WO2023143594A1 - 光扫描组件、激光系统和激光测量方法 - Google Patents

光扫描组件、激光系统和激光测量方法 Download PDF

Info

Publication number
WO2023143594A1
WO2023143594A1 PCT/CN2023/073762 CN2023073762W WO2023143594A1 WO 2023143594 A1 WO2023143594 A1 WO 2023143594A1 CN 2023073762 W CN2023073762 W CN 2023073762W WO 2023143594 A1 WO2023143594 A1 WO 2023143594A1
Authority
WO
WIPO (PCT)
Prior art keywords
scanning
light
component
emitted light
scanning direction
Prior art date
Application number
PCT/CN2023/073762
Other languages
English (en)
French (fr)
Inventor
陈如新
杜德涛
Original Assignee
睿镞科技(北京)有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 睿镞科技(北京)有限责任公司 filed Critical 睿镞科技(北京)有限责任公司
Publication of WO2023143594A1 publication Critical patent/WO2023143594A1/zh

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present disclosure relates to the field of radar technology, and more particularly, to an optical scanning assembly, a laser system, and a laser measurement method.
  • Radar is an electronic device that uses electromagnetic waves to detect target objects.
  • the radar emits electromagnetic waves to the target object and receives its echoes. After processing, the distance, azimuth, height and other information from the target object to the electromagnetic wave emission point can be obtained.
  • lidar Radar that uses laser light as its working beam is called lidar.
  • the optical scanning components of lidar in the related art usually can only realize low-speed and large-angle scanning or high-speed and small-angle scanning, but cannot simultaneously realize high-speed and large-angle scanning.
  • the present disclosure relates to optical scanning assemblies, laser systems and laser measurement methods.
  • the light scanning assembly may include:
  • the first scanning part synchronously deflects the received emitted light along the first scanning direction and the second scanning direction; wherein, the first scanning direction is not in the same direction as the second scanning direction;
  • a plurality of light deflecting components sequentially receive multiple groups of the emitted light deflected by the first scanning part within the scanning time of the current frame;
  • the component of the angle along the first scanning direction between at least two of the light deflecting components and the line connecting the first scanning component is less than or equal to that of the first scanning component along the The viewing angle of the first scanning direction; the at least two light deflecting parts
  • the absolute value of the angle difference between the length direction of the member and the second scanning direction is greater than zero and less than or equal to the viewing angle of the first scanning member along the second scanning direction;
  • the included angle between the two ends in the length direction and the line connecting the first scanning part is greater than or equal to the field angle of the first scanning part along the second scanning direction.
  • the light scanning assembly may include:
  • the first scanning part at least deflects the received emitted light along the second scanning direction
  • a plurality of light deflecting components arranged in sequence along the second scanning direction; the first light deflecting component is used to receive the emitted light deflected by the first scanning part, and two adjacent light deflecting components One of the light deflecting components in the components is located on the transmission light path of the other said light deflecting component; the last said light deflecting component is a reflector or a beam splitter, and the remaining said light deflecting components are all beam splitters; Among the beam splitters, the rear beam splitter can reflect at least part of the emitted light transmitted by the front beam splitter; the emitted light reflected by at least one of the beam splitters and the transmitted emitted light differ in wavelength or polarization; and
  • the scanning direction of the second scanning part includes the first scanning direction; the second scanning part is used to deflect the emitted light reflected by the light deflecting component in a deflected direction and illuminate at least one target object in the target scene; wherein , the first scanning direction is different from the second scanning direction; and
  • the component of the angle along the first scanning direction between at least two of the light deflecting components and the line connecting the first scanning component is less than or equal to that of the first scanning component along the The viewing angle of the first scanning direction; the absolute value of the difference between the angles at which the length directions of the at least two light deflection components deviate from the second scanning direction is greater than zero and less than or equal to the first scanning direction The viewing angle of the component along the second scanning direction; the included angle between the two ends of the light deflecting component along its length direction and the line connecting the first scanning component is greater than or equal to that of the first scanning component The angle of view along the second scan direction.
  • the light scanning assembly may include:
  • a plurality of first scanning parts arranged in sequence along the first scanning direction; the first scanning parts are used to at least deflect the received emitted light along the second scanning direction;
  • a plurality of light deflecting components are provided in one-to-one correspondence with the first scanning part; each of the light deflecting components is used to receive the emitted light deflected by the corresponding first scanning part, and finally
  • the latter light deflecting component is a reflector or a beam splitter, and the rest of the light deflecting components are all beam splitters, and at least one of the beam splitters reflects the emitted light and the transmitted emitted light has different wavelength or polarization ;as well as
  • the scanning direction of the second scanning part includes the first scanning direction; the second scanning part is used to deflect the emitted light reflected by the light deflecting component in a deflected direction and illuminate at least one target object in the target scene; wherein , the first scanning direction is different from the second scanning direction; and
  • the absolute value of the angle difference between the length direction of at least two of the light deflecting components from the second scanning direction in the plurality of light deflecting components is greater than zero and less than or equal to The angle of view of the first scanning direction; the angle between the two ends of the light deflecting member along its length direction and the line connecting the first scanning part is greater than or equal to that of the first scanning part along the Field of view in the second scan direction.
  • a laser system may include:
  • the light emitting component generates a transmitting signal and sequentially emits multiple groups of the transmitting light within the scanning time of the frame according to the transmitting signal;
  • the light scanning component described in the above embodiment sequentially deflects the directions of multiple sets of emitted light emitted by the light emitting component according to the scanning control signal, and then illuminates at least one target object in the target scene.
  • the laser measurement method may include:
  • the component of the included angle between the line connecting at least two light deflecting components and the first scanning part in the plurality of light deflecting parts along the first scanning direction is smaller than or equal to that of the first scanning part along the second scanning direction
  • the viewing angle of a scanning direction, and the absolute value of the difference between the angles at which the length directions of at least two light deflection components deviate from the second scanning direction is greater than zero and less than or equal to the viewing angle of the first scanning part along the second scanning direction
  • the angle between the two ends of the light deflecting component along its length direction and the line connecting the first scanning part is greater than or equal to the field angle of the first scanning part along the second scanning direction, so the light scanning component adopts multiple
  • the light deflecting part can expand its scanning range, and realize high-speed and large-angle scanning under the premise of low cost.
  • FIG. 1 is one of the structural schematic diagrams of an optical scanning component according to Embodiment 1 of the present disclosure
  • FIG. 2 is a second structural schematic diagram of an optical scanning component according to Embodiment 1 of the present disclosure
  • FIG. 3 is a third structural schematic diagram of an optical scanning component according to Embodiment 1 of the present disclosure.
  • FIG. 4 is a schematic diagram of a first area and a second area according to an embodiment of the disclosure.
  • FIG. 5 is a fourth structural schematic diagram of an optical scanning component according to Embodiment 1 of the present disclosure.
  • FIG. 6 is a schematic structural diagram of an optical scanning component according to Embodiment 2 of the present disclosure.
  • FIG. 7 is a schematic structural diagram of an optical scanning component according to Embodiment 3 of the present disclosure.
  • FIG. 8 is one of block diagrams of a laser system according to Embodiment 4 of the present disclosure.
  • FIG. 9 is the second block diagram of a laser system according to Embodiment 4 of the present disclosure.
