WO2020007274A1 - Light beam scanning control method and device, system and corresponding medium - Google Patents

Abstract

A light beam scanning control method and device, the method comprising: a previous-period control step: in a previous period, controlling a emitting system to output a emitted light beam on the basis of a previous parameter; and a subsequent-period control step: in a subsequent period, according to feedback information of the emitted light beam output on the basis of the previous parameter, controlling the emitting system to output a emitted light beam on the basis of a subsequent parameter according to a scanning strategy. The advantageous effects are: a scanning control strategy is provided to improve scanning efficiency or scanning accuracy.

Description

Control method, device, system for beam scanning and corresponding medium Technical field

The present invention relates to a signal transmitting, receiving, and controlling system, and in particular, to a method, device, system, and corresponding medium for controlling beam scanning.

Background technique

The transmitting end of the current laser radar often adopts multiple lasers mounted on rotating structures or mechanical galvanometers to achieve scanning, but these methods have problems such as the inability to change the scanning method, poor stability, high cost, and so on.

For this reason, patent document CN106249245A discloses a laser ranging system and a ranging method thereof, using a spatial light modulator instead of a moving part such as a mechanical galvanometer to implement a change in scanning method. However, patent document CN106249245A does not disclose a control strategy for scanning.

Summary of the invention

In view of the defects in the prior art, an object of the present invention is to provide a control method, device, system, and corresponding medium for beam scanning.

A method for controlling beam scanning provided by the present invention includes:

Previous cycle control steps: during the previous week, control the previous parameter output emission beam of the transmission system;

Steps for controlling the next cycle: In the next week, according to the feedback information of the transmitted beam output from the previous parameter, and in accordance with the scanning strategy, control the output beam of the next parameter of the transmission system; or, in the next week, according to the predetermined scan Strategy, control the launch parameter of the launch system to output the beam, and traverse the scan;

Among them, the previous cycle occurred in time before the latter cycle.

A control device for beam scanning provided by the present invention includes:

Control device: during the previous week, control the previous parameter output emission beam of the transmission system;

Control device: In the following week, according to the feedback information of the emission parameter output by the previous parameter, according to the scanning strategy, control the transmission system to output the emission parameter in the next parameter; or, in the following week, control according to the predetermined scanning strategy. The next parameter of the transmitting system is to output the transmitted beam and traverse the scan;

Among them, the previous cycle occurred in time before the latter cycle.

Preferably, in the control strategy:

Determine whether the feedback information meets the confirmation conditions;

If the feedback information meets the confirmation conditions, the latter parameter is set so that the next parameter of the control transmission system is controlled to output the emission beam to continue the scan;

If the feedback information does not satisfy the confirmation condition, the latter parameter is set so that the transmission parameter is controlled to output the emission beam for the next parameter for confirmation scanning.

Preferably, in the control strategy or control device: detecting feedback information, and continuing to traverse the scan according to a preset parameter (without confirming the scan).

Preferably, the confirmation condition refers to any one or more of the following conditions:

-It can be determined that there is no object according to the feedback information;

-An object can be determined according to the feedback information;

-According to the feedback information, it is possible to determine any one or more of the position of the object, the angle of the object, and the distance of the object according to the set accuracy;

-According to the feedback information, the movement trajectory and / or movement trend of the object can be determined according to the set accuracy.

Preferably, the confirmation scan includes: outputting the emitted light beam in a confirmation manner to the position and / or angle to be confirmed;

The position and / or angle to be confirmed includes any one or more of the following positions and / or angles:

-The position and / or angle of the object that has been confirmed according to the feedback information;

-A position and / or angle within a set range of the position and / or angle of the object that has been confirmed according to the feedback information;

-A predicted movement position and / or angle based on the position and / or angle of the confirmed object of said feedback information;

-A position and / or angle within a set range of the predicted movement position and / or angle of the confirmed position and / or angle of the object according to the feedback information;

The confirmation method includes any one or more of the following methods:

-Select a partial angle of the emitted beam during the previous week for output;

-Generate a new emission beam for output based on the emission beam or partial angle emission beam during the previous week;

-The angle information of the transmitted light beam or the partial angle information of the partial light beam during the previous week is used as a reference to generate a new emitted light beam for output.

Preferably, the light beams output by all the previous parameters and / or the next parameters cover all the angles and / or position ranges scanned by the transmitting system after being superimposed in time.

Preferably, in a scanning range of the transmitting system, a plurality of different directions (for example, a vertical direction and a horizontal direction) are respectively traversed and scanned.

Preferably, within a set time period, the traversal scan or the partial traversal scan is completed first, and then the confirmation scan is performed according to the feedback information of the traversal scan or the partial traversal scan within one or more cycles.

Preferably, within the set time period, after the scan of the current cycle has been able to determine that there is an object based on the feedback information, a confirmation scan is performed in the following cycle. When the confirmation scan can determine the information of the object with the set accuracy and / Or after the set number of confirmation scans is reached, the next traversal scan is performed; wherein the information of the object includes at least one of a position, an angle, a distance, a motion trajectory, and a motion trend.

Preferably:

The control system controls the position, scanning angle, divergence angle of the light beam output by the transmission system in the next cycle according to one or more parameters of the spatial position, angle, speed, acceleration, motion trajectory or trend of the control device for the beam scanning. Make adjustments to one or more parameters in the graphics mode; and / or the control system makes modulation parameters of the spatial light modulator in the next cycle according to one or more parameters of temperature and humidity of the control device of the beam scanning Out adjustment.

Preferably, the control system changes the scanning strategy in real time according to a preset parameter or an external device signal. According to the present invention, there is provided a computer-readable storage medium or an ASIC chip and a circuit storing a computer program, and the steps of the method are implemented when the computer program is executed by a processor or when the ASIC chip and the circuit are running.

A scanning system provided according to the present invention is characterized by including a transmitting system, a receiving system, and a control system;

The control system includes the above-mentioned beam scanning control device or the above-mentioned computer-readable storage medium and / or ASIC chip and circuit storing a computer program;

The control system obtains feedback information of the transmitting beam output by the previous parameter of the transmitting system through the receiving system.

Preferably, the transmitting system includes a spatial light modulator; the spatial light modulator uses a phase-modulated silicon-based liquid crystal device or a combination of an intensity modulation device and a phase modulation device.

Preferably, the emission system includes a spatial light modulator; the spatial light modulator uses a phase-modulated liquid crystal device or a silicon-based liquid crystal device, and the device has the same orientation between glass substrates or between the glass substrate and the alignment film on the wafer.

Preferably, the emission system includes a spatial light modulator and a light source; the light source includes a single or multiple emission sources.

Preferably, among the plurality of emission sources, the angle of the light beam emitted by each emission source to the spatial light modulator, the divergence angle of the light beam, the wavelength of the light source, the power of the light source, the direction of the light source polarization, and the direction of the light source mode are parameters. At least one of them is different.

