a monotonically decreasing function relation, namely, the smaller the incidence angle of the light beam is, the larger the magnification of the light beam to the light beam adjusting module 20 is, the larger the incidence angle of the light beam is, the smaller the magnification of the light beam to the light beam adjusting module 20 is, that is, the magnification of the light beam to the light beam adjusting module 20 is gradual, and the magnification changes along with the change of the incidence angle.
In the above embodiment, the beam adjusting module 20 is used to gradually expand the beams with different incident angles emitted by the scanning module 10, and then the beam adjusting module 20 is used in the laser radar, where the magnification of the probe beam with smaller incident angle is larger, that is, the magnification of the probe beam with smaller angle of view is larger, and then the spot size of the probe beam with smaller angle of view, for example, the probe beam with angle of view in the central angle of view range, can be enlarged after passing through the beam adjusting module 20, so as to improve the optical receiving and transmitting aperture, and improve the ranging capability in the central angle of view range; meanwhile, the beam adjusting module 20 has a smaller magnification for the probe beam with a smaller incident angle, that is, a smaller magnification for the probe beam with a larger angle of view, so that, for the probe beam with a larger angle of view, such as the probe beam with an angle of view in the range of the edge angle of view, after passing through the beam adjusting module 20, the magnification of the beam is smaller, and as known by combining with the formula of the fundamental principle of geometrical optics, the angle of view after beam expansion is smaller than the angle of view before beam expansion, that is, the compression degree of the angle of view is smaller after the beam with an angle of view in the range of the edge angle of view passes through the optical adjusting module. The central angle of view range may be 10% to 50% of the full angle of view range, for example, the central angle of view range may be-5 ° to 5 ° of angle of view range, and in practical application, the central angle of view range and the edge angle of view range may be determined according to practical requirements.
In summary, the light beam adjusting module 20 in the optical scanning module 100 provided in the present application gradually adjusts light beams under different incident angles, and then the optical scanning module 100 is applied to a laser radar, so that the optical receiving and transmitting caliber of the light beam with the view angle in the central view angle range can be improved, the ranging capability of the laser radar is improved, and meanwhile, the magnification of the light beam with the view angle in the edge view angle range is small, so that the compression degree of the view angle can be reduced.
In some of these embodiments, the magnification of the light beam at the smallest angle of incidence by the light beam conditioning module 20 is greater than 1, and/or the magnification of the light beam at the largest angle of incidence by the light beam conditioning module 20 is greater than or equal to 1.
Specifically, the magnification of the beam adjusting module 20 for the beam with the smallest incident angle is greater than 1 and less than or equal to 5, for example, when the magnification of the beam with the smaller incident angle is between 2 and 3, for example, when the beam adjusting module is applied to a laser radar, the magnification of the beam with the view angle in the central view angle range is between 2 and 3, so that the optical receiving area in the view angle range can be enlarged to 4 to 9 times, and the echo energy received by the system can be increased to 4 to 9 times according to the radar equation. Therefore, the ranging capability in the central field angle range of the laser radar can be greatly improved by amplifying the light beam with a larger multiplying power in the smaller incidence angle range. In addition, because the energy of the detection beam of the laser radar is in Gaussian distribution, that is, the energy density in the central field angle range is greater than that in the edge field angle range, the echo beam basically follows the rule, and then the receiving and transmitting caliber in the central field angle range is matched with the energy distribution characteristic of the receiving and transmitting beam of the laser radar, so that the echo energy received by the system can be greatly improved.
In addition, the beam adjustment module 20 can make the magnification of the beam with the angle of view in the range of the edge angle of view between 1 and 1.2, i.e. the magnification is equal to or close to 1, when the magnification of the beam with the maximum incidence angle is greater than or equal to 1, for example, when the beam adjustment module is applied to a laser radar, as can be seen from the formula of the geometrical optics basic principle, the angle of view before and after beam expansion is almost unchanged, and when the magnification of the beam with the maximum incidence angle is equal to 1, i.e. the magnification of the beam with the maximum angle of view is equal to 1, the angle of view of the laser radar is not changed theoretically, so that the range finding capability of the laser radar is improved, and the angle of view is not compressed or is small.