  • FIG. 10 is one of schematic diagrams of dynamic bias voltage changes with time according to Embodiment 4 of the present disclosure.
  • Fig. 11 is the second schematic diagram of the change of dynamic bias voltage with time according to the fourth embodiment of the present disclosure.
  • Fig. 12 is the variation of the voltage value of the comparative input over time according to Embodiment 4 of the present disclosure schematic diagram
  • FIG. 13 is a schematic diagram of a transmitting field of view and a receiving field of view according to Embodiment 4 of the present disclosure
  • FIG. 14 is a schematic flowchart of a laser measurement method according to Embodiment 5 of the present disclosure.
  • an embodiment of the present disclosure provides an optical scanning assembly, which includes a first scanning component 100 and a plurality of light deflecting components; wherein, the first scanning component 100 transmits the received The light is deflected synchronously along a first scanning direction and a second scanning direction, the first scanning direction being different from the second scanning direction.
  • a plurality of light deflecting components sequentially receive multiple groups of emitted light deflected by the first scanning part 100 within the scanning time of the frame; at least two of the multiple light deflecting components and the first scanning part 100
  • the component of the included angle along the first scanning direction is less than or equal to the field angle of the first scanning part 100 along the first scanning direction; the absolute value of the difference between the angles at which the length directions of at least two light deflecting components deviate from the second scanning direction greater than zero and less than or equal to the viewing angle of the first scanning part 100 along the second scanning direction;
  • the included angle between the lines is greater than or equal to the field angle of the first scanning part 100 along the second scanning direction.
  • the first scanning direction and the second scanning direction are a horizontal direction, a vertical direction or an oblique direction; wherein, the oblique direction is between the vertical direction and the horizontal direction.
  • the light deflecting component may be, but not limited to, a deflecting mirror or a scanning element.
  • the light deflecting components are deflecting mirrors, and at least two light deflecting components include a first deflecting mirror 210 and a second deflecting mirror 220 .
  • the mirror surface of the first scanning part 100 swings in the horizontal direction around a certain vertical axis within the scanning duration of this frame, and at the same time, the first The mirror surface of the scanning part 100 will swing in the vertical direction around a certain horizontal axis.
  • the emitted light is reflected by the first scanning part 100 and deflected ( ⁇ 1 , ⁇ 2 ). Since the mirror surface of the first scanning part 100 rotates at different angles each time, each group of emitted light is deflected by the first scanning part 100 and shoots in different directions.
  • the first deflecting mirror 210 another at least one set of emitted light is directed to the second deflecting mirror 220 .
  • the viewing angle of the first scanning part 100 along the first scanning direction, that is, along the horizontal direction is ⁇
  • the viewing angle of the first scanning part 100 along the second scanning direction is ⁇ . Since the angle at which the longitudinal direction of the first deflecting mirror 210 deviates from the vertical direction is Z 1 , the angle at which the longitudinal direction of the second deflecting mirror 220 deviates from the vertical direction is Z 2 , Z 1 ⁇ Z 2 , and
  • the fan-shaped surface of this group of emitted light in the target scene 920 is a strip-shaped area, that is, the first area 211; similarly, along the vertical direction, from the first scanning part 100 to the second deflection mirror 220 After the emitted light is deflected by the second deflection mirror 220 , it will also form a fan-shaped surface with ⁇ as the central angle.
  • the projected area of the group of emitted light in the target scene 920 is also a strip area, that is, the second area 221 .
  • the central angle of the fan-shaped surface jointly formed by each group of emitted light after being deflected by the first deflection mirror 210 and the second deflection mirror 220 is exactly equal to 2 ⁇ , that is to say, the viewing angle of the light scanning component 600 along the second scanning direction field angle Then it is exactly equal to 2 ⁇ .
  • the central angle of the fan-shaped surface jointly formed by each group of emitted light after being deflected by the first deflection mirror 210 and the second deflection mirror 220 is greater than ⁇ and less than 2 ⁇ , that is to say, the light scanning component 600 along the first deflection FOV in two scanning directions Then it is greater than ⁇ and less than 2 ⁇ .
  • the component ⁇ of the angle between the line connecting the first deflecting mirror 210 and the first scanning part 100 and the connecting line between the second deflecting mirror 220 and the first scanning part 100 along the first scanning direction is smaller than or equal to the first The field angle ⁇ of the scanning part 100 along the first scanning direction, and the angle between the two ends of the first deflecting mirror 210 along its length direction and the line connecting the first scanning part 100 is greater than or equal to that of the first scanning part 100
  • the angle of view ⁇ along the second scanning direction, the angle between the two ends of the second deflection mirror 220 along its length direction and the line connecting the first scanning part 100 is greater than or equal to that of the first scanning part 100 along the second scanning direction.
  • the field angle ⁇ of the direction so the first scanning part 100 can reflect the emitted light when passing the first deflecting mirror 210 or the second deflecting mirror 220 during scanning along the first scanning direction, and at the same time, it can reflect the emitted light along the second scanning direction
  • the emitted light is reflected at any angle within the viewing angle ⁇ , so that each group of emitted light is projected on the first region 211 and the second region 221 respectively.
  • the optical scanning component 600 in the embodiment of the present disclosure can expand its scanning range by using a plurality of deflection mirrors, and realize high-speed and large-angle scanning at low cost.
  • the first area 211 and the second area 221 partially overlap.
  • the ratio of the length d 12 of the overlapping portion of the first region 211 and the second region 221 along the first scanning direction to the first reference length is greater than the first overlapping threshold T 1 , and the first reference length is the first region 211 along the first scanning direction.
  • the first overlapping threshold T 1 is less than or equal to 1, and its value may be but not limited to 1, 0.9, 0.8 or 0.6.
  • the ratio of the length l12 of the overlapping portion of the first region 211 and the second region 221 along the second scanning direction to the second reference length is less than the second overlapping threshold T2 ;
  • the second reference length is the first region 211 along the second scanning direction
  • the second overlapping threshold T 2 is also less than or equal to 1, and the value of the second overlapping threshold may be, but not limited to, 0, 0.1, 0.2 or 0.5.
  • the light scanning assembly 600 further includes a second scanning part 300 .
  • the scanning direction of the second scanning part 300 includes the first scanning direction
  • the second scanning part 300 is used to The emitted light deflects the direction and irradiates at least one target object 910 in the target scene 920 .
  • the second scanning part 300 can also be used to deflect at least one set of reflected light reflected by the at least one target object 910 in a deflecting direction.
  • the angles at which the light deflecting components deviate from the second scanning direction are different.
  • the centers of the mirror surfaces of the plurality of deflection mirrors are coplanar with the center of the reflective surface of the second scanning part 300 and parallel to the first scanning direction.
  • the field angle of the first scanning part 100 along the first scanning direction is ⁇
  • at least one One group of emitted light is directed to the first deflecting mirror 210
  • at least one other group of emitted light is directed to the second deflecting mirror 220 .
  • the first deflection mirror 210 deflects the direction of the received emitted light and then shoots it to the second scanning part 300
  • the second deflection mirror 220 deflects the direction of the received emitted light and then shoots it to the second scanning part 300
  • the second scanning part 300 deflects the received multiple groups of emission along the first scanning direction, that is, the horizontal direction, and shoots them to the target scene 920, wherein the projected area of the emitted light deflected by the first deflection mirror 210 in the target scene 920 is as shown in FIG. 1
  • the projection area of the emitted light deflected by the second deflection mirror 220 in the target scene 920 is the second area 221 in FIG. 1 .
