CN117977379A

CN117977379A - Multi-line laser projector and electronic equipment

Info

Publication number: CN117977379A
Application number: CN202311274909.1A
Authority: CN
Inventors: 王伟; 胡文俊; 杨慧芳; 陈睿; 刘赤宇
Original assignee: Zhejiang Ruixi Technology Co ltd
Current assignee: Zhejiang Ruixi Technology Co ltd
Priority date: 2023-06-02
Filing date: 2023-09-28
Publication date: 2024-05-03
Also published as: CN116661160A

Abstract

The application belongs to the technical field of semiconductors, and particularly relates to a multi-line laser projector which comprises a laser light source, a laser light source and a laser light source, wherein the laser light source is used for generating laser; the laser optical device is used for penetrating laser generated by the laser light source and is corresponding to the laser emergent path to collimate and adjust the angle of partial collimated laser rays; the laser shaping element corresponds to the propagation path of the laser light and is provided with a specific shape configuration so that the laser light forms at least three linear light spots, wherein at least two linear light spots are provided with intersection points on the same plane; the laser passing through the laser optical device forms at least three light beams, each light beam respectively corresponds to the linear light spot, and each light 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

Multi-line laser projector and electronic equipment

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.

Content of the application

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.

The application further provides a multi-line laser projector, the positions of the linear light spots are adjusted, the scanning positions of the formed linear light spot groups are lower, the scanning precision is improved, the modules are directly embedded in the multi-line laser projector when the modules are installed, the positions of the modules are not required to be adjusted, and the module installation difficulty is simplified.

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;

the laser optical device is used for penetrating laser generated by the laser light source and is corresponding to the laser emergent path to collimate and adjust the angle of partial collimated laser rays;

The laser shaping element corresponds to the propagation path of the laser light and is provided with a specific shape configuration so that the laser light forms at least three linear light spots, wherein at least two linear light spots are provided with intersection points on the same plane;

the laser passing through the laser optical device forms at least three light beams, each light beam respectively corresponds to the linear light spot, and each light beam does not interfere with each other on the same plane.

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 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; the linear light spot a and the linear light spot c are light spots distributed along the longitudinal direction, and the linear light spot b is a light spot distributed along the transverse direction.

In the multi-line laser projector according to the present application, the linear light spot a and the linear light spot b intersect on the same plane.

In the multi-line laser projector according to the application, the linear spot c intersects the linear spot b on the same plane.

In the multi-line laser projector according to the present application, the intersection point of the linear light spot a and the linear light spot b is a midpoint far from the linear light spot b.

In the multi-line laser projector according to the present application, the intersection point of the linear light spot c and the linear light spot b is a midpoint far from the linear light spot b.

In the multi-line laser projector according to the present application, the intersection point of the linear light spot a and the linear light spot b is below the midpoint of the linear light spot b.

In the multi-line laser projector according to the present application, the intersection point of the linear light spot c and the linear light spot b is below the midpoint of the linear light spot b.

In the multi-line laser projector according to the present application, a ratio between edge laser energy and center laser energy in a line length direction of each of the linear spots is 1.0 to 2.0:1.0.

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; the FOV of the linear light spot a is 60-100 degrees.

In the multi-line laser projector according to the present application, the laser optical device includes a plurality of optical collimating sections that correspondingly form the light beam, the optical collimating sections having convex curved surfaces.

In the multi-line laser projector according to the present application, the top surface of the optical collimating section is a spherical surface.

In the multi-line laser projector according to the present application, the bottom surface of the optical collimating section is a spherical surface.

In the multi-line laser projector according to the application, the laser optics further comprise a housing, the optical collimating part being integral with the housing.

In the multi-line laser projector according to the application, the laser shaping element includes a first shaping lens that shapes the light beam L1 to obtain the linear spot a, a second shaping lens that shapes the light beam L2 to obtain the linear spot b, and a third shaping lens that shapes the light beam L3 to obtain the linear spot c.

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 application, the laser shaping element further comprises a housing, and the first shaping lens, the third shaping lens and the housing are integrated.