Therefore, in this embodiment, by the above arrangement, it is ensured that the view angle is not compressed basically or the compression degree is negligible when the beam is expanded, so that the laser radar can achieve both higher ranging capability and larger view angle when the beam expander is used.
In some embodiments, referring to fig. 2, the beam adjustment module 20 includes a first lens 21 and a second lens 22 disposed in sequence. The light beam having the smallest incident angle is directed to the first region of the first lens 21, and the light beam having the smallest incident angle is directed to the second region of the second lens 22 after passing through the first lens 21. The light beam having the largest incident angle is directed to the third region of the first lens 21, and the light beam having the largest incident angle is directed to the fourth region of the second lens 22 after passing through the first lens 21. Wherein the focal length ratio of the first region and the second region is greater than the focal length ratio of the third region and the fourth region.
Specifically, the first region may be a central region of the first lens 21, the third region may be an edge region of the first lens 21, the second region may be a central region of the first lens 21, and the fourth region may be an edge region of the second lens 22. In practical applications, the first area may not be the central area of the first lens 21, the third area may not be the edge area of the first lens 21, and similarly, the second area may not be the central area of the first lens 21, and the fourth area may not be the edge area of the second lens 22, so long as the magnification of the beam adjustment module 20 can satisfy the relationship that the focal length ratio of the first area and the second area is greater than the focal length ratio of the third area and the fourth area.
In this embodiment, light beams at different angles of incidence will pass through different areas of the first lens 21 and through different areas of the second lens 22. And the focal length ratio between the area of the first lens 21 and the area of the second lens 22, through which the light beam passes, is in monotonically decreasing relation with the incident angle of the light beam, that is, the incident angle increases, and the focal length ratio between the area of the first lens 21 and the area of the second lens 22, through which the light beam passes, is reduced, so that the corresponding magnification of the light beam and the incident angle of the light beam are ensured to be in monotonically decreasing function relation, and the gradual adjustment of the light beam can be realized by the light beam adjusting module 20.
In some of these embodiments, the relative curvature of the first lens 21 and the angle of incidence of the light beam are monotonically decreasing functions, wherein the relative curvature of the first lens 21 is the relative curvature of the surface of the first lens 21 that is distal from the second lens 22 and the surface of the first lens 21 that is proximal to the second lens 22. The relative curvature of the second lens 22 and the incident angle of the light beam passing through the first lens 21 to the second lens 22 are monotonically increasing functions, wherein the relative curvature of the second lens 22 is the relative curvature of the surface of the second lens 22 close to the first lens 21 and the surface of the second lens 22 far from the first lens 21.
In this embodiment, the relative curvatures of the first lens 21 and the second lens 22 are gradually changed with the incident angle, so that the beams with different incident angles are deflected differently through the first lens 21 and the second lens 22, and the uneven adjustment of the beams with different incident angles is realized.
In some of these embodiments, the focal length f1 of the first lens 21 and the focal length f2 of the second lens 22 satisfy the following relationship:
-0.75＜f1/f2＜-0.25。
the focal length f1 of the first lens 21 is the focal length to lens distance formed by the light passing through the first lens 21, and the focal length f2 of the second lens 22 is the focal length to lens distance formed by the light passing through the second lens 22. Specifically, the focal length f1 of the first lens 21 may have a value greater than or equal to-500 and less than or equal to-10.
In the present embodiment, by making the first lens 21 and the second lens 22 satisfy the above-described focal length ratio, it is possible to ensure that the expansion multiple of the light beam at the smaller incident angle is larger than 1.
In some of these embodiments, the first lens 21 has negative optical power and the second lens 22 has positive optical power. The negative focal power lens can converge or collimate light rays, the positive focal power lens can diverge light rays, and the positive lens generates negative spherical aberration and the negative lens generates positive spherical aberration; in addition, the positive lens generates negative chromatic aberration, and the negative lens generates positive chromatic aberration, so that in the embodiment, the effect that the chromatic aberration is 0 or very small can be achieved through the alternate arrangement of the positive lens and the negative lens, and the imaging quality is improved.