  • the component ⁇ of the angle between the line connecting the first deflecting mirror 210 and the first scanning part 100 and the connecting line between the second deflecting mirror 220 and the first scanning part 100 along the first scanning direction is less than or equal to that of the first scanning part 100 along the first scanning direction of the viewing angle ⁇ , and the angle between the two ends of the first deflecting mirror 210 along its length direction and the line connecting the first scanning part 100 is greater than or equal to the first scanning part 100 along the first scanning part 100
  • the angle of view ⁇ in the two scanning directions, the angle between the two ends of the second deflection mirror 220 along its length direction and the line connecting the first scanning part 100 is greater than or equal to that of the first scanning part 100 along the second scanning direction Angle of view ⁇ , so the first scanning part 100 can reflect the emitted light when passing through the first deflecting mirror 210 or the second deflecting mirror 220 during scanning along the first scanning direction, and at the same time, the field of view along the second scanning direction The emitted light is reflected at any angle within
  • the first scanning element 100 may include, but is not limited to, at least one of a MEMS galvanometer, an optical phased array, a liquid crystal scanning element, a photoelectric deflection device, and an acousto-optic deflector.
  • the second scanning part 300 may include, but is not limited to, at least one of a rotating prism, an optical phased array, a photoelectric deflection device, a liquid crystal scanning part, a rotating wedge mirror and a swing mirror.
  • liquid The crystal scanning part includes a liquid crystal spatial light modulator, a liquid crystal supercrystal surface, a liquid crystal line array, a see-through one-dimensional liquid crystal array, a transmissive two-dimensional liquid crystal array or a liquid crystal display module.
  • the light deflection component can also be the intermediate scanning part 200 in addition to the deflection mirror.
  • the scanning direction of the intermediate scanning member 200 includes the first scanning direction; within the first scanning period, at least two intermediate scanning members 200 along the first scanning direction have different deflection angles to the corresponding emitted light.
  • the ratio of the rate of change of the scanning angle of the intermediate scanning part 200 along the first scanning direction to the rate of change of the scanning angle of the first scanning part 100 along the second scanning direction is less than the threshold value of the rate of change; wherein, the first scanning duration is greater than or equal to the second scanning Twice the duration, and the first scanning duration is less than the scanning duration of this frame; the second scanning duration is the duration of the first scanning part 100 scanning once along the second scanning direction; the change rate thresholds are 1/2, 1/4, 1/ 8, 1/16, 1/100 or 1/1000.
  • the intermediate scanning part 200 can be but not limited to a liquid crystal scanning part, and the liquid crystal scanning part includes a liquid crystal spatial light modulator, a liquid crystal supercrystal surface, a liquid crystal wire-controlled array, a see-through one-dimensional liquid crystal array, a transmissive two-dimensional liquid crystal array or a liquid crystal Display mods.
  • the liquid crystal scanning part includes a liquid crystal spatial light modulator, a liquid crystal supercrystal surface, a liquid crystal wire-controlled array, a see-through one-dimensional liquid crystal array, a transmissive two-dimensional liquid crystal array or a liquid crystal Display mods.
  • the two intermediate scanning parts 200 since the component ⁇ of the angle between the two intermediate scanning parts 200 and the line connecting the first scanning part 100 along the first scanning direction is less than or equal to the first scanning part 100 along the first
  • the field angle ⁇ in the scanning direction, and the angle ⁇ between the two ends of each intermediate scanning part 200 along its length direction and the line connecting the first scanning part 100 is greater than or equal to the first scanning part 100 along the second scanning
  • the field angle ⁇ of the direction, and the rate of change of the scanning angle of the intermediate scanning part 200 along the first scanning direction is smaller than the rate of change of the scanning angle of the first scanning part 100 along the second scanning direction, and the two intermediate scanning parts along the first scanning direction 200 respectively deflects the corresponding emitted light to different directions. Therefore, as shown in FIG. 5 , along the horizontal direction, the central angle ⁇ greater than ⁇ .
  • the scanning angle of at least one intermediate scanning member 200 along the first scanning direction remains unchanged, that is, the intermediate scanning member 200 stops scanning during this time period.
  • the third scanning duration is greater than or equal to the second scanning duration, and the third scanning duration is less than or equal to the first scanning duration.
  • the embodiment of the present disclosure also provides another optical scanning assembly, which includes a first scanning part 100 , a second scanning part 300 and a plurality of light deflecting components.
  • the first scanning part 100 at least deflects the received emitted light along the second scanning direction; a plurality of light deflecting components are arranged in sequence along the second scanning direction, and the first light deflecting part is used to receive the light transmitted by the first scanning part 100
  • the deflected emitted light one of the two adjacent light deflection components is located on the transmission light path of the other light deflection component; the last light deflection component is a reflector 240 or a beam splitter, and the remaining light deflection components are all beam splitters mirror 230; the beam splitter 230 in the back of the two adjacent beam splitters 230 can reflect at least part of the emitted light transmitted by the front beam splitter 230; the wavelength or polarization of the emitted light reflected by at least one beam splitter 230 and the
  • the scanning direction of the second scanning part 300 includes the first scanning direction; the second scanning part 300 is used to deflect the direction of the emitted light reflected by the light deflecting component and irradiate at least one target object 910 in the target scene 920; wherein, The first scanning direction is different from the second scanning direction.
  • the component of the angle along the first scanning direction between at least two of the light deflecting components and the line connecting the first scanning component 100 is less than or equal to the field angle of the first scanning component 100 along the first scanning direction
  • the difference between the angles at which the length directions of at least two light deflecting components deviate from the second scanning direction is greater than zero and less than or equal to the field angle of the first scanning part 100 along the second scanning direction;
  • the included angle between the ends and the line connecting the first scanning part 100 is greater than or equal to the field angle of the first scanning part 100 along the second scanning direction.
  • one light deflection component is a beam splitter 230 and the other light deflection component is a reflector 240 as an example, the beam splitter 230 and the reflector 240 are arranged in sequence along the second scanning direction, and the beam splitter 230 Adjacent to the first scanned part 100 .
  • the first scanning direction is the horizontal direction
  • the second scanning direction is the vertical direction
  • the field angle of the first scanning part 100 along the second scanning direction, that is, the vertical direction is ⁇
  • the length direction of the beam splitter 230 deviates from the vertical direction
  • the angle of is Z 1
  • the angle at which the length direction of the mirror 240 deviates from the vertical direction is Z 2 , Z 1 ⁇ Z 2 , and
  • the first scanning part 100 receives at least In the case of one group of emitted light with a wavelength of ⁇ 1 and at least one group of emitted light with a wavelength of ⁇ 2 , each group of emitted light passes through the deflection direction of the first scanning part 100 and then irradiates to the beam splitter 230 in sequence.
  • the emitted light with a wavelength of ⁇ 1 is reflected from the semi-transparent surface of the beam splitter 230 to the second scanning part 300, while the emitted light with a wavelength of ⁇ 2 is directly directed to the mirror 240 through the beam splitter 230, and the mirror 240 will The received transmitted light is reflected to the Two scanned copies of 300.
  • the first scanning part 100 receives at least one set of emitted light with a polarization of v1 and at least one set of emitted light with a polarization of v2 , each set of emitted light passes through the deflection direction of the first scanning part 100 Afterwards, they are sent to the beam splitter 230 in turn.