In the multi-line laser projector according to the application, the second shaping lens is located between the first shaping lens and the second shaping lens, and the second shaping lens and the housing are provided separately.

In the multi-line laser projector according to the application, the upper end face of the second shaping lens is an inclined plane.

In the multi-line laser projector according to the present application, the laser optical device includes a laser collimating element that collimates the light emitted from the laser light source and an optical element that adjusts the light angle of the partially collimated laser light.

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 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 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 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, and the laser light source is provided 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, 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 laser light source is one of VCSEL, HCSEL, EEL, LED.

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 cross-sectional view of a multi-line laser projector of the application.

Fig. 5 is a schematic structural view of an optical element according to the present application.

Fig. 6 is a schematic structural diagram of a laser collimating element according to the present application.

Fig. 7 is a schematic diagram of the light beams L1, L2, L3 in the multi-line laser projector according to the present application.

Fig. 8 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.

Fig. 9 is a perspective view of a multiline laser projector according to another embodiment of the present application.

Fig. 10 is a perspective view of a multi-wire laser projector according to another embodiment of the application without electrical conductors.

Fig. 11 is an exploded view of a multi-line laser projector according to another embodiment of the application.

Fig. 12 is a top view of a multiline laser projector according to another embodiment of the present application.

Fig. 13 is a cross-sectional view taken along line A-A of fig. 12.

Fig. 14 is a schematic structural view of an optical element according to another embodiment of the present application.

Fig. 15 is a schematic structural diagram of a laser collimating element according to another embodiment of the present application.

Fig. 16 is a schematic diagram of the beams L1, L2, L3 in the multi-line laser projector according to another embodiment of the application.

Fig. 17 is a schematic diagram of a linear light spot a, a linear light spot b, and a linear light spot c according to another embodiment of 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.

According to the application, the position of the linear light spot is regulated, so that one transverse linear light spot of the three linear light spots is positioned below the midpoints of the two longitudinal linear light spots, the scanning position of the formed linear light spot group is lower, the scanning precision is improved, and when a module is installed, the module is directly embedded into the module without readjusting the position of the module, thereby simplifying the module installation requirement.

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 one embodiment of the application is illustrated; the multi-line laser mainly comprises a substrate 10a, a laser light source 20a, a laser optical device 30a and a laser shaping element 50a. The laser light source 20a 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 formation of a two-dimensional laser array, the laser light source 20a of the present application is preferably a VCSEL type light source.

In this embodiment, the number of the laser light sources 20a is three, however, in other embodiments, the number of the laser light sources 20a may be further selected according to the requirement, and the number of the laser light sources 20a may be more than three according to the requirement; each laser light source 20a is provided with a row of a plurality of luminous holes, and the number of the luminous holes is twelve; and the plurality of luminous holes are uniformly arranged at intervals along a straight line direction. Each of the laser light sources 20a forms a linear light spot after passing through the laser shaping element 50 a; in order to maximize the laser beam emitted from the laser light source 20a, a straight line formed by connecting the central points of any two light emitting holes on the laser light source 20a is parallel to a linear spot formed by the laser light source 20a after being shaped by the laser shaping element 50 a.

Further, the laser optical device 30a corresponds to the beam outgoing path of the laser light source 20a, and the laser optical device 30a is configured to shape the laser beam (i.e. multiple lasers) outgoing from the laser light source 20a into parallel collimated laser beams; the laser optical device 30a is made of a light-permeable material such as plastic, glass, etc., for example, polymethyl methacrylate (PMMA) plexiglass, EP5000 type polycarbonate resin plastic, etc.