Preferably, the modulation data on the spatial light modulator does not change within a period, and the control system controls a single or multiple light sources to emit at the same time or in a single or multiple transmissions.

Preferably, the transmission beams output by the transmission system are encoded, and the encoded frequencies may be the same or different.

Preferably, the codes of the emitted light beams output by multiple emitting sources of the light source of the emitting system are different, wherein the codes of the emitted light beams are recorded as the light source codes.

Preferably, the light source code can be recognized by a receiving system.

Preferably, the light source code can be detected by multiple sets of devices at the same time, there is information interaction between the multiple sets of devices, and the transmitting device is determined according to the codes to work in cooperation.

Preferably, the light source code can be detected by multiple sets of devices at the same time, and there is information interaction between the multiple sets of devices. The devices control the transmission system to emit light beams according to signals from other devices or external devices.

Preferably, the light source of the emission system uses a laser with a single mode in one direction and a multimode in one direction. The direction of the laser multi-transverse mode corresponds to a direction requiring a low angular resolution of the scanning beam.

Preferably, a plurality of one-direction single-mode and one-direction multi-mode lasers are used as the light source of the emission system, and the single-mode directions of the lasers are orthogonal.

Preferably, the control system synchronizes the light source, the spatial light modulator, and the receiving system.

Preferably, one or more transmitting systems exist in one scanning system, and one or more receiving systems also exist, and the multiple transmitting systems and / or receiving systems are arranged at different angles to increase the scanning detection angle.

Preferably:

Beam modulation is performed by a spatial light modulator of a transmission system, wherein the modulation information generation method includes Fourier transform, Fresnel transform, spatial angular spectrum propagation or convolution, superposition of existing modulation information, multiplication of existing modulation information Phase matrix in any one or more of the following ways: translation, point light field superposition; and / or

Beam modulation is performed by a spatial light modulator of a transmission system, wherein the modulation information is generated using a light field distribution pattern that is first set in one dimension, and then expanded in a specific phase distribution in another dimension. One-dimensional light field distribution.

Preferably, the beam modulation is performed by a spatial light modulator of the transmission system, wherein the modulation information is selected from information stored in the control system, or is selected and calculated and generated after calculation.

Preferably, the control system uses the time-of-flight method to determine the distance of the object according to the emission time of the transmitted light beam and the feedback information received by the receiving system.

Preferably, the receiving system determines the spatial angle of the feedback signal through the array receiving mode, and / or determines the approximate angle range of the feedback signal based on the array receiving, and then gives accurate angle information according to the transmission information, and determines the feedback time difference. Distance to calculate the spatial position. (For example, the transmitted beam in the previous period / frame contains four line segments with very different angles. The receiving array can first roughly determine which range the feedback signal belongs to, so as to determine which reflection line signal belongs to which transmission line segment. (Exact angle value)

Preferably, the control system determines the emission light source and further determines the position or angle of the object according to the light source coding information or the beam wavelength information or other identifiable information obtained from the feedback information.

Preferably, the control system controls one or more launch systems.

Preferably, the control system controls one or more receiving systems.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention provides a control strategy, which can improve scanning efficiency or scanning accuracy.

2. The present invention proposes a spatial light modulator based on semiconductor technology to realize phase-controlled emission, and proposes a novel control strategy to realize the emission of multiple types or arbitrary types of light beams in the scanning range, improving scanning accuracy and efficiency, and also To achieve different effective scanning ranges for different scanning requirements in the same device, improve angular accuracy and other functions, and there are no moving parts in the system, which has better stability and reliability.

3. The present invention proposes an emission system including one or more light sources, a spatial light modulator, and also other optical components, which can achieve higher scanning accuracy and a larger scanning range, and can be combined with a control system And receiving system to form a scanning system to achieve high-quality detection of the surrounding environment and generate a spatial point cloud.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, objects, and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram of the working principle of a scanning system provided by the present invention.

detailed description

The present invention is described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

The invention provides a scanning system including a transmitting system, a receiving system, and a control system. The control system includes a control device for scanning a light beam or a computer-readable storage medium and / or an ASIC chip and a circuit storing a computer program. The receiving system obtains feedback information of the transmitting beam output by the previous parameter of the transmitting system.

The control device for beam scanning includes:

Control device: during the previous week, control the previous parameter output emission beam of the transmission system;

Control device: during the following week, according to the feedback information of the emission beam output by the previous parameter, and according to the scanning strategy, control the emission beam of the next parameter of the transmission system;

Among them, the previous cycle occurred in time before the latter cycle. Specifically, the previous cycle and the latter cycle may be two cycles that occur in sequence and are adjacent to each other, or two cycles that occur in sequence and are not adjacent to each other. It can be understood that the previous cycle is the first cycle, and the latter cycle is the second cycle. The first cycle occurs in time before the second cycle.

When the computer program is executed by a processor, the steps of a method for controlling a beam scan are implemented. The method for controlling the beam scanning includes:

Previous cycle control steps: during the previous week, control the previous parameter output emission beam of the transmission system;

Step of controlling the next cycle: In the following week, according to the feedback information of the emission beam output by the previous parameter, and according to the scanning strategy, control the emission beam of the next parameter of the transmission system;

Among them, the previous cycle occurred in time before the latter cycle.

Hereinafter, preferred examples of the present invention will be specifically described.

Launch system

The emission system includes a light source, a spatial light modulator, and may also include other optical devices, such as a lens and a diaphragm.

Under the control of the control system, the transmitting system emits the light beam at a set angle. The emitted light beam may be a single spot, a dot matrix, a line, a line array, a surface, an area array, or a set pattern light beam. The emission beam has a small diffusion angle and can maintain energy concentration over a long distance. The transmitting system may specifically adjust the angle of the transmitted light beam according to an image signal from the control system, wherein the image signal includes a hologram or a phase chart.

The spatial light modulator uses pure phase modulation or a combination of an intensity modulator and a phase modulation device, and the phase modulation range for the corresponding incident light is greater than 2π. Spatial light modulators can use devices based on silicon-based liquid crystal technology. The spatial light modulator can be mainly composed of one or more devices. The spatial light modulator can also be a micro lens array (DMD) or a scanning mirror.

The light source includes a single laser or a plurality of lasers, the types of the plurality of lasers being the same or different between at least two lasers. The laser can be a semiconductor laser (LD), a solid-state laser, a fiber laser, or a VCSEL. The emitting laser of the laser may be an infrared band, an ultraviolet band, or a visible light band.