In some of these embodiments, the first lens 21 and the second lens 22 are both even aspherical lenses. I.e. the surface of the first lens 21 remote from the second lens 22, the surface of the first lens 21 close to the second lens 22, the surface of the second lens 22 close to the first lens 21, and the surface of the second lens 22 remote from the first lens 21 are even aspherical surfaces. In this embodiment, by optimizing the aspherical coefficients of the surfaces of the first lens 21 and the second lens 22, the first lens 21 and the second lens 22 can achieve the effect of gradual adjustment, and the first lens 21 and the second lens 22 are even aspherical lenses, which is beneficial to die pressing and reduces processing cost.
The optical adjustment module provided in the present application is described in detail below with reference to specific embodiments.
Embodiment one: referring to table 1 below, the surface parameters of the first lens 21 and the second lens 22 according to the first embodiment of the present application are provided.
Table 1 surface parameters of the first lens 21 and the second lens 22 in the first embodiment
It should be noted that, in the surface parameter table provided in the present application, d is a radius of curvature, nd is a refractive index, vd is an abbe number, a caliber is a mechanical radius, a plane 1 is a plane S1 in fig. 3, a plane 2 is a surface S2 of the first lens 21 away from the second lens 22 in fig. 3, a plane 3 is a surface S3 of the first lens 21 close to the second lens 22 in fig. 3, a plane 4 is a surface S4 of the second lens 22 close to the first lens 21 in fig. 3, and a plane 5 is a surface S5 of the second lens 22 away from the first lens 21 in fig. 3.
Based on the above structure, please refer to fig. 3 or fig. 4, under the action of the beam adjusting module 20, the magnification of the spot size is larger for the beam near the optical axis, and the magnification of the spot size is smaller for the beam at the edge, and please refer to fig. 5, which shows that after passing through the beam adjusting module 20, the magnification of the beam by the beam adjusting module 20 decreases with the increase of the angle of view as the angle of view of the beam increases and the spot size gradually decreases, that is, referring to fig. 6, the magnification of the beam by the beam adjusting module 20 decreases with the increase of the angle of view, and the spot size of the beam passing through the beam adjusting module 20 is larger near the center of the field of view in the field of view. The magnification of the spot diameter of the light beam with the angle of view of 0 degrees is 2.8 times, and the magnification of the spot diameter of the light beam with the angle of view of + -5 degrees is more than 2 times, namely the structure can amplify the light beam in the range of the central angle of view, and the magnification is more than 1, so that the distance measuring capability of the range of the central angle of view can be improved. In the above configuration, when the object angle of view is ±20°, that is, when the full angle of view of the light beam before beam expansion is 40 °, the image angle of view is ±19.6°, that is, the full angle of view of the light beam after beam expansion is 39.2 °, and therefore, the angle of view of the light beam before and after beam expansion by the beam adjustment module 20 is substantially unchanged. And when the divergence angle of the beam before beam expansion is within +/-5 degrees, the light spot size in the field angle is smaller than 7mrad, and the light spot size in the whole field angle is smaller than 11.5mrad, so that the working requirement of the laser radar can be met.
Embodiment two: referring to table 2 below, the surface parameters of the first lens 21 and the second lens 22 according to the second embodiment of the present application are provided.
Table 2 surface parameters of the first lens 21 and the second lens 22 in the second embodiment
Based on the above structure, the magnification of the spot diameter of the light beam with the angle of view of 0 ° is 2.8 times, and the magnification of the spot diameter of the light beam with the angle of view of ±5° is more than 2 times, i.e., the above structure can amplify the light beam in the center angle of view range, and the magnification is more than 1, thereby improving the ranging capability of the center angle of view range. In the above configuration, when the object angle of view is ±20°, that is, when the total angle of view of the light beam before beam expansion is 40 °, the image angle of view is ±19.9°, that is, the total angle of view of the light beam after beam expansion is 39.8 °, and therefore, the angle of view of the light beam before and after beam expansion by the beam adjustment module is unchanged. And when the divergence angle of the beam before beam expansion is within +/-5 degrees, the light spot size in the field angle is smaller than 7mrad, and the light spot size in the whole field angle is smaller than 14mrad, so that the working requirement of the laser radar can be met.
Embodiment III: referring to table 3 below, the surface parameters of the first lens 21 and the second lens 22 according to the third embodiment of the present application are provided.