  • the emitted light with a polarization of v1 is reflected from the semi-transparent surface of the beam splitter 230 to the second scanning part 300 , while the emitted light with a polarization of v2 passes through the beam splitter 230 in turn and directly goes to the reflector 240 .
  • the reflection mirror 240 reflects the received emitted light to the second scanning part 300 .
  • the second scanning part 300 sequentially deflects the directions of each group of emitted light received along the first scanning direction, and then shoots to the target scene 920 .
  • the viewing angle ⁇ of the optical scanning assembly 600 along the first scanning direction is greater than ⁇ , and the viewing angle along the second scanning direction exactly equal to 2 ⁇ .
  • the number of light deflecting components is greater than 2, for example, when there are 4 light deflecting components, then the first three light deflecting components are beam splitters 230, and the last light deflecting components are reflective mirrors 240 or beam splitters. mirror.
  • the first scanning element 100 may include, but is not limited to, at least one of a MEMS galvanometer, an optical phased array, a liquid crystal scanning element, a photoelectric deflection device, and an acousto-optic deflector.
  • the second scanning part 300 may include, but is not limited to, at least one of a rotating prism, an optical phased array, a photoelectric deflection device, a liquid crystal scanning part, a rotating wedge mirror and a swing mirror.
  • the first scanning direction and the second scanning direction are a horizontal direction, a vertical direction or an oblique direction; wherein, the oblique direction is between the vertical direction and the horizontal direction.
  • an embodiment of the present disclosure provides yet another optical scanning assembly, which includes a second scanning element 300 , a plurality of first scanning elements 100 and a plurality of light deflecting components.
  • a plurality of first scanning parts 100 are arranged in sequence along the first scanning direction, and the first scanning parts 100 are used to at least deflect the received emitted light along the second scanning direction;
  • each light deflection component is used to receive the emitted light deflected by the corresponding first scanning part 100
  • the last light deflection component is a reflector or a beam splitter
  • the remaining light deflection components are all beam splitters 230, at least The emitted light reflected by one beam splitter 230 is different in wavelength or polarized from the transmitted emitted light.
  • the scanning direction of the second scanning part 300 includes the first scanning direction; the second scanning part 300 is used to deflect the direction of the emitted light reflected by the light deflecting component and irradiate at least one target object 910 in the target scene 920; wherein, The first scanning direction is different from the second scanning direction; wherein, a plurality of light
  • the component of the angle along the first scanning direction between at least two light deflecting components and the line connecting the first scanning component 100 in the deflecting components is less than or equal to the field angle of the first scanning component 100 along the first scanning direction;
  • the angle difference between the length direction of the deflecting component and the second scanning direction is greater than zero and less than or equal to the viewing angle of the first scanning part 100 along the second scanning direction;
  • the included angle between the lines of the scanning part 100 is greater than or equal to the viewing angle of the first scanning part 100 along the second scanning direction.
  • the first scanning part 100 scans along the second scanning direction.
  • the direction, that is, the field of view angle along the vertical direction is ⁇
  • the first beam splitter 230 is arranged adjacent to the second scanning part 300, the angle at which the length direction of the first beam splitter 230 deviates from the vertical direction is Z 1
  • the second beam splitter The angle at which the length direction of the mirror 230 deviates from the vertical direction is Z 2 , Z 1 ⁇ Z 2 , and
  • the semi-transparent surface of the first beam splitter 230 can transmit the emitted light whose wavelength is ⁇ 2 or the polarization is v 2 , and the reflected wavelength is ⁇ 1 or the emitted light whose polarization is v 1 ; the second beam splitter 230
  • the semi-transparent surface can reflect the emitted light with a wavelength of ⁇ 2 or a polarization of v2 .
  • the first scanning part 100 corresponding to the first beam splitter 230 receives the emitted light with a wavelength of ⁇ 1 or a polarization of v1 , then this group of emitted light passes through the deflection direction of the first scanning part 100 and shoots to the first In the beam splitter 230, the emitted light with a wavelength of ⁇ 1 or a polarization of v1 is reflected from the semi-transparent surface of the first beam splitter 230 to the second scanning part 300.
  • the first scanning part 100 corresponding to the second beam splitter 230 receives the emitted light with a wavelength of ⁇ 2 or a polarization of v2 , then this group of emitted light passes through the deflection direction of the first scanning part 100 and shoots to the second In the beam splitter 230, the emitted light with a wavelength of ⁇ 2 or a polarization of v2 is reflected from the semi-transparent surface of the second beam splitter 230 and then passes through the first beam splitter 230 to irradiate the second scanning part 300.
  • the second scanning part 300 sequentially deflects the received above-mentioned groups of emitted light along the first scanning direction and then shoots them towards the target scene 920 .
  • the viewing angle ⁇ of the optical scanning assembly 600 along the first scanning direction is greater than ⁇ , and the viewing angle along the second scanning direction exactly equal to 2 ⁇ .
  • an embodiment of the present disclosure provides a laser system 400 , which includes a light emitting component 500 , a scanning control component and the above-mentioned light scanning component 600 .
  • the light emission component 500 generates emission signals and sequentially emits multiple groups of emission lights within the scanning time of the frame according to the emission signals
  • the scanning control part generates scanning control signals
  • the light scanning The component 600 sequentially deflects the directions of multiple sets of emitted light emitted by the light emitting component 500 according to the scanning control signal, and then illuminates at least one target object 910 in the target scene 920 .
  • the emission signal includes wavelength information representing the wavelength of the emission light and/or polarization information representing the polarization of the emission light.
  • the light emitting component 500 sequentially emits multiple sets of emitted light with different wavelengths outward according to the wavelength information.
  • the light emitting component 500 can also sequentially emit multiple sets of emitted light with different polarizations according to the polarization information.
  • the laser system 400 also includes a receiver assembly 700 and a processing device 800 .
  • the receiving end component 700 converts at least one group of reflected light after the emitted light is reflected by at least one target object 910 in the target scene 920 into an output signal; wherein, the type of the output signal is an electrical signal.
  • the processing device 800 is electrically connected to the light emitting assembly 500, the scanning control part, and the receiving end assembly 700 respectively; the processing device 800 is used to determine the distance and target of the target object 910 according to at least one of the scanning control signal, the transmitting signal and the output signal. at least one of the direction angle of the object 910 , the reflectivity of the target object 910 , and the profile of the target object 910 .
  • the receiving end component 700 includes a light receiving component 710 and a photoelectric conversion component 720; wherein, the light receiving component 710 sequentially receives multiple groups of reflected light reflected by the target object 910 and sequentially converts multiple groups of reflected light into corresponding First optical signal; the photoelectric conversion component 720 sequentially converts a plurality of first optical signals into corresponding first electrical signals.
  • the first electrical signal serves as the output signal.
  • the light receiving component 710 includes at least one lens group, and the lens group includes at least one receiving lens located on the optical path of the reflected light. In a case where the light receiving assembly 710 includes multiple sets of lens groups, the multiple sets of lens groups may be sequentially disposed along the first scanning direction.