Multiple lasers can be incident on the spatial light modulator from different angles to obtain emission beams with different output angles. The multiple lasers may be multiple lasers of different wavelength bands entering the spatial light modulator at the same angle or different angles at the same time or in time sharing. Because the diffraction angles of different wavelength bands are different, emission beams with different output angles can be obtained. For example, the light source uses two lasers, one with a smaller divergence angle after collimation, and the other with a larger divergence angle. Use a laser with a smaller divergence angle when scanning long distances and a laser with a larger divergence angle when scanning close distances. This way, even if there is only one spatial light modulator, even the same hologram or phase diagram can be used to obtain different The effective scanning angle and the emitted beams with different precisions can meet different usage requirements at long and short distances; of course, the hologram or phase diagram on the spatial light modulator can be different. In addition, in practical applications, of course, different scanning angles can also be achieved by setting different optical systems behind the spatial light modulator, for example, the optical systems use different lenses or lens groups.

The laser can emit multiple times according to the code in a time period of the spatial light modulator. The encoding emitted by each of the plurality of lasers may be different or the same. The encoding method can be the same frequency or frequency conversion.

Control System

The control system controls and synchronizes the transmitting system and the receiving system; the control system calculates the distance and position of external objects based on the feedback information from the receiving system, and can also draw the external space environment (space point cloud); the control system controls the transmitting system's transmitting device The emitted light beam at a certain position or angle. The hardware of the control system may be a chip system based on FPGA, DSP, ASIC, CPU, GPU, or single chip microcomputer.

The control system sets the parameters of the transmitted beam in the next clock cycle according to a preset scanning strategy or a feedback signal of the receiving system. The parameters of the transmitted beam include: the beam angle, such as the emission angle and / or the diffusion angle; the number of beams; the beam Type, such as point, lattice, line, line array, area, area array, etc. If the system includes multiple lasers, the parameters may also include which laser, the wavelength of the emitted beam, and so on.

After setting the parameters of the transmitted beam, the control system selects from the pre-stored data, or generates the corresponding hologram or phase chart in real time and outputs to the spatial light modulator, and controls the laser of the transmission system to turn on after a certain delay A receiving system, wherein the delay is to wait for the spatial light modulator to change to a correct phase setting on a physical level.

A hologram or a breath chart can be generated using the following methods:

Method 1: Step 1: Calculate the position of each point to be scanned in space, calculate or read the light field distribution after the position of each point is transmitted to the spatial light modulator from the pre-stored data; Step 2, superimpose each point on the spatial light The light field distribution on the modulator; step 3, encode the light field and generate a hologram or a phase map.

Method 2: Step 1. Calculate the angle of each output beam, and calculate the angle of the output beam as the light field distribution corresponding to the spatial angle spectrum. Step 2. Superimpose the angular spectrum light field distribution. Step 3. Superimpose step 2. The results are encoded to generate a hologram or a phasor. Method 2 is particularly suitable for scanning models with long distances.

Method 3: Step 1. Calculate the angle of each output beam, and calculate the angle of the output beam as the spatial angle spectrum. Step 2. Superimpose the spatial angle spectrum. Step 3. Perform mathematical transformation on the superposed spatial angle spectrum. For example, Fu Fourier transform or inverse Fourier transform; step 4 encodes the mathematical transformation result of step 3 to generate a hologram or a phase map. Method 3 is especially suitable for scanning models with long distances.

Method 4: Step 1. Use the points formed by all scanning beams at a set distance as an image, such as an infinite two-dimensional dot matrix; Step 2, Do a mathematical transformation on the image, such as a Fourier transform; Step 3. Encode the result of the mathematical transformation in step 2 to generate a hologram or a phase map. Method 4 is particularly suitable for scanning models with long distances.

Method 5: Step 1. Calculate or read the light field distribution (one-dimensional distribution, for example, one-dimensional distribution, for example, one point or multiple points in the space) (such as a pair of point pairs) in one direction (such as the x direction and the row direction). There is a one-dimensional light field distribution in the x direction x (m) = exp (1i * φ _m )); Step 2. Expand this light field distribution in another direction (for example, y direction, column direction. For example, y direction Has a one-dimensional light field distribution

Then the extended two-dimensional light field distribution can be expressed as h (m, n) = x (m) * y (n)). At this time, it can also be multiplied by a specific phase distribution (for example, a phase that can translate a point can be generated after translation) One-dimensional light field distribution of one point or multiple points, or the result obtained by expanding the light field in the y direction into a uniform phase distribution of a line), thereby generating a two-dimensional light field distribution; step 3. The mathematical transformation result of step 2 is encoded to generate a hologram or a phase diagram.

In method 1, method 2, method 3, method 4, or step 1 of method 5, if other optical elements, such as lenses, exist in the optical system, they can be counted together.

In the above method 1, method 2, method 3, method 4, or step 5 of method 5, a phase can be set for each point, line, or angle spectrum, thereby optimizing the final encoding step and achieving better results.

In the first method, the second method, the third method, the fourth method, or the fifth method, it is possible to pre-store or generate the light field distribution of some points at a set position and propagate to the spatial light modulator, or the light field of the angular spectrum of the set angle. Distribution, when calculating the frequency spectrum of other points or angles, you can use the angle spectrum of the set point or angle as a reference, and multiply the set matrix to realize the translation of the point position or the deflection / rotation of the angle. This can reduce the amount of calculation.

Method 1, Method 2, Method 3, Method 4, and Method 5 are multiple preferred examples, and these preferred examples can be combined without conflict.

The scanning strategy of the control system can have the following scanning strategies

Strategy one:

Step 1. Set the scan angle range and scan frequency;

Step 2: Generate a hologram or a phase diagram one by one in time to control the emitted light beam;

Step 3. Calculate the distance of the external object according to the received signal from the receiving system, and return to step 2 to continue execution.

Strategy two:

Step 1. Set the scan angle range and scan frequency;

Step 2: Generate a hologram or a phase diagram one by one in time to control the emitted light beam;

Step 3. The control system judges whether the confirmation condition is satisfied according to the received signal from the receiving system. If the confirmation condition is satisfied, it returns to step 2 to continue execution. If the confirmation condition is not satisfied, it proceeds to step 4 to continue execution;

Step 4. Obtain a hologram or a phasor diagram according to the received signal, control the transmitted light beam to further confirm the scanning, and return to step 3 to continue execution. Wherein, the obtaining may be performed by selecting or generating.

Strategy three

Step 1. Set the scan angle range;

Step 2: emitting a surface beam;

Step 3. The control system judges whether the confirmation condition is satisfied according to the received signal from the receiving system. If the confirmation condition is satisfied, it returns to step 2 to continue execution. If the confirmation condition is not satisfied, it proceeds to step 4 for execution;

Step 4. Read or generate a hologram or phase chart according to the received signal, control the transmitted light beam to further confirm the scan, and return to step 3 to continue execution. Wherein, the obtaining may be performed by selecting or generating.

Strategy four

Step 1. Set the scan angle range and scan frequency;

Step 2: Generate a hologram or a phase diagram one by one in time to control the emitted light beam;

Step 3. Calculate and record the distance of the external object based on the received signal from the receiving system, and determine whether all or preset partial scans have been completed. If not, return to step 2 to continue execution, and if so, proceed to step 4.