The laser light emitted from the laser light source 20a forms an incident light ray of the laser optical device 30a, the incident light ray enters the laser optical device 30a from a lower end surface of the laser optical device 30a, and then is emitted from an upper end surface of the laser optical device 30a, and the laser light ray incident into the laser optical device 30a is collimated in the laser optical device 30a, and changes the direction of the optical paths of the plurality of laser lights, and then the plurality of emitted laser lights form optical paths parallel to each other. The structural characteristics of the laser optics 30a will affect 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 optical device 30a is configured as a light-transmitting element having a plurality of optical collimating sections, the number of which matches the number of the laser light sources 20a, that is, one optical collimating section corresponds to each laser light source 20a. The lower mirror surface of the optical collimator (the mirror surface near the laser light source 20 a) is a convex curved surface. The distance between the lower mirror surface of the collimating mirror and the light source 10a 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. The upper mirror surface of the optical collimator (the mirror surface facing the lower mirror surface and further away from the laser light source 20 a) is a curved surface that is convex. And the thickness of the three optical collimating parts is designed according to the angle of refraction of the optical paths required to be collimated. The laser collimator element includes a housing 32a, the housing 32a being a substantially square-shaped cross-section enclosure, and a plurality of collimating sections being integral with the housing 32 a.

Referring to fig. 3 and 7, the number of the laser light sources 20a is three in the present application, and the three laser light sources 20a are arranged in a straight line direction, and the wide sides of two laser light sources 20a respectively located at both ends are formed in parallel with a straight line along which the three laser light sources 20a are arranged, and the long sides of the laser light sources 20a located in the middle are formed in parallel with a straight line along which the three laser light sources 20a are arranged. Each optical collimating section thus corresponds to a collimation of the laser light emitted by an individual laser light source 20a, forming three collimated laser light beams and mutually parallel laser light beams. The arrangement of the optical collimating parts corresponding to the laser light sources 20a one by one can control the distance between the laser collimating element 30 and the laser light sources 20a 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 alignment element 30a may have only one optical alignment portion, that is, one optical alignment portion may be configured to align the laser light emitted from the three laser light sources 20 a.

As shown in fig. 3 to 7, the three optical alignment parts are a first optical alignment part 311a, a second optical alignment part 312a, and a third optical alignment part 313a, respectively, and the first optical alignment part 311a, the second optical alignment part 312a, and the third optical alignment part 313a are integrated. The bottom surface of the first optical alignment portion 311a is a curved surface facing downward (surface closer to the laser chip), the top surface (surface farther from the laser chip) is a curved surface inclined, and the laser light of the laser light source enters from the bottom surface of the first optical alignment portion 311a and exits through the top surface of the first optical alignment portion 311a, thereby forming a refracted light beam L1. The third optical alignment portion 313a is symmetrical to the first optical alignment portion 311a, that is, the first optical alignment portion 311a and the third optical alignment portion 313a are in the same shape, the bottom surface of the third optical alignment portion 313a is a curved surface facing downward (surface close to the laser chip), the top surface (surface far away from the laser chip) is a curved surface inclined, and the laser light of the laser light source is incident from the bottom surface of the third optical alignment portion 313a and is emitted through the top surface of the third optical alignment portion 313a, thereby forming a refracted light beam L3.

A second optical collimating part 312a is provided between the first optical collimating part 311a and the third optical collimating part 313a, the second optical collimating part 312a is a transparent lens with a thickness equal to or smaller than that of the first optical collimating part 311, part of the laser beam is injected from the bottom surface of the second optical collimating part 312a, collimated in the second optical collimating part, and then emitted from the top surface of the second optical collimating part 312a to form a light beam 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. 7 and 8, laser shaping elements 50a are provided on propagation paths corresponding to the light beams L1, L2, and L3, the laser shaping elements 50a having a specific shape configuration so that the light beams L1, L2, and L3 form three linear spots, respectively. The laser shaping element 50a includes a first shaping lens 51a, a second shaping lens 52a, and a third shaping lens 53a, where the first shaping lens 51a corresponds to the optical path of the light beam L1, the light beam L1 after being shaped by the first shaping lens 51a forms a linear light spot a, and the second shaping lens 52a corresponds to the optical path of the light beam L2, and the light beam L2 after passing through the second shaping lens 52a forms a linear light spot b; the third shaping lens 53a 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 a; 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, and 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 of the edge laser energy to 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 laser shaping element of the present application further includes a housing 54a, and the housing 54a, the first shaping lens 51a, and the third shaping lens 53a are integrated. A second shaping lens 52a is provided between the first shaping lens 51a and the third shaping lens 53, and the second shaping lens 52a is provided separately from the housing 54 a.