  • the receiving end component 700 includes a light receiving component 710, a photoelectric conversion component 720 and an electrical amplification module 740; , the light receiving component 710 sequentially receives multiple groups of reflected light reflected by the target object 910 and sequentially converts the multiple groups of reflected light into corresponding first optical signals; the photoelectric conversion component 720 sequentially converts multiple first optical signals into corresponding first optical signals An electrical signal, the electrical amplification module 740 is used to amplify the first electrical signal into a second electrical signal. In this case, the second electrical signal serves as the output signal.
  • the emission signal includes time information indicative of an emission start time for each group of emission lights.
  • the target object 910 is far away from the light emitting component 500 , the time for the emitted light emitted by the light emitting component 500 to irradiate the target object 910 and then reflected by the target object 910 to the receiving end component 700 is longer. Similarly, if the target object 910 is closer to the light emitting component 500 , the time for the emitted light emitted by the light emitting component 500 to irradiate the target object 910 and then reflected by the target object 910 to the receiving end component 700 is shorter.
  • the duration can represent the distance of the target object 910, that is to say, if the receiving end component 700 receives the reflected light within the first preset duration from the start of emission of the emitted light, it means that the target object 910 is relatively close , otherwise it means that the distance is far. Therefore, in order to prevent the reflected light from being too strong at a short distance, resulting in serious saturation and distortion of the electrical signal after photoelectric conversion and amplification, and also to avoid the first electrical signal being too weak due to too weak reflected light at a long distance, the present disclosure
  • the receiver component 700 further includes a bias voltage module 730 .
  • the bias voltage module 730 provides a dynamic bias voltage; the absolute value of the dynamic bias voltage changes from the start moment of transmission to the first predetermined threshold value according to the first preset law in the first preset time length, and remains not less than the first predetermined threshold.
  • a predetermined threshold for a second predetermined duration, and the absolute value of the dynamic bias voltage is less than the first predetermined threshold within the first predetermined duration.
  • the photoelectric conversion component 720 is used to sequentially convert the first optical signal into the corresponding first electrical signal according to the dynamic bias voltage; The moment when the light is received by the receiver component 700 .
  • the target object 910 is far away from the light emitting component 500 , compared with the emitted light emitted by the light emitting component 500 , the light intensity of the reflected light received by the light receiving component 710 is significantly attenuated. Since the absolute value of the dynamic bias voltage changes from the start of emission to the first predetermined threshold for the first preset time length and remains not less than the first predetermined threshold for the second preset time length, it can be seen from the above that the emitted light travels far It takes a long time to reflect back from the target object 910, so the absolute value of the dynamic bias voltage corresponding to the moment when the light receiving component 710 receives the reflected light is not less than the first predetermined threshold, so that the photoelectric conversion component 720 The weaker optical signal can be converted into a stronger first electrical signal.
  • the target object 910 is closer to the light emitting component 500, compared to the emitted light emitted by the light emitting component 500, the reflected light received by the light receiving component 710 Light intensity attenuation is less. Since the absolute value of the dynamic bias voltage is less than the first predetermined threshold within the first preset time period from the start of emission, it can be seen from the above that it takes a short time for the emitted light to be reflected back by the short-distance target object 910, so the light The absolute value of the dynamic bias voltage corresponding to the moment when the receiving component 710 receives reflected light is smaller than the first predetermined threshold, so that the photoelectric conversion component 720 can convert a strong optical signal into a relatively weak first threshold according to the dynamic bias voltage. Electrical signals to avoid saturation distortion of strong optical signals after being amplified by photoelectric conversion.
  • the laser system in the embodiment of the present disclosure is based on the principle that the intensity of the light beam decays with the increase of the propagation distance, that is, the propagation time during the propagation process. It is possible to make the reflected light reflected from the distant target object 910 correspond to a dynamic bias voltage with a large absolute value, that is, the absolute value of the dynamic bias voltage is not less than the first predetermined threshold, so that the light reflected from the short-distance target object 910
  • the dynamic bias voltage corresponding to the reduced absolute value of the reflected light, that is, the absolute value of the dynamic bias voltage is less than the first predetermined threshold, so that it can not only improve the measurement accuracy at short distances, but also avoid the saturation of short-distance reflected light beams after being amplified by photoelectric conversion Distortion without affecting the long-distance detection ability.
  • the radar system in the embodiment of the present disclosure is described below by taking the negative dynamic bias voltage provided by the bias voltage module 730, that is, the dynamic bias voltage is less than zero, as an example:
  • the first preset law may be but not limited to that the dynamic bias voltage has an overall downward trend with time, that is, the absolute value of the dynamic bias voltage within the first preset time period There is an overall upward trend.
  • the dynamic bias voltage presents a non-linear monotonous decrease from time t 1 to time t 2 , decreases to the dynamic final bias voltage at -180v at time t 2 , and reaches Constantly stabilized at a dynamic final bias voltage.
  • time t 1 is the start time of transmission
  • t 2 -t 1 is the first preset duration
  • t 3 -t 2 is the second preset duration
  • the first predetermined threshold is the absolute value of the dynamic final bias voltage.
  • the first preset duration and/or the second preset duration can be determined according to factors such as the intensity of emitted light, environmental conditions such as atmospheric transmission conditions, for example, the first preset duration is less than 1 us, and the second preset duration is 1us. If the target object 910 is closer to the light-emitting component 500, the time for the emitted light to irradiate the target object 910 and the time for the emitted light to be reflected by the target object 910 to the light-receiving component 710 are both shorter, so that the light-receiving component 710 receives the reflected light The moment of time t' (not shown in the figure) is earlier than time t.
  • bias voltage module 730 While the bias voltage module 730 is in The dynamic bias voltage provided at time t' is greater than -180v, that is to say, the absolute value of the dynamic bias voltage at time t' is less than the first predetermined threshold, that is, less than 180v, so that the photoelectric conversion component 720 according to the dynamic bias at time t'
  • the voltage can convert the strong optical signal into a relatively weak first electrical signal, avoiding the saturation distortion of the strong optical signal after being amplified by photoelectric conversion.
  • the time for the emitted light to irradiate the target object 910 and the time for the emitted light to be reflected by the target object 910 to the light-receiving component 710 are both longer, so that the light-receiving component 710 receives
  • the moment to the reflected light that is, t" moment (not shown in the figure) is later than t2 moment.
  • the dynamic bias voltage provided by the bias voltage module 730 at t" moment is -180v, that is to say, at t' moment
  • the absolute value of the dynamic bias voltage is equal to the first predetermined threshold, namely 180v, so that the photoelectric conversion component 720 can convert the weaker optical signal into a stronger first electrical signal according to the dynamic bias voltage at time t′′.
  • the absolute value of the dynamic bias voltage can be stabilized at the first predetermined threshold from time t2 to time t3 , or can be gradually increased to be greater than the first predetermined threshold.
  • the processing device 800 may determine at least one of the distance of the target object 910, the direction angle of the target object 910, the reflectivity of the target object 910, and the outline of the target object 910 based on various methods, for example, processing The apparatus 800 may determine the distance of the target object 910 based on methods such as time-of-flight, phase ranging, or triangulation ranging.
  • the processing device 800 determines the distance of the target object 910 based on the time-of-flight method
  • the processing device 800 includes a processor 830 , at least one comparator 810 , and a duration determination module 820 corresponding to the comparator 810 one-to-one.
  • the electrical amplification module 740 includes multiple amplifiers connected in series or in parallel, and the intensity of the amplified electrical signal output by at least one of the multiple amplifiers is less than half of the intensity of the amplified electrical signal output by the other amplifier.