Step 4. Determine how many positions or angles of the scan result obtained in step 3 need to further confirm the scan. If there is no further scanning requirement, return to step 2. Otherwise, sort the results obtained in step 3 and output them one by one (or several positions together). Go to step 5;

Step 5. Perform a confirmation scan according to the parameters given in step 4, read or generate a hologram or phase chart, and control the emitted beam.

Step 6. Determine whether the accuracy requirement is met or the preset number of scans is reached according to the received signal, and if yes, return to step 4; otherwise, return to step 5.

Strategy 1, Strategy 2, Strategy 3, and Strategy 4 are multiple preferred examples. The order of the steps of these preferred examples can be adjusted under reasonable circumstances, and the preferred examples can be combined without conflict. The received signal is a feedback signal.

In addition, the scanning system may also have sensors such as speed, acceleration, and system position. In the step of selecting a preset hologram or generating a new hologram in the above strategy, the system itself can be placed between the previous scan cycle and the next scan cycle. The movements (such as changes in position, changes in space angle emission, etc.) are also taken into consideration, and compensation and correction are made when generating holograms.

In addition, the scanning system may also have sensors such as temperature and humidity, which can correct the deviation of the spatial light modulator, light source, and receiving system due to temperature and humidity changes.

In addition, temperature control devices can also be added to maintain core components such as spatial light modulators, light sources, and receiving systems within a certain operating temperature range.

In addition, when the device includes multiple transmitting systems and / or multiple receiving systems, a control system can be appropriately changed based on the above strategy, and simultaneously control multiple transmitting systems and / or receiving systems to work together.

In addition, when multiple sets of equipment work together, the equipment can transmit signals to each other, including its own location information and control information. Any device can send control signals to control other cooperative devices to emit beams with set angles or positions, or any device can also receive control signals from other devices and emit beams with set angles or positions as required by other cooperative devices. . The equipment in this paragraph refers in particular to the scanning system provided by the invention.

The confirmation condition can be that the position of an external object can be determined according to the signal feedback from the receiving system. For example, when the receiving system uses an array receiver (area array, linear array sensor), if the receiving device can directly obtain the position of the external object based on the feedback signal or According to the feedback signal combined with the transmission signal to obtain the position of the external object, it is considered that the confirmation condition is satisfied.

In the confirmation scan, a beam may be emitted again at the position or around the position for further confirmation, or to determine whether the object is moving and the speed of the moving direction, etc .; the emission beam may be continuously changed according to the motion of the object to achieve the object. track;

In the scanning strategy, one or more set time periods are inserted into one or more normal scanning time periods to transmit the emitted light beam to a previously confirmed external object, or to transmit the emitted light beam to a predicted external object. The position to move to or around the position for reconfirmation or tracking.

Because the time required for the spatial light modulator to change the modulation mode (emission beam angle or dot / dot matrix / line position or angle) exceeds the speed at which the light source and the receiving system transmit and receive signals, respectively, each The time period is mainly determined by the response speed of the spatial light modulator. The laser can be controlled to transmit signals multiple times in the same time period to form a code, which can be read by the receiving system when receiving. For example, if the response time of the spatial light modulator is 1ms, after each change to the set mode, it stays for 16us, the pulse duration of each light source is 10ns, and the time window from the light source to the receiving end to detect a valid signal is 1us. In each time period, control the transmitting end to encode the transmission signal in units of 1us. For example, in the first 8 microseconds of 16us, the light source is turned off, and in the last 8 microseconds, the light source emits 8 10ns pulses. The code for this system is 0F. Or you can set the encoding of unequal width pulses. For example, in 16us, it is divided into 5 pulses. The first pulse has a width of 6us, the second pulse has a width of 4us, the third pulse has a width of 3us, and the fourth The pulse width is 2us, the fifth pulse width is 1us, or the pulse width or frequency transmitted by different transmitting sources is different. The receiving system can determine the signal according to the pulse width or frequency.

The benefits of this approach are twofold. The first is that when there are multiple sets of independent equipment in the nearby space, it can help the receiving system or control system to determine whether the received signal is sent by the corresponding transmitting system and is valid. For example, the code of the scanning beam emitted by the transmitting system of device 1 is 01, and the light source emitted by device 2 is 11; if the receiving system of device 1 receives a feedback signal coded as 11, the control system can judge it as invalid. The signal is excluded. Second, when multiple lasers are used as the light source of the same device, different lasers can be coded and controlled, thereby assisting the control system to better determine the position of the received signal. For example, there are two lasers in the same system as emitting sources, which respectively illuminate the spatial light modulator from different angles. The output beam angles are also distinguished from each other. The two lasers can be coded differently. The code of laser 1 is F7. The laser The code of 2 is F6. After the receiving system detects the signal, the control system can determine which laser beam emitted the object based on the signal code, thereby further assisting in determining the spatial position or angle of the object. Third, you can use multiple sets of equipment to work together. There is interaction between the equipment, and you can communicate the exact location of each other. Then any system can determine which set of equipment the signal comes from based on the detected signal encoding, combined with each other's spatial location. After the calculation, the point cloud distribution of the entire space is more quickly and accurately depicted.

Receiving system

The receiving system can use a single sensor to calculate the distance of the external object, that is, TOF, based on the time difference between the beam emission and the received signal.

The receiving system can use multiple sensors or sensor arrays to determine or roughly determine the angle of the object and the sensor based on the position of the received signal on the array, or the phase or time difference between the multiple sensors, thereby combining TOF and / or The distance information obtained from the parameters of the transmitted signal gives the approximate or specific spatial position of the object.

If the receiving system uses a single or multiple sensors, and the transmitting system transmits multiple angles of dots, lattices, lines, line arrays, or areas, and area beams at one time, the transmitting system can emit different beams in multiple time periods. After multiple feedbacks, the system obtains the object position according to the feedback signal processing. E.g:

The previous time period is recorded as the previous time period. The control system controls the transmission system to emit light beams with a total of 8 angles a1, a2, a3, a4, a5, a6, a7, and a8. At the time t1 in the previous time period, Feedback signals are received at time t2. The feedback signal received at time t1 and the feedback signal received at time t2 are recorded as t1 signal and t2 signal, respectively;

In the latter time period, control the transmission system to transmit signals of a1, a2, a3, and a4 angles. Assuming that the feedback signal is received only at time t1 in the latter time period, the angle of the object corresponding to the signal t1 can be determined. Belong to a1, a2, a3, a4, and the objects corresponding to t2 signal belong to a5, a6, a7, a8;

During the third time period, the control system controls the transmitting system to transmit the light beams at angles a1, a2, a5, and a6. Assuming that the receiving system detects a signal at time t1 during the third time period, but does not detect a signal at time t2, then It can be confirmed that the object corresponding to the t1 signal belongs to the angles a1, a2, and the object corresponding to the t2 signal belongs to the angles a7, a8.