The material of the shaping lenses (i.e., the first shaping lens 51a, the second shaping lens 52a, and the third shaping lens 53 a) in the present application will affect the refractive index of the laser beam, and in the embodiment of the present application, the first shaping lens 51a is made of a light-permeable material such as plastic, glass, etc., for example, polymethyl methacrylate (PMMA) plexiglas, EP5000 type polycarbonate resin plastic, etc., and the bottom section of the first shaping lens 51 is in a wave shape extending 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 52a corresponds to the beam L2, and the beam L2 is shaped by the second shaping lens 52a 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, which is a surface extending in 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 section.

In the embodiment of the present application, the third shaping lens 53a corresponds to the beam of the beam L3, and the beam L3 is shaped by the third shaping lens 53a to form the linear light spot c. The third shaping lens 53a is made of a light-permeable material such as plastic, glass, or the like, for example, polymethyl methacrylate (PMMA) 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 20a is mounted on the substrate 10a. Specifically, the substrate 10a is implemented as a ceramic substrate including a ceramic substrate 11a and a circuit layer 12a formed on the ceramic substrate 11a, and the laser light source 20a is electrically connected to the circuit layer 12a. More specifically, the laser light source 20a may be electrically connected to the circuit layer 12a by conductive structures such as conductive paste and electrical connection lines. It should be understood that the number of the laser light sources 20a is at least three, three circuit layers 12a electrically connected to each other are disposed on the substrate 10a, and each of the laser light sources 20a is connected to the corresponding circuit layer 12a by conductive adhesive or electrical connection lines, respectively. Wherein each circuit layer 12a is composed of a positive electrode conductor and a negative electrode conductor. The substrate 10a may be implemented as another type of substrate, and the laser light source 20a may be electrically connected to the substrate 10a by another method, which is not limited by the present application. A conductor 13a is connected to the substrate, and the conductor 13a is used to supply current to the circuit layer 12a on the substrate 10a to light the laser light source, and the conductor 13a is an FPC, but a different conductor wire may be selected as required.

Another embodiment

As shown in fig. 9-13, in other embodiments of the present application, the multi-line laser generally includes a substrate 10b, a laser light source 20b, laser optics, and a laser shaping element 50b. Wherein the laser optics comprise a laser collimation element 30b and an optical element 40b. The laser light source 20b 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 formation of a two-dimensional laser array, the laser light source 20b of the present application is preferably a VCSEL type light source.

In this embodiment, the number of the laser light sources 20b is three, however, in other embodiments, the number of the laser light sources 20b 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 20b is provided with a row of a plurality of luminous holes 201b, and the number of the luminous holes 201b is twelve; and the plurality of light emitting holes 201b are all arranged at equal intervals along a straight line direction. Each of the laser light sources 20b forms a linear light spot after passing through the laser shaping element 50 b; in order to maximize the laser beam emitted from the laser light source 20b, a straight line formed by connecting the central points of any two light emitting holes 201b on the laser light source 20b is parallel to a linear spot formed by the laser light source 20b after being shaped by the laser shaping element 50 b.

Further, the laser collimating element 30b corresponds to the beam emitting path of the laser light source 20b, and the laser collimating element 30b is configured to shape the laser beam (i.e. a plurality of lasers) emitted from the laser light source 20b into parallel collimated laser beams; the laser collimator 30b is made of a light-permeable material such as plastic or glass, for example, polymethyl methacrylate (PMMA) plexiglass, EP5000 polycarbonate plastic, or the like. The laser beam emitted from the laser light source 20b forms an incident beam of the laser collimating element 30b, the incident beam is incident into the laser collimating element 30b from the lower end surface of the laser collimating element 30b, and then is emitted from the upper end surface of the laser collimating element 30b, and the emitted multiple lasers form parallel light paths. The structural characteristics of the laser collimation element 30b will affect the width of the light spot (circular light spot diameter or elliptical light spot major axis or minor axis), and thus the line width parameter of the light spot finally projected by the laser projector.