  • at least the output terminal of the amplifier outputting the largest amplified electrical signal is connected to the input terminal of at least one comparator 810, and the comparison inputs of the comparator 810 correspond to the amplifiers one by one.
  • the amplified electrical signal output by the last stage amplifier is the largest, if the number of comparators 810 is one, then the number of comparators 810 is one In the case of , the comparator 810 is connected to the duration determination module 820 through the last stage amplifier; when there are multiple comparators 810, the output terminals of multiple amplifiers are connected to the comparator 810, and each comparator 810 The voltage values of the compare inputs are different.
  • the comparator 810 is connected to the comparison input, which is used to compare the voltage value of the comparison input with the electrical signal output by the corresponding amplifier to determine the trigger start time, trigger end time and pulse width; wherein, the trigger start time and trigger end time Respectively, the intensity of the electrical signal output by the amplifier is higher than the start time and end time of the voltage value compared to the input, and the pulse width is the difference between the trigger end time and the trigger start time; the duration determination module 820 corresponds to the comparator 810 one-to-one The duration determination module 820 is used to determine the light flight duration according to the emission start moment and the corresponding trigger start moment output by the comparator 810 .
  • the processor 830 determines at least one of the distance, direction angle, reflectivity, and profile of the target object 910 according to at least one of the light flight duration, the pulse width, the intensity of the second electrical signal, and the speed of light.
  • the processor 830 determines the distance of the target object 910 according to the time-of-flight method. Since the trigger start time is affected by the voltage value of the comparison input, and the corresponding pulse width is also different when the voltage value of the comparison input of the electrical signal output by the trigger amplifier is different, so in order to reduce the above-mentioned influence, the processor 830 firstly according to the pulse width The light flight time is corrected, and then the distance of the target object 910 is determined according to the light speed and the corrected light flight time.
  • the comparison input may be a dynamic voltage curve input to the comparator 810 from outside, or a dynamic voltage curve pre-stored in the comparator 810 .
  • the duration determination module 820 may be, but not limited to, a TDC (time-to-digital converter, referred to as a time-to-digital converter).
  • the duration determining module 820 and the processor 830 may be independent components, or may be integrated into one component.
  • the light intensity of the reflected light reflected by the short-distance target object 910 is relatively strong, while the light intensity of the reflected light reflected by the long-distance target object 910 is relatively weak, in the case of comparing the input voltage value to a fixed value, if the comparison input If the voltage value is too small, the second electrical signal converted by the short-distance reflected light may cause noise or saturation of the comparator 810; The second electrical signal converted by light cannot be triggered. Therefore, in order to avoid the occurrence of the above situation, as shown in FIG.
  • the preset rule changes dynamically so as to improve the short-distance resolution ability of the comparator 810 without affecting the long-distance detection ability.
  • the voltage value of the comparison input changes dynamically according to a second preset rule from the start moment of emission, and the range of change within the first preset time period is greater than the second preset change threshold.
  • the second preset rule is that the voltage value of the comparison input shows an overall downward trend with time. For example, as shown in FIG. 12 , the second preset law is monotonically decreasing. If the target object 910 is closer to the light emitting component 500, then the time for the emitted light emitted by the light emitting component 500 to be reflected by the target object 910 to the receiving end component 700 is shorter, so that the time when the second electrical signal is input to the comparator 810 corresponds to the comparison The input voltage is relatively large, thereby avoiding noise or saturation of the comparator 810 .
  • the second preset law can also present an overall downward trend in a form similar to a sine wave, or an overall downward trend in a form similar to a square wave. Certainly, the second preset law may also be that the voltage value of the comparison input changes according to a sine or square wave law over time, so as to improve the detection capability of the local distance according to the distance segment.
  • the light scanning component 600 is further configured to generate the current scanning angle signal while deflecting the reflected light reflected by the target object 910; the processing device 800 is also configured to At least one of the signal, the output signal and the position on the photoelectric conversion component 720 where the first electrical signal is output determines the irradiation angle at which the emitted light is irradiated to the target object 910 .
  • the photoelectric conversion component 720 includes a plurality of photoelectric conversion units
  • “the position on the photoelectric conversion component 720 that outputs the first electrical signal” generally refers to the position of the photoelectric conversion unit that outputs the first electrical signal.
  • the multiple sets of emitted light include at least one set of first emitted light and at least one set of second emitted light, and the emitted light of the first emitted light The moment is earlier than the emission moment of the second emitted light, the reflected light after the first emitted light is reflected by the corresponding target object 910 is converted into an output signal, and the second emitted light is converted into an output signal.
  • the emitted light is visible light, that is, the first emitted light is used to measure at least one of the distance, direction angle, reflectivity or profile of the target object 910, and the second emitted light is used to project an image.
  • the light scanning component 600 is configured to project the second emitted light on the plurality of target objects 910 according to a preset effect according to at least one of distance, irradiation angle, reflectivity and profile after the first emitted light is irradiated to the plurality of target objects 910 The surface of one of the target objects 910 in .
  • the second emitted light is projected on the surface of the target object 910 according to at least one of the distance of the target object 910, the angle of illumination, the reflectivity of the target object 910, and the outline of the target object 910, the second emitted light is projected on the surface of the target object 910.
  • the imaging can reproduce the real image.
  • the light emitting assembly 500 emits at least one set of first emitted light to the surface of the target object 910 through the probe assembly, and then emits at least one set of second emitted light.
  • the processor 830 determines at least one of the distance of the target object 910, the reflectivity of the target object 910, and the profile of the target object 910 according to the emission signal and/or output signal corresponding to the first emission light, and at the same time, the processor 830 also According to at least one of the scan control signal, the current scan angle signal, the output signal and the position on the photoelectric conversion component 720 where the first electrical signal is output, the irradiation angle of the emitted light to the target object 910 is determined. Afterwards, the light scanning assembly 600 sends the second emitted light such as insect The image is projected on the surface of the target object 910 .
  • the second emitted light is projected on the surface of the target object 910 according to at least one of the distance of the target object 910, the irradiation angle, the reflectivity of the target object 910, and the outline of the target object 910, the image of the insect is not captured by the target object.
  • the curved surface of the object 910 is distorted, but covers the curved surface of the target object 910 according to a certain curvature, so that the target object 910 truly restores the insect.
  • the second emitted light may include, but is not limited to, at least one of red light, blue light and green light.
  • the light scanning component 600 first projects the first emitted light on the car windshield or AR glasses, and then At least one of the reflectivity of the object 910 and the outline of the target object 910 is used to project the preset virtual AR image, that is, the second emitted light. Shadows are projected onto car windshields or AR glasses to enable users to see augmented scenes of the real and virtual worlds.
  • the light scanning component 600 can also directly project the first emitted light and the second emitted light on the surfaces of two different target objects 910 respectively.
  • the laser system 400 is equivalent to a common projection device.
  • the position of the receiving field of view 701 of the receiving end component 700 in the target scene 920 changes according to a first specified law and/or the shape of the receiving field of view 701 Change according to the second specified law; from the start moment of the emission corresponding to the emitted light, the emission field of view 501 of the light emission component 500 is located in the current receiving field of view 701 within the preset receiving time length, and the area of the receiving field of view 701 Greater than or equal to twice the area of the emission field of view 501; wherein, the first specified rule includes a change along the specified direction; the emission field of view 501 is the projection area of each group of emitted light in the target scene 920, and the reception field of view 701 is in the preset It is assumed that all light beams that can be received by the receiving end component 700 within the receiving time span are in the corresponding area in the target scene 920 .