In the fourth time period, the control system controls the transmission system to emit the light beams at angles a1 and a7. Assuming that a feedback signal is detected at time t2 in the fourth time period, it can be determined that there is object 1 in space, and the distance can be calculated based on the t1 signal. , The angle is a2; if there is an object 2, the distance can be calculated based on the t2 signal, and the angle is a7.

The receiving system can detect the signal (rising or falling edge of the signal) by pulse, and can also detect the signal by time integration.

The present invention will be described in more detail through preferred examples.

Example 1

A transmitting and receiving system. The spatial light modulator uses a pure phase-modulated silicon-based liquid crystal device packaged in ECB mode. The modulation range for incident light in the 980nm band is greater than 2pi. The light source uses two 980nm VCSEL or LD lasers. It is TEM00, and the polarization is greater than 10: 1, and the spatial light modulator is incident from the directions of positive 9 ° and negative 9 ° from the main axis (set in a symmetrical manner). A lens system with a telescope structure is installed behind the spatial light modulator, which can magnify the angle of the outgoing light by 5 times. The scanning range of the entire system is 25 ° in the Y direction and 36 ° in the X direction.

The receiving system uses a sensor array and a pulse detection method, which is effective when a rising edge is received.

The control system uses an FPGA chip as the main control chip. When the device is powered on, the control system sets the scanning frequency to 120Hz. All holograms are pre-stored in the control system's memory (such as FLASH) and output to the spatial light modulator according to the pre-stored hologram.

The divergence angle of the beam modulated by each frame of the hologram is about 5 ° in the Y direction and about 0.03 ° in the X direction (similar to a line segment, which is enlarged by the lens to 25 ° in the Y direction and 0.15 ° in the X direction). The difference is that the modulated line segment is translated by 0.03 ° in the X direction (0.15 ° after being magnified by the lens). By displaying 120 frames of holograms, a total of 240 beam segments with different angles emitted by the two lasers can be modulated, which can be performed in 1 second. Within a time period of 25 ° × 36 ° (laser 1 scan range is -12.5 ° ～ 12.5 ° in Y direction, 0 ° ～ 18 ° in X direction, laser 2 scan range is -12.5 ° ～ 12.5 ° in Y direction, X direction- 18 ° ~ 0 °). Of course, it can also be improved by changing the coverage angle of the scan, changing the divergence angle of each emitted light or the number of beams by changing the hologram, or changing the lens system, or increasing the refresh rate of the hologram, increasing the scanning frequency, and so on. The scanning speed, for example, achieves the function of covering the entire scanning range in 0.1 seconds. It is also possible to use a lens system (such as a cylindrical lens) with different angular magnifications in the X and Y directions to achieve different magnifications in the X and Y directions.

In addition, for this application example, after the transmitting system, the lens system can be changed or some optical systems can be added to further expand the magnification, for example, to achieve a 360 ° scanning range in the X direction.

The response time of the spatial light modulator is 8.3ms (the time required to transform the hologram or phasor in the previous time period to the hologram or phasor in the next time period). The time shown on the modulator is 33.333us. After 8.3ms, control laser 1 to emit a pulse with a length of 10ns, and turn on the receiving system at the same time. After 10us, judge whether laser 1 has a feedback signal in the transmission direction modulated by the first frame hologram according to the received signal. If there is feedback, Signal, the position of the space object is calculated based on the specific angle of the feedback signal (which can also be combined with the transmission angle) and the feedback time. Starting at 15us, control laser 2 to emit a pulse with a length of 10ns, and turn on the receiving system at the same time. After 25us (10us interval), judge whether the laser 2 has a transmission direction modulated by the previous frame hologram based on the received signal. The feedback signal. If there is a feedback signal, the specific angle of the feedback signal and the feedback time are used to calculate the position of the space object. After 33.333us, control the spatial light modulator to display the next hologram. Repeat the above steps until the 120 frames are completely scanned and return to the first hologram again and again.

In the above-mentioned embodiment, since the holograms of all 120 frames are determined, all the calculated holograms can be stored in the control system in advance, and can be selected one by one according to the needs. The advantage of using this method is that the hologram does not need to be calculated in real time, and the computing capacity of the control system is low. It can be implemented by a simple single-chip SOC.

In addition, you can also perform a similar 120-frame scan in the Y direction after completing the scan in the X direction, such as using 3.6 ° in the X direction and 0.042 ° in the Y direction (similar to a line segment, which is a single laser in the X direction after being magnified by the lens). 18 °, 36 ° after the two lasers are spliced, 0.21 ° in the Y direction), the difference between each frame of the hologram is that the modulated line segment is translated by 0.042 ° in the Y direction (0.21 ° after zooming in by the lens), then 120 frames are displayed by A hologram, which modulates a total of 240 beam lines with different angles from two lasers, which can cover a scan of 36 ° × 25 ° in a 1-second time period (Laser 1 scan range is -12.5 ° ～ 12.5 ° in the Y direction, X (0 ° to 18 ° in the direction, the scanning range of the laser 2 in the Y direction (-12.5 ° to 12.5 °, X direction -18 ° to 0 °)). After that, the control system controls the transmitting system to scan the X direction again, and at the same time, locates and generates a spatial point cloud according to the foregoing 240 Hz scanning results in the X direction and the Y direction. In the above method, a single receiving device (such as a single APD) or an array of several APDs can also be used. After scanning in the X and Y directions, the receiving device cannot confirm or accurately confirm the position of the feedback signal, but it can be determined according to the corresponding The angle of the transmitted signal determines the X and Y coordinates respectively, and the accurate position and / or angle of the feedback signal in the X and Y directions is obtained according to the calculation. Or further perform a small number of confirmation scans to determine the precise position and / or angle of the feedback signal. For example, after traversing the scan in the X direction, the signals are detected at the scan angles of 1.5 ° and 4.5 °, respectively. After traversing the scan in the Y direction, 0.42 ° and- When the feedback signals are detected at 0.21 °, the X and Y directions can be (1.5 °, 0.42 °), (1.5 °, -0.21 °), (4.5 °, 0.42 °), (4.5 °, -0.21 °). Each of the four points is scanned separately for confirmation, once for each point, for a total of four confirmation scans, you can determine how many feedback objects exist in space and their precise angles, and use TOF to calculate the specific position of the object in space. .

In addition, the initial scan can also be set as a surface or area array. For example, if the scan frequency is set to 240 Hz, 4 full-angle scans are completed every second. Each full-angle scan contains 60 cycles. The initial scan can be For a 5 ° × 6 ° plane, 25 ° × 18 ° is completed in 15 periods in the early stage, and two lasers complete a full-angle scan of 25 ° × 36 °. If a feedback signal is detected in these 15 periods, it indicates that the scan is in progress. There are objects in the range. In the remaining 45 cycles, according to the previous feedback signal, the scanning range is reduced to obtain more accurate scanning results, or because the area / area array scanning energy is weak, the receiving system and control system cannot completely To confirm whether the signal is valid, you can also narrow the scanning range, increase the scanning energy, and obtain a confirmed scanning result. If no feedback signal is detected in the first 15 cycles of scanning, the next 60-cycle full-angle scanning can be started directly. In this way, only changing the scanning strategy, the number of full-angle scans in one second can be increased to four.