Specifically, the laser alignment element 30b is configured as a light-transmitting element having a plurality of alignment portions 31b, and the number of alignment portions 31b is matched with the number of laser light sources 20b, that is, one alignment portion 31b corresponds to one laser light source 20b. The lower mirror surface (the mirror surface close to the laser light source 20 b) and the upper mirror surface (the mirror surface opposite to the lower mirror surface and further from the laser light source 20 b) 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. 11 and 15, in the present application, the number of the laser light sources 20b is three, and the three laser light sources 20b are arranged in a straight line direction, and the wide sides of two laser light sources 20b respectively located at both ends are formed in parallel with a straight line along which the three laser light sources 20b are arranged, and the long sides of the laser light sources 20b located in the middle are formed in parallel with a straight line along which the three laser light sources 20b are arranged. Each collimating part 31b thus collimates the laser light emitted by the individual laser light source 20b correspondingly, forming three collimated laser light beams and mutually parallel laser light beams. The arrangement of the collimating parts 31b corresponding to the laser light sources 20b one by one can control the distance between the laser collimating element 30b and the laser light sources 20b to collimate more lasers in the minimum range, thereby controlling the volume of the whole multi-line laser projector and reserving more layout spaces of other components for the service robot during design. Of course, in other embodiments, the laser collimating element 30b may have only one collimating portion 31b, that is, one collimating portion 31b may collimate the laser light emitted from the three laser light sources 20 b.

Referring to fig. 14, an optical element 40b 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, polymethyl methacrylate (PMMA) organic glass, EP5000 type polycarbonate resin plastic, etc.

As shown in fig. 11 to 16, the optical element 40b includes an optical base 43b, a first refractive mirror 41b, and a second refractive mirror 42b, and the first refractive mirror 41b, the second refractive mirror 42b, and the optical base 43b are integrated. The bottom surface of the first refractor 41b is a horizontal plane, the top surface is an inclined plane, and the light beam collimated by the collimation portion 31b located at one side edge is incident from the bottom surface of the first refractor 41b and is emitted through the top surface of the first refractor 41b, thereby forming a refracted light beam L1. The second refractive mirror 42b is symmetrical to the first refractive mirror 41b, that is, the first refractive mirror 41b is in conformity with the shape of the second refractive mirror 42b, the bottom surface of the second refractive mirror 42b is a horizontal plane, the top surface of the second refractive mirror 42b is an inclined plane, and the light beam collimated by the collimating part 31b corresponding to the laser light source 20b located at the other side edge and passing through the bottom surface of the second refractive mirror 42b is emitted from the top surface of the second refractive mirror 42b after passing through the inside of the second refractive mirror 42b, thereby forming a refracted light beam L3.

A space 44 is reserved between the first refractor 41b and the second refractor 42b, the space 44 can be a space which is reserved directly, or the space is filled by a flattening lens, and the rest of the light beams collimated by the collimating part 31b positioned in the middle pass through the space 44 between the first refractor 41b and the second refractor 42b 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. 16 and 17, laser shaping elements 50b are provided on propagation paths corresponding to the light beams L1, L2, and L3, and the laser shaping elements 50b have a specific shape configuration so that the light beams L1, L2, and L3 form three linear spots, respectively. The laser shaping element 50b includes a first shaping lens 51b, a second shaping lens 52b, and a third shaping lens 53b, where the first shaping lens 51b corresponds to the optical path of the light beam L1, the light beam L1 after being shaped by the first shaping lens 51b forms a linear light spot a, and the second shaping lens 52b corresponds to the optical path of the light beam L2, and the light beam L2 after passing through the second shaping lens 52b forms a linear light spot b; the third shaping lens 53b 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 b; 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.

Referring to fig. 11 to 13, the material of the shaping lenses (i.e., the first shaping lens 51b, the second shaping lens 52b, and the third shaping lens 53 b) in the present application affects the refractive index of the laser beam, and in the embodiment of the present application, the first shaping lens 51b is made of a light-permeable material such as plastic, glass, etc., for example, polymethyl methacrylate (PMMA) plexiglass, EP5000 type polycarbonate resin plastic, etc., and the bottom section of the first shaping lens 51b is in a wave shape extending along the X-axis direction. The top surface of the first shaping lens 51b is a plane, a concave surface or a wave-shaped cross section.