Table 3 surface parameters of the first lens 21 and the second lens 22 in the third embodiment
Based on the above structure, the magnification of the spot diameter of the light beam having the angle of view of 0 ° is 2.9 times, and the magnification of the spot diameter of the light beam having the angle of view within ±5° is more than 2 times, that is, the above structure can amplify the light beam in the center angle of view range, and the magnification is more than 1, thereby improving the ranging capability of the center angle of view range. In the above configuration, when the object angle of view is ±20°, that is, when the full angle of view of the light beam before beam expansion is 40 °, the image angle of view is ±20°, that is, the full angle of view of the light beam after beam expansion is 40 °, and therefore, the angle of view of the light beam before and after beam expansion by the light beam adjusting module is unchanged. And when the divergence angle of the beam before beam expansion is within +/-5 degrees, the light spot size in the field angle is smaller than 9mrad, and the light spot size in the whole field angle is smaller than 12mrad, so that the working requirement of the laser radar can be met.
In a second aspect, an embodiment of the present application further provides a laser radar, referring to fig. 7, where the laser radar includes a transceiver module 200 and an optical scanning module 100 according to any one of the embodiments of the first aspect, which are disposed in sequence. The transceiver module 200 is used for transmitting the probe beam to the optical scanning module 100 and receiving the echo beam deflected by the optical scanning module 100. The optical scanning module 100 is used for deflecting and amplifying the probe beam, directing the probe beam to the field of view, performing two-dimensional scanning, receiving the returned echo beam in the field of view, and directing the echo beam to the transceiver module 200 after the echo beam is reduced and deflected.
In this embodiment, the optical scanning module 100 has the same structure and function as those of the optical scanning module 100 in the above embodiment, and will not be described in detail here.
The transceiver module 200 includes a transmitting component and a receiving component, where an optical path of the transmitting component and an optical path of the receiving component are coaxially disposed.
Optionally, an emission assembly is used to emit a probe beam to the scanning module 10, which includes at least one laser source. When the emission component includes a plurality of laser sources, the plurality of laser sources are arranged in one dimension or two dimensions, and in practical application, the laser sources may be continuous light sources, for example, light emitting diodes LEDs, or pulsed light sources, for example, laser diodes LD, which is not limited in this embodiment.
Optionally, the receiving component is configured to receive the echo beam reflected by the scanning module 10, and process the received echo beam, so as to obtain information of the object in the detection area. The receiving assembly may include a receiver operable to receive the echo beam and convert the echo beam into an electrical signal. Wherein, the number of the receivers can be one or a plurality of receivers, and the plurality of receivers are arranged into an array; the receiver may be one or a combination of photodiodes, avalanche diodes APDs, silicon photomultipliers sipms, etc.
In this embodiment, after the transceiver module 200 emits the probe beam, the probe beam is deflected by the scanning module 10 in a two-dimensional scanning manner, and then emitted to the beam adjustment module 20, and amplified by the beam adjustment module 20, and then emitted to the field of view, wherein in the beam adjustment module 20, the light beam from the central field of view to the edge field of view has a gradually-changed spot size magnification, and the magnification of the probe beam gradually decreases as the angle of view of the probe beam increases, that is, the magnification of the probe beam by the beam adjustment module 20 and the angle of view of the probe beam have a monotonically-decreasing relationship. Meanwhile, the echo beam coming back from the field of view is reduced by the beam adjusting module 20 and then emitted to the scanning module 10, and reflected by the scanning module 10 and then emitted to the transceiver module 200, wherein in the beam adjusting module 20, the light beam from the central field of view to the edge field of view has gradually changed light spot size reduction rate, and the reduction rate of the probe beam gradually decreases along with the increase of the field angle of the probe beam, that is, the reduction rate of the probe beam by the beam adjusting module 20 and the incident angle of the probe beam entering the beam adjusting module have a monotonically decreasing relationship.
Specifically, the magnification of the probe beam in the central angle of view range can be made larger than 1, for example, the magnification of the probe beam in the angle of view range of-5 ° to 5 ° is made larger than 1, thus the optical receiving and transmitting caliber of the beam in the central angle of view range can be improved, the ranging capability of the laser radar can be improved, and the compression degree of the angle of view can be reduced.