In addition, since the holograms in the above embodiments are all translations of specific graphics (such as a line segment-like graphic or rectangle), the first frame of holograms can also be pre-stored or calculated, and all subsequent holograms are used in the previous frame. Based on the method of multiplying by a corresponding phase distribution to achieve the translation or deflection / rotation of the image (scanning angle).

The calculation of the hologram can be achieved by extending the beam of the corresponding angle to a long distance (such as infinity) to form a 2-dimensional image, performing a fast Fourier transform on the image, obtaining a hologram, and then encoding. A hologram can also be obtained by converting the angle of the output beam into the coordinates corresponding to the spatial angle spectrum, and then performing a fast Fourier transform method to encode the hologram and output the hologram to the spatial light modulator.

The calculation of the hologram can also take a point (such as infinity) at a certain distance to the spatial light modulator, calculate the light field distribution of the point on the spatial light modulator, and scan the light field according to the actual needs. The coordinates are shifted (can be a direct translation of the intensity and phase of the corresponding light field points, or multiplied by the corresponding phase distribution) to obtain the multi-point light field distribution. The light field distributions of all the points to be scanned are superimposed to obtain The light field distribution of the required dot / dot matrix or line / linear array is encoded and output to the spatial light modulator.

The calculation of the hologram can also adopt a one-dimensional light field distribution with a specific pattern (for example, a one-dimensional light field distribution in which the phase changes at a fixed period, and the distant space is correspondingly imaged as a fixed-dimensional one-dimensional dot or lattice pattern. ), Using the above-mentioned one-dimensional distribution as the basis of one line, and expanding it into multiple lines, each line is multiplied by a different phase (for example, the phase is a specific one-dimensional light field distribution, which corresponds to a distance The one-dimensional image is a line segment with uniform energy, or another one-dimensional point or lattice), to obtain a two-dimensional light field distribution, and then encode the two-dimensional light field distribution.

The coding can be performed by directly discarding the intensity and retaining only the phase, and then quantizing the phase. It can also compensate for some defects of the spatial light modulator itself (such as dead pixels, fringe effects / edge effects between pixels, etc.). In addition, because discarding the intensity of the light field causes errors, iterative algorithms can be used to improve the quality of the beam (such as Gerchberg Saxton / GS methods, etc.).

It is also possible to set a phase distribution on the initial angle (angular spectrum) or line segment image, so that the generated hologram or phased image has a specific intensity or phase distribution, such as uniform intensity, so that it is easier to encode and can be modulated. Better beam quality.

It is also possible to restore the light field by combining multiple spatial light modulators. For example, two-phase coding is used. Two spatial light modulators modulate one of the two phases respectively. The light field is restored by superposing the optical path. This method Coding can preserve both intensity and phase.

In the above real-time example, if the receiving system uses an array sensor, the distance and angle at which the signal is detected can be calculated in each frame. Of course, if the accuracy of the array sensor is insufficient, the accuracy of the transmission angle can be controlled by the transmission system and the scanning method can be further confirmed based on the initial detection angle of the array sensor to further improve the detection accuracy. If the receiving system is a single TOF sensor, the feedback signal can only judge the distance, but cannot give accurate angle information. At this time, a certain change may also be made to the first embodiment to implement angle measurement. For example, you can change the scanning strategy and use the control system to measure the precise angle of the feedback signal. For example, increase the scanning frequency to 480Hz (that is, 4 120-frame sub-periods that last 250ms). During the first 250ms time period, the spatial light modulator still modulates the 120-frame divergence angle to 5 ° in the Y direction and 0.03 ° in the X direction The beam is shifted by 0.03 ° in the X direction in each frame, that is, all the scanning work completed in 1s in the original embodiment is completed in 250ms, and the detected feedback signal is recorded. Assuming that the feedback signal is detected when the X angle is 0.9 ° and -3 °, respectively, the control system can adopt the following strategy in the remaining 360 frame scans of the subsequent 750ms period, and the modulation starting divergence angle is 0.028 ° in the Y direction and 0.03 in the X direction. Beams around °, in which the X-direction exit angle of 180 frames is 0.9 °, the X-direction exit angle of 180 frames is -3 °, and the Y-direction exit angle increases from -2.52 ° per frame to 0.028 ° to 2.52 °. After a time period of 1 s, the system using this strategy can also obtain detection results with a scanning angle accuracy of 0.03 ° in the X direction and 0.028 ° in the Y direction using only a single TOF sensor. Or you can also use a scanning strategy such as dichotomy for the exit angle in the Y direction to quickly confirm the scan result in the Y direction. For example, after a 120-frame rough coverage scan, the exit angle of the beam in the X direction is first emitted. It is 0.9 °, and the Y direction is 0 to 2.52 °. Assuming that no feedback signal is detected, the scan angle of the next frame is set to -1.26 ° to 0 ° (If a feedback signal is detected, the scan angle of the Y frame in the next frame becomes 0 to 1.26 °), assuming that a scanning signal is detected at a scan angle of -1.26 ° to 0 °, the scan angle of the next frame is set to -0.63 ° to 0 °, and so on until the accuracy requirements are met. If the detection has met the accuracy requirements, even if the number of frames used does not reach 360 frames, a rough coverage scan of the next 120 frames can be started immediately. In addition, in the above embodiment, since the emission speed of the light source is much faster than the modulation speed of each frame of the spatial light modulator, it can also be considered to turn on multiple times without changing the signal on the spatial light modulator within a time period. The light source controls the receiving system at the same time to achieve the purpose of detecting the same signal multiple times to improve the reliability of the system. Multiple pulses transmitted by one or more lasers can also be coded, and the signals received by the receiving system are compared with the codes in time sequence to eliminate external interference. Of course, the laser can also be controlled to emit a continuous signal, and the receiving system uses the time integration method to detect the signal to improve the detection sensitivity or reduce the requirement for the laser's instantaneous pulse power.

Example 2

The light source of Example 2 uses three lasers with wavelength bands of 808 nm, 850 nm, and 980 nm, and the divergence angles after passing through the respective collimation systems are about 0 ° (collimated light), 30 °, and 60 °. After passing through their respective collimation (angle extension) optical systems, the three light sources can be combined by a special X prism and then passed through a TIR or BS prism to a smaller angle (for example, vertical or near vertical to the surface of the spatial light modulator) Output to spatial light modulator.

The pixel size of the spatial light modulator is 9.4um and the resolution is 800x600. The above three bands are optimized (such as AR coating). The lens system for expanding the output angle is not provided after the spatial light modulator. Since some of the input beams already have larger divergence angles, a larger angular scanning range can be achieved without the need for the lens system to magnify the angle.