In the embodiment of the present application, the second shaping lens 52b corresponds to the beam of the beam L2, and the beam L2 is shaped by the second shaping lens 52b to form the linear light spot b; in the present embodiment, the second shaping lens 52b 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 52b is wavy, which is a surface extending in the Y-axis direction, and the top surface of the second shaping lens 52b is a flat surface, a concave surface, or a surface having a wavy section.

In the embodiment of the present application, the third shaping lens 53b corresponds to the beam of the beam L3, and the beam L3 is shaped by the third shaping lens 53b to form the linear light spot c. The third shaping lens 53b is made of a light-permeable material such as plastic, glass, or the like, for example, polymethyl methacrylate (PMMA) plexiglass, EP5000 polycarbonate resin plastic, or the like, and the bottom section of the third shaping lens 53b is wavy, which is extended in the X-axis direction. The top surface of the third shaping lens 53b is flat, concave or wavy in cross section.

In one specific example of the present application, the laser light source 20b is mounted on the substrate 10b. Specifically, the substrate 10b is implemented as a ceramic substrate including a ceramic substrate 11b and a circuit layer 12b formed on the ceramic substrate 11b, and the laser light source 20b is electrically connected to the circuit layer 12b. More specifically, the laser light source 20b may be electrically connected to the circuit layer 12b by conductive structures such as conductive paste and electrical connection lines. It should be understood that the number of the laser light sources 20b is at least three, three circuit layers 12b electrically connected to each other are disposed on the substrate 10b, and each of the laser light sources 20b is connected to the corresponding circuit layer 12b by conductive adhesive or electrical connection lines, respectively. Wherein each circuit layer 12b is composed of a positive electrode conductor and a negative electrode conductor. The substrate 10b may be implemented as another type of substrate, and the laser light source 20b may be electrically connected to the substrate 10b by another method, which is not limited by the present application. And c is connected to the substrate, and the conductor 13b is used to supply current to the circuit layer 12b on the substrate 10b to light the laser light source, and the conductor 13b is an FPC, but a different conductive wire may be selected as required.

An optical bracket 60b is arranged on the substrate, and the optical bracket adopts black sunlight PC; the bottom of the optical mount 60b is glued to the substrate 10b, and the optical mount 60b encloses all of the laser sources 20b described above within the optical mount 60 b; the laser alignment element 30b and the optical element 40b are both positioned inside the optical bracket 60b, wherein the bottom of the optical element 40b is flared to some extent, and the alignment element 30 is embedded in the bottom of the optical element 40b and glued together. The optical element 40b is embedded inside the optical mount 60 b. Three windows are provided at the top of the optical bracket 60b, wherein the three windows are a first window 601b, a second window 602b and a third window 603b, each window corresponds to one plastic lens, that is, the first plastic lens 51b is correspondingly mounted on the first window 601b, the second plastic lens 52b is correspondingly mounted on the second window 602b, the third plastic lens 53b is correspondingly mounted on the third window 603b, and a space 62b is reserved between the edge of the upper half of the plastic lens and the inner wall of the window, and the space 62b is used as filling glue to fix the plastic lens on the inner wall of the window 61 b.

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, but 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 construed as necessarily possessed by the various embodiments of the 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

1. A multi-line laser projector, comprising

A laser light source for generating laser light;

2. The multi-line laser projector according to claim 1, wherein 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 about an optical axis of the light beam L2 as a symmetry axis.

3. The multi-line laser projector of claim 1 wherein the three linear spots are linear spot a, linear spot b, and linear spot c, respectively; the linear light spot a and the linear light spot c are light spots distributed along the longitudinal direction, and the linear light spot b is a light spot distributed along the transverse direction.

4. A multi-line laser projector according to claim 3 wherein the linear spot a intersects the linear spot b on the same plane.

5. A multiline laser projector according to claim 3 wherein the linear spot c intersects the linear spot b in the same plane.

6. The multi-line laser projector of claim 4 wherein the intersection of the linear spot a and the linear spot b is a midpoint away from the linear spot b.

7. The multi-line laser projector of claim 5 wherein the intersection of the linear spot c and the linear spot b is a midpoint away from the linear spot b.