In a third aspect, an embodiment of the present application further provides a mobile device, where the mobile device includes a mobile body and a lidar according to the second aspect, where the lidar is mounted on the body. In this embodiment, the lidar has the same structure and function as those of the lidar in the above embodiment, and will not be described in detail here. The movable equipment comprises, but is not limited to, equipment such as automobiles, robots, unmanned aerial vehicles, logistics vehicles, patrol vehicles and the like. Specifically, if the movable device is an automobile, the movable main body is an automobile body, and the laser radar is mounted on the automobile body; if the movable equipment is an unmanned aerial vehicle, the movable main body is an unmanned aerial vehicle body correspondingly, and the laser radar is carried on the unmanned aerial vehicle body.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; the technical features of the above embodiments or in the different embodiments may also be combined under the idea of the present application, the steps may be implemented in any order, and there are many other variations of the different aspects of the present application as described above, which are not provided in details for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. An optical scanning module, comprising:
the scanning module is used for deflecting the plurality of light beams to the light beam adjusting module;
the light beam adjusting module is used for receiving the plurality of light beams, wherein the incidence angles of at least two light beams in the plurality of light beams are different;
the light beam adjusting module is further used for amplifying the plurality of light beams according to the incident angles of the light beams, wherein the corresponding amplification ratios of the light beams and the incident angles of the light beams are in monotonically decreasing function relation.
2. The optical scanning module according to claim 1, wherein,
the magnification of the light beam with the smallest incidence angle by the light beam adjusting module is larger than 1, and/or the magnification of the light beam with the largest incidence angle by the light beam adjusting module is larger than or equal to 1.
3. The optical scanning module according to claim 2, wherein,
the magnification of the beam adjusting module to the beam with the largest incidence angle is equal to 1.
4. An optical scanning module according to any one of claims 1-3, wherein the beam conditioning module comprises a first lens and a second lens arranged in sequence;
the light beam with the smallest incidence angle is emitted to a first area of the first lens, and the light beam with the smallest incidence angle is emitted to a second area of the second lens after passing through the first lens; the light beam with the largest incidence angle is emitted to a third area of the first lens, and the light beam with the largest incidence angle passes through the first lens and then emitted to a fourth area of the second lens;
the focal length ratio of the first region and the second region is greater than the focal length ratio of the third region and the fourth region.
5. The optical scanning module according to claim 4, wherein,
the relative curvature of the first lens and the incident angle of the light beam are in a monotonically decreasing function, wherein the relative curvature of the first lens is the relative curvature of the surface of the first lens away from the second lens and the surface of the first lens close to the second lens;
the relative curvature of the second lens and the incident angle of the light beam passing through the first lens to the second lens are in a monotonically increasing function, wherein the relative curvature of the second lens is the relative curvature of the surface of the second lens close to the first lens and the surface of the second lens far away from the first lens.
6. The optical scanning module according to claim 5, wherein a focal length f1 of the first lens and a focal length f2 of the second lens satisfy the following relationship:
-0.75＜f1/f2＜-0.25。
7. the optical scanning module according to claim 6, wherein,
the first lens has a negative optical power and the second lens has a positive optical power.
8. The optical scanning module according to claim 7, wherein,
the first lens and the second lens are both even aspherical lenses.
9. An optical scanning module according to any one of claims 1-3, characterized in that,
the scanning module comprises a two-dimensional vibrating mirror, and the light beam adjusting module is arranged on a first side of the two-dimensional vibrating mirror along a first direction;
or the scanning module comprises a one-dimensional galvanometer and a rotating mirror which are sequentially arranged, and the light beam adjusting module is arranged on the first side of the rotating mirror along the first direction.
10. A lidar comprising a transceiver module and an optical scanning module according to any of claims 1-9 arranged in sequence;
the receiving and transmitting module is used for transmitting the detection light beam to the optical scanning module and receiving the echo light beam deflected by the optical scanning module;
the optical scanning module is used for deflecting and amplifying the detection light beam, then directing the detection light beam to a view field, performing two-dimensional scanning, receiving the returned echo light beam in the view field, and directing the echo light beam to the receiving and transmitting module after the echo light beam is reduced and deflected.
11. A mobile device comprising a mobile body and the lidar of claim 10 mounted on the body.
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