The scanning strategy adopted by the control system chooses to turn on different lasers according to the needs of the system during operation. Because the angles of the three laser beams incident on the spatial light modulator are different, only different lasers can be used to achieve different scanning ranges in the same system. The goal of angular accuracy. For example, when you need to scan a long distance (for example, 200 meters), and the effective scanning angle range is small at this time, you can turn on the 808nm band laser, and the control system calculates or selects the hologram to output to the spatial light modulator according to the 808nm parameters. Because the input divergence angle of the 808nm laser is about 0 °, which corresponds to a 9.4um pixel size, its ± 1st order diffraction range is about 4.9 °. If only the ± 1st order energy is used to block other diffraction orders with lower energy, the output The scanning range is 4.9 °, the angular resolution is 800x600, and the angular accuracy can reach 0.0062 ° × 0.0082 °. For short-range scanning requirements (for example, within 5 meters), at this time, a larger effective scanning angle range can be turned on the 980nm laser, while the control system calculates or selects a hologram to output to the spatial light modulator according to the 980nm parameters. Since the laser is input to the spatial light modulator, it has a divergence angle of 60 °, plus its ± 1 order diffraction range of about 6 °, the actual effective scanning range can reach 66 °, the angular resolution is 800x600, and the angular accuracy is 0.08 ° × 0.11 ° .

In this application example, you can choose to optimize the laser of a certain wavelength when the spatial light modulator displays each frame, and only turn on this laser during the display time of this frame. Or you can also adopt the method of turning on the multiple lasers simultaneously or successively in the same frame of the spatial light modulator. At this time, if the receiving system is unable to distinguish the laser wavelength, the control system can enable the control system to The encoding of the signal determines the object detected by the laser beam, and further determines the angle information.

For specific scanning strategies, reference may be made to Embodiment 1, or different scanning strategies may be formulated according to actual needs to optimize detection for three different requirements of far, middle, and near. The scanning strategy can also be adjusted according to whether the receiving system is an array or a single sensor, so that while detecting the distance, it can also give angle information in one direction or two directions.

In addition, the system may also include a temperature sensor to adjust the modulation parameters of the spatial light modulator according to the detected temperature, and the modulation effect has been optimized. The system can also include temperature control devices (such as TECs and heat sinks) to keep the operating temperature of the spatial light modulator and laser within a certain range to optimize the effect.

Example 3

In one embodiment, a scanning system includes a control system, three transmitting systems, and three receiving systems. The control system controls three transmitting systems and three receiving systems simultaneously. The three launch systems are arranged at 120 °, and the scan range of each launch system is 120 ° in the X direction and 30 ° in the Y direction. The combined scanning range of the launch system is 360 °.

The control system synchronizes the transmitting system one and the receiving system one, the transmitting system two and the receiving system two, the transmitting system three and the receiving system three. In order to simplify the control system, the three transmitting and receiving systems all adopt a scanning frequency of 400Hz. The three transmitting and receiving systems can be made to adopt the same control strategy, and the same scanning signal can be used to reduce the amount of calculation. (Of course, in some cases, three The system adopts different scanning frequencies, different signal output and control strategies). In the X direction, each transmitting system outputs 3 line segments with an interval of 40 °, a divergence angle of 0.15 °, a X direction width of 0.1 °, and a Y direction width of 30 ° in each cycle. Each line segment is translated in each cycle. 0.1 °, each line segment completes a 40 ° x30 ° scan in 400 cycles, 3 line segments complete a 120 ° x30 ° scan, and 3 sets of transmit and receive systems complete a 360x30 ° scan.

Those skilled in the art know that, in addition to implementing the control system and its device provided by the present invention and its various modules in pure computer-readable program code, it is entirely possible to make the system, device and its provided by the present invention logically program the method steps. Each module implements the same program in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system, device, and its various modules provided by the present invention can be considered as a hardware component, and the modules included in it for implementing various programs can also be considered as the structure within the hardware components; Modules for implementing various functions are considered to be both software programs that implement methods and structures within hardware components.

The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims (34)

1. A method for controlling beam scanning, comprising:

   Previous cycle control steps: during the previous week, control the previous parameter output emission beam of the transmission system;

   Steps for controlling the next cycle: In the next week, according to the feedback information of the transmitted beam output from the previous parameter, and in accordance with the scanning strategy, control the output beam of the next parameter of the transmission system; or, in the next week, according to the predetermined scan Strategy, control the launch parameter of the launch system to output the beam, and traverse the scan;

   Among them, the previous cycle occurred in time before the latter cycle.
2. A control device for beam scanning, comprising:

   Control device: during the previous week, control the previous parameter output emission beam of the transmission system;

   Control device: In the following week, according to the feedback information of the emission parameter output by the previous parameter, according to the scanning strategy, control the transmission system to output the emission parameter in the next parameter; or, in the following week, control according to the predetermined scanning strategy. The next parameter of the transmitting system is to output the transmitted beam and traverse the scan;

   Among them, the previous cycle occurred in time before the latter cycle.
3. The method for controlling beam scanning according to claim 1 or the apparatus for controlling beam scanning according to claim 2, wherein in the control strategy:

   Determine whether the feedback information meets the confirmation conditions;

   If the feedback information meets the confirmation conditions, the latter parameter is set so that the next parameter of the control transmission system is controlled to output the emission beam to continue the scan;

   If the feedback information does not satisfy the confirmation condition, the latter parameter is set so that the transmission parameter is controlled to output the emission beam for the next parameter for confirmation scanning.
4. The method for controlling beam scanning or the apparatus for controlling beam scanning according to claim 3, wherein the confirmation condition refers to any one or more of the following conditions:

   -It can be determined that there is no object according to the feedback information;

   -An object can be determined according to the feedback information;

   -According to the feedback information, it is possible to determine any one or more of the position of the object, the angle of the object, and the distance of the object according to the set accuracy;

   -According to the feedback information, the movement trajectory and / or movement trend of the object can be determined according to the set accuracy.
5. The method for controlling beam scanning or the apparatus for controlling beam scanning according to claim 3, wherein the confirmation scanning comprises: outputting the emitted light beam in a confirmation manner to a position and / or an angle to be confirmed;

   The position and / or angle to be confirmed includes any one or more of the following positions and / or angles:

   -The position and / or angle of the object that has been confirmed according to the feedback information;

   -A position and / or angle within a set range of the position and / or angle of the object that has been confirmed according to the feedback information;

   -A predicted movement position and / or angle based on the position and / or angle of the confirmed object of said feedback information;

   -A position and / or angle within a set range of the predicted movement position and / or angle of the confirmed position and / or angle of the object according to the feedback information;

   The confirmation method includes any one or more of the following methods:

   -Select a partial angle of the emitted beam during the previous week for output;

   -Generate a new emission beam for output based on the emission beam or partial angle emission beam during the previous week;