8. The multi-line laser projector of claim 6 wherein the intersection of the linear spot a and the linear spot b is below the midpoint of the linear spot b.

9. The multi-line laser projector of claim 7 wherein the intersection of the linear spot c and the linear spot b is below the midpoint of the linear spot b.

10. The multi-line laser projector of claim 1 wherein the ratio between the edge laser energy and the center laser energy in the line length direction of each of the line-shaped spots is 1.0-2.0: 1.0.

11. A multi-line laser projector according to claim 3 wherein the FOV of the linear spot a is 60 ° to 100 °; the FOV of the linear light spot b is 100-150 degrees; the FOV of the linear light spot a is 60-100 degrees.

12. The multi-line laser projector of claim 1 wherein the laser optics include a plurality of optical collimating sections that correspondingly form the beam, the optical collimating sections having convex curved surfaces.

13. The multi-line laser projector of claim 12 wherein the top surface of the optical collimating section is spherical.

14. The multi-line laser projector of claim 12 wherein the bottom surface of the optical collimating section is spherical.

15. The multi-line laser projector of claim 12 wherein the laser optics further comprise a housing, the optical collimating section being integral with the housing.

16. The multi-line laser projector of claim 1 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.

17. The multi-line laser projector of claim 16 wherein the bottom sections of the first, second and third shaping lenses are each wavy.

18. The multi-line laser projector of claim 16 wherein the laser shaping element further comprises a housing, the first shaping lens, the third shaping lens, and the housing being integrated.

19. The multi-line laser projector of claim 18 wherein the second shaping lens is located between the first and second shaping lenses and the second shaping lens is provided separately from the housing.

20. The multi-line laser projector of claim 16 wherein the upper end surface of the second shaping lens is a tilted plane.

21. The multi-line laser projector of claim 1 wherein the laser optics include a laser collimation element that collimates the light emitted from the laser light source and an optical element that adjusts the angle of the light of the partially collimated laser light.

22. The multi-line laser projector of claim 21 wherein the optical element comprises a first refractive mirror corresponding to the beam L1 and a second refractive mirror corresponding to the beam L3.

23. The multi-line laser projector of claim 21 wherein the first and second refractive mirrors form a void or plano lens therebetween through which the light beam L2 passes.

24. The multi-line laser projector of claim 21 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.

25. The multi-line laser projector of claim 24 wherein the bottom sections of the first, second and third shaping lenses are each wavy.

26. The multi-line laser projector of claim 25 wherein a top surface of one or more of the first, second and third shaping lenses is planar.

27. The multi-line laser projector of claim 25 wherein a top surface of one or more of the first, second and third shaping lenses is concave.

28. The multi-line laser projector of claim 25 wherein a top cross-section of one or more of the first, second and third shaping lenses is wavy.

29. A multi-line laser projector as claimed in claim 21 wherein the laser collimating element has at least three collimating sections thereon, each of the collimating sections corresponding to a respective one of the laser sources.

30. The multi-line laser projector of claim 21 wherein the optical element has a mounting slot disposed therein, the laser alignment element being at least partially embedded within the mounting slot.

31. The multi-line laser projector of claim 21 wherein the multi-line laser projector further comprises an optical mount, the optical element and the laser shaping element each being disposed on the optical mount.

32. The multi-line laser projector of claim 1 wherein the multi-line laser projector further comprises a substrate, the laser light source being disposed on the substrate.

33. The multi-line laser projector of claim 32 wherein an electrical conductor is connected to the substrate for illuminating the laser light source.

34. The multi-line laser projector of claim 33 wherein the electrical conductor is an FPC.

35. The multi-line laser projector of claim 32 wherein the number of laser sources is at least three.

36. The multi-line laser projector of claim 32 wherein the laser light source is provided with a plurality of light emitting apertures aligned in a linear direction.

37. The multi-line laser projector of claim 32 wherein the laser light source is one of VCSEL, HCSEL, EEL, LED.

38. An electronic device, comprising:

The multi-line laser projector of any of claims 1 to 37; and

And the detector is used for receiving the laser emitted by the laser projector.