  • the position of the receiving field of view 701 in the target scene 920 changes according to the first specified law generally refers to the fact that the receiving field of view 701 is in the target scene 920 after the light emitting component 500 sequentially emits multiple sets of emitted light. The position within is changed once. For example, if the emitting field of view 501 corresponding to multiple sets of emitted light within the scan time of the current frame is distributed in a rectangular lattice, then the receiving field of view 701 moves along the width direction of the rectangular lattice at regular intervals.
  • the shape of the receiving field of view 701 in the target scene 920 changes according to the second specified law generally refers to that the receiving field of view 701 is within the target scene 920 after the light emitting component 500 sequentially emits multiple sets of emitted light. shape changes once. For example, if the emitting field of view 501 corresponding to multiple sets of emitted light within the scan time of the current frame is distributed in a circular dot matrix, then the receiving field of view 701 can be a circular area, and the width of the receiving field of view 701 increases every certain time interval.
  • the receiving field of view 701 includes At least one bar-shaped continuous area, the emitting field of view 501 corresponding to multiple groups of emitted light within the scanning time of this frame is distributed in a dot matrix, the length direction of the dot matrix is adapted to the length direction of the receiving field of view 701, and the width direction of the dot matrix is consistent with the length direction of the receiving field of view 701 Specifies that the direction is parallel.
  • the length direction of the dot matrix is adapted to the length direction of the receiving field of view 701" It generally means that the length direction of the dot matrix corresponds to the length direction of the receiving field of view 701 .
  • the light receiving assembly 710 does not include a deflection mirror such as a 45° reflector 240, Then the length direction of the dot matrix is parallel to the length direction of the receiving field of view 701 .
  • the length direction of the dot matrix is no longer parallel to the length direction of the receiving field of view 701, but parallel to the direction of the receiving field of view 701.
  • the longitudinal direction after the field 701 is deflected by 45° that is, the angle between the longitudinal direction of the dot matrix and the longitudinal direction of the receiving field of view 701 is greater than zero.
  • the receiving field of view 701 is a continuous bar-shaped area: since the area of the receiving field of view 701 corresponding to each group of emitted light is greater than or equal to twice the area of the emitting field of view 501, that is, the receiving field of view 701 The area is much larger than the area of the emission field of view 501, so the emission angle of the emission light and the direction of the reflected light to the receiving end component 700 do not need to be precisely controlled, that is, neither the emission field of view 501 nor the reception field of view 701 needs to be accurately controlled.
  • the laser system 400 in the embodiment of the present disclosure does not need to precisely deflect the emitted light and the reflected light through the light scanning component 600 to precisely and synchronously match the emitting field of view 501 and the receiving field of view 701 .
  • the quantity of emitted light emitted by the light emitting component 500 within the scanning time of this frame is greater than four groups.
  • the receiving end component 700 Taking the previous four groups of emitted light as an example, within the specified time period, that is, from the start moment of the emission of the first group of emitted light to the end of the preset receiving time after the fourth group of emitted light is emitted, the receiving end component 700’s receiving visual
  • the position of the field 701 in the target scene 920 does not change, that is to say, the emission field of view 501 corresponding to the four sets of emission light sequentially emitted by the light emission component 500 corresponds to the same receiving field of view 701, and the receiving field of view 701 is set at intervals of the above-mentioned Change the position once in the specified direction for a period of time.
  • each dotted circle in the target scene 920 in the figure is a transmission field of view 501
  • the area defined by the dotted rectangular frame in the target scene 920 in the figure is all the light beams that can be received by the receiving end component 700 in the target area.
  • the corresponding area in the scene 920 is also the current receiving field of view 701 .
  • its emission field of view 501 can be the area defined by any dotted circle in the figure, that is to say, the emission angle of the emitted light does not need to be precisely controlled, and the emitted light is projected to any one of the above-mentioned
  • the reflected light in the area defined by the dotted circle can be received by the receiving end assembly 700 . It can be seen that neither the transmitting field of view 501 nor the receiving field of view 701 needs to be precisely controlled in the embodiment of the present disclosure.
  • the receiving field of view 701 includes a plurality of bar-shaped continuous areas: since the emission start moment of the corresponding emission light is emitted, the emission field of view 501 of the light emitting component 500 is located in the current receiving field of view within the preset receiving time length.
  • the length direction of the dot matrix is adapted to the length direction of the receiving field of view 701, therefore, each continuous area of the receiving field of view 701 is in one-to-one correspondence with each emitting field of view 501 of the light emitting component 500, that is to say, for any For a group of emitted light, since the emission start moment of the emitted light, multiple strip-shaped continuous areas of the receiving field of view 701 exist simultaneously within the preset receiving time length.
  • the laser system 400 in the embodiment of the present disclosure does not need to precisely deflect the reflected light reflected from the target object 910 through the light scanning component 600 to precisely and synchronously match the emission field of view 501 and the reception field of view 701 .
  • the "strip-shaped continuous area” generally refers to an area with an aspect ratio greater than 1, and the continuous area can be a polygonal area such as a rectangular area, or a curved area such as an S-shaped area. , or other irregularly shaped areas such as special-shaped areas, etc.
  • the ratio of the maximum width to the total length of at least one continuous region is smaller than the first ratio threshold, and the first ratio threshold is not greater than 0.5, for example, the first ratio threshold may be but not limited to 0.5, 0.1, 0.01, or 0.001.
  • the laser system 400 also includes a display component and/or a prompt component; wherein, the display component is used to display at least one of the distance of the target object 910, the irradiation angle, the reflectivity of the target object 910 and the outline of the target object 910
  • the prompting component is used to output a prompting signal according to at least one of the distance of the target object 910 , the irradiation angle, the reflectivity of the target object 910 and the outline of the target object 910 .
  • the prompting component may be, but not limited to, a microphone or a vibrator.
  • the laser system 400 in the embodiment of the present disclosure further includes a main housing and at least one probe housing, the probe housing is provided separately from the main housing, and the probe housings correspond to the target scene 920 one-to-one.
  • the main housing is provided with a light emitting assembly 500, a scanning control part and a processing device 800; the probe housing is provided with a light receiving assembly 710 and an optical scanning group. Part 600; wherein, the photoelectric conversion component 720 is disposed on the main housing or the probe housing.
  • the probe housing and the main housing are separately arranged in the embodiment of the present disclosure, the probe housing and the main housing can be fixedly installed separately. Compared with the entire laser system 400, the volume of the probe housing is very small, and the probe housing The body can be installed on a small-volume application object or application location.
  • the probe housing can be fixed on the frame of the glasses for the blind, and the main housing is clamped on the user's waist or placed in the user's clothes pocket.
  • the probe housing can be fixed on the rearview mirror of the car, and the main housing can be fixed on the ceiling of the car.
  • the laser system 400 when the laser system 400 is installed, it is only necessary to install the probe housing on the application object or application location, without installing the entire laser system 400 on the application object or application location, thereby expanding the application range of the laser system 400 .
  • the light scanning assembly 600 emitting light to the target object 910 and the light receiving assembly 710 receiving the reflected light of the target object 910 are both arranged on the probe housing, and the probe housing is installed on the application object or application position, therefore It can be guaranteed that the detection range of the entire laser system 400 will not be affected.
  • the light scanning components 600 in each probe housing can irradiate the corresponding emitted light to the target objects 910 in different target scenes 920 .
  • an embodiment of the present disclosure provides a laser measurement method, which includes:
  • S2 Generate a scanning control signal; according to the scanning control signal, multiple groups of emitted light are sequentially deflected to at least one target object 910 in the target scene 920;
  • S4. Determine at least one of the distance of the target object 910, the direction angle of the target object 910, the reflectivity of the target object 910, and the profile of the target object 910 according to at least one of the scanning control signal, the transmission signal and the output signal.
  • step S3 includes:
  • the laser measurement method further includes:
  • An irradiation angle at which the emitted light is irradiated to the target object 910 is determined according to at least one of the emitted signal, the scanning control signal, the current scanning angle signal, the output signal, and the conversion position of the first light signal.
  • step S1 includes: sequentially emitting at least one set of first emitted light and at least one set of second emitted light within the scanning duration of this frame; the emission moment of the first emitted light is earlier than the emission moment of the second emitted light ; Wherein, the second emitted light is visible light;
  • Step S3 includes: converting the reflected light after the first emitted light is reflected by the corresponding target object 910 into an output signal.
  • step S2 includes:
  • the second emitted light is projected on the surface of one of the multiple target objects 910 according to at least one of distance, illumination angle, reflectivity and profile according to a preset effect.
  • step S2 includes: after deflecting the emitted light according to the scanning control signal, irradiating the first emitted light and the second emitted light to two different target objects 910 respectively.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Mechanical Optical Scanning Systems (AREA)

Abstract

一种光扫描组件、激光系统和激光测量方法，激光系统（400）包括：光发射组件（500），生成发射信号并根据发射信号在本帧扫描时长内依次射出多组发射光；接收端组件（700），将发射光经过目标场景（920）中的至少一个目标物体（910）反射后的至少一组反射光转换为输出信号；在本帧扫描时长内，接收端组件（700）的接收视场在目标场景（920）内的位置按照第一指定规律变化和/或接收视场的形状按照第二指定规律变化；自对应发射光发出的发射起始时刻起，光发射组件（500）的发射视场在预设接收时长内位于当前的接收视场中，且接收视场的面积大于或等于发射视场的面积的两倍。由此，无需利用光扫描组件精确高速的同步匹配发射视场与接收视场，能够在保证分辨率的情况下，降低整个系统的复杂程度和成本。

Description

光扫描组件、激光系统和激光测量方法
相关申请的交叉引用
本公开要求于2022年01月30日提交于中国国家知识产权局(CNIPA)的专利申请号为202210116225.8的中国专利申请的优先权和权益，上述中国专利申请通过引用整体并入本文。
技术领域
本公开涉及雷达技术领域，更具体地，涉及光扫描组件、激光系统和激光测量方法。
背景技术
雷达是利用电磁波探测目标物体的电子设备，雷达对目标物体发射电磁波并接收其回波，通过处理后可获得目标物体至电磁波发射点的距离、方位、高度等信息。
以激光为工作光束的雷达称为激光雷达。相关技术中激光雷达的光扫描组件通常只能实现低速、大角度的扫描或者高速、小角度的扫描，无法同时实现高速、大角度的扫描。
发明内容
本公开涉及光扫描组件、激光系统和激光测量方法。
根据本公开的实施方式，光扫描组件可以包括：
第一扫描件，将接收到的发射光沿第一扫描方向和第二扫描方向同步偏转方向；其中，所述第一扫描方向与所述第二扫描方向不同向；以及
多个光偏转部件，在本帧扫描时长内依次接收经所述第一扫描件偏转后的多组所述发射光；
其中，多个所述光偏转部件中至少两个所述光偏转部件与所述第一扫描件的连线的夹角沿所述第一扫描方向的分量小于或等于所述第一扫描件沿所述第一扫描方向的视场角；所述至少两个所述光偏转部 件的长度方向偏离所述第二扫描方向的角度的差值的绝对值大于零且小于或等于所述第一扫描件沿所述第二扫描方向的视场角；所述光偏转部件沿其长度方向的两端分别与所述第一扫描件的连线之间的夹角大于或等于所述第一扫描件沿所述第二扫描方向的视场角。
根据本公开的实施方式，光扫描组件可以包括：
第一扫描件，至少将接收到的发射光沿第二扫描方向偏转方向；
多个光偏转部件，沿所述第二扫描方向依次设置；第一个所述光偏转部件用于接收经所述第一扫描件偏转后的所述发射光，相邻两个所述光偏转部件中其中一个所述光偏转部件位于另外一个所述光偏转部件的透射光路上；最后一个所述光偏转部件为反射镜或分光镜，剩余所述光偏转部件均为分光镜；相邻两个所述分光镜中后面的所述分光镜能够反射由前面的所述分光镜透射的至少部分所述发射光；至少一个所述分光镜反射的所述发射光和透射的所述发射光的波长或偏振性不同；以及
第二扫描件，其扫描方向包括第一扫描方向；所述第二扫描件用于将经过所述光偏转部件反射的所述发射光偏转方向后照射至目标场景内的至少一个目标物体；其中，所述第一扫描方向与所述第二扫描方向不同向；以及
其中，多个所述光偏转部件中至少两个所述光偏转部件与所述第一扫描件的连线的夹角沿所述第一扫描方向的分量小于或等于所述第一扫描件沿所述第一扫描方向的视场角；所述至少两个所述光偏转部件的长度方向偏离所述第二扫描方向的角度的差值的绝对值大于零且小于或等于所述第一扫描件沿所述第二扫描方向的视场角；所述光偏转部件沿其长度方向的两端分别与所述第一扫描件的连线之间的夹角大于或等于所述第一扫描件沿所述第二扫描方向的视场角。
根据本公开的实施方式，光扫描组件可以包括：
多个第一扫描件，沿第一扫描方向依次设置；所述第一扫描件用于至少将接收到的发射光沿第二扫描方向偏转方向；
多个光偏转部件，与所述第一扫描件一一对应设置；每个所述光偏转部件用于接收经对应的所述第一扫描件偏转后的所述发射光，最 后一个所述光偏转部件为反射镜或分光镜，剩余所述光偏转部件均为分光镜，至少一个所述分光镜反射的所述发射光和透射的所述发射光的波长或偏振性不同；以及
第二扫描件，其扫描方向包括第一扫描方向；所述第二扫描件用于将经过所述光偏转部件反射的所述发射光偏转方向后照射至目标场景内的至少一个目标物体；其中，所述第一扫描方向与所述第二扫描方向不同向；以及
其中，多个所述光偏转部件中至少两个所述光偏转部件的长度方向偏离所述第二扫描方向的角度的差值的绝对值大于零且小于或等于所述第一扫描件沿所述第一扫描方向的视场角；所述光偏转部件沿其长度方向的两端分别与所述第一扫描件的连线之间的夹角大于或等于所述第一扫描件沿所述第二扫描方向的视场角。
根据本公开的实施方式，激光系统可以包括：
光发射组件，生成发射信号并根据所述发射信号在本帧扫描时长内依次射出多组所述发射光；
扫描控