   -The angle information of the transmitted light beam or the partial angle information of the partial light beam during the previous week is used as a reference to generate a new emitted light beam for output.
6. The method for controlling beam scanning according to claim 1 or the apparatus for controlling beam scanning according to claim 2, characterized in that the beams output by all the previous parameters and / or the next parameters are superimposed in time and covered. The full range of angles and / or positions scanned by the launch system.
7. The method for controlling beam scanning according to claim 1 or the apparatus for controlling beam scanning according to claim 2, characterized in that, within a scanning range of the transmitting system, traversal scanning is performed for a plurality of different directions respectively.
8. The method for controlling beam scanning or the apparatus for controlling beam scanning according to claim 3, wherein in a set time period, the ergodic scan or the partial ergodic scan is completed first, and then the ergodic scan is performed according to one or more cycles. Or partially scan the feedback information of the scan to confirm the scan.
9. The method for controlling beam scanning or the apparatus for controlling beam scanning according to claim 3, characterized in that, within a set time period, after the current period of scanning has been able to determine an object based on the feedback information, the latter The confirmation scan is performed periodically. When the confirmation scan can determine the information of the object according to the set accuracy and / or the set number of confirmation scans is reached, the next traversal scan is performed; wherein the object information includes position, angle, At least one of distance, movement trajectory, and movement trend.
10. The method for controlling beam scanning according to claim 1 or the apparatus for controlling beam scanning according to claim 2, wherein:

    The control system controls the position, scanning angle, divergence angle of the light beam output by the transmission system in the next cycle according to one or more parameters of the spatial position, angle, speed, acceleration, motion trajectory or trend of the control device for the beam scanning. Make adjustments to one or more parameters in the graphics mode; and / or the control system makes modulation parameters of the spatial light modulator in the next cycle according to one or more parameters of temperature and humidity of the control device of the beam scanning Out adjustment.
11. The method for controlling beam scanning according to claim 1 or the apparatus for controlling beam scanning according to claim 2, wherein the control system changes the scanning strategy in real time according to a preset parameter or an external device signal.
12. A computer-readable storage medium or an ASIC chip storing a computer program, characterized in that when the computer program is executed by a processor, the steps of the method according to any one of claims 1 or 3 to 11 are implemented.
13. A scanning system, comprising a transmitting system, a receiving system, and a control system;

    The control system includes a beam scanning control device according to any one of claims 2 to 11 or a computer-readable storage medium or an ASIC chip storing a computer program according to claim 12;

    The control system obtains feedback information of the transmitting beam output by the previous parameter of the transmitting system through the receiving system.
14. The scanning system according to claim 13, wherein the transmitting system comprises a spatial light modulator; the spatial light modulator uses a phase-modulated silicon-based liquid crystal device or a combination of an intensity modulation device and a phase modulation device.
15. The scanning system according to claim 13, wherein the emission system comprises a spatial light modulator; the spatial light modulator uses a phase-modulated liquid crystal device or a silicon-based liquid crystal device, and the device is between glass substrates or between glass substrates and wafers. The orientation of the upper alignment film is the same.
16. The scanning system according to claim 13, wherein the emission system comprises a spatial light modulator and a light source; and the light source comprises a single or multiple emission sources.
17. The scanning system according to claim 16, wherein among the plurality of emission sources, an angle at which a light beam emitted by each emission source enters a spatial light modulator, a divergence angle of the light beam, a wavelength of the light source, a power of the light source, and a light source At least one of these parameters is different from the polarization direction of the light source and the mode of the light source.
18. The scanning system according to claim 13, wherein the modulation data on the spatial light modulator does not change within a period, and the control system controls a single or multiple light sources to emit at the same time or one or more times simultaneously.
19. The scanning system according to claim 13, wherein the transmission beam output by the transmission system is encoded.
20. The scanning system according to claim 19, wherein the codes of the emitted light beams outputted by the plurality of emitting sources of the light source of the emitting system are different, and the codes of the emitted light beams are recorded as the light source codes.
21. The scanning system according to claim 19, wherein the light source code can be recognized by a receiving system.
22. The scanning system according to claim 13 or 19, characterized in that the emitted light beam or light source code can be detected by multiple sets of devices simultaneously, and there is information interaction between the multiple sets of devices to work together.
23. The scanning system according to claim 13 or 19, wherein the emitted light beam or light source code can be detected by multiple sets of devices simultaneously, and there is information interaction between the multiple sets of devices, and the devices are based on other devices or external devices. Signal to control the transmission system to emit the light beam.
24. The scanning system according to claim 13, characterized in that the light source of the emission system uses a single-mode single-mode and one-directional multi-mode laser, and the direction of the laser multi-transverse mode corresponds to a direction requiring a low angular resolution of the scanning beam.
25. The scanning system according to claim 13, wherein the light source of the emission system uses a plurality of lasers with a single mode in one direction and a multimode in one direction, and the single-mode directions of the lasers are orthogonal.
26. The scanning system according to claim 13, wherein the control system synchronizes the light source, the spatial light modulator, and the receiving system.
27. The scanning system according to claim 13, wherein one or more transmitting systems exist in one scanning system, and one or more receiving systems exist, and the multiple transmitting systems and / or receiving systems are Different angle settings, increase the scanning detection angle.
28. The scanning system according to claim 13, wherein:

    Beam modulation is performed by a spatial light modulator of a transmission system, wherein the modulation information generation method includes Fourier transform, Fresnel transform, spatial angular spectrum propagation or convolution, superposition of existing modulation information, dot multiplication of existing modulation information Any one or more of phase phase shifting and point light field superposition; and / or beam modulation by a spatial light modulator of a transmitting system, wherein the modulation information is generated in a first-dimensional manner Direction to generate a set light field distribution pattern, and then expand the set one-dimensional light field distribution according to a specific phase distribution in another direction; and / or multiply the modulation information generated based on at least one of the above methods by the setting Matrix, which realizes the translation or rotation of the scanning beam in space.
29. The scanning system according to claim 13, characterized in that the beam modulation is performed by a spatial light modulator of a transmission system, wherein the modulation information or a part of the modulation information is selected from information stored in a control system, or is stored from a control system. After the information is selected, it is calculated and generated.
30. The scanning system according to claim 13, wherein the control system determines the distance of the object using the time-of-flight method according to the transmission time of the transmitted light beam and the feedback information received by the receiving system.
31. The scanning system according to claim 13, wherein the receiving system determines the spatial angle of the feedback signal by using an array-type receiving method and determines the spatial angle of the feedback signal in combination with the angle information of the beam emitted by the transmitting system, and determines the Distance calculation space position.
32. The scanning system according to claim 13, wherein the control system determines the emission light source and further determines the position or angle of the object according to the light source coding information or the beam wavelength information or the emission angle information obtained in the feedback information.
33. The scanning system according to claim 13, wherein the control system controls one or more transmitting systems.
34. The scanning system according to claim 13, wherein the control system controls one or more receiving systems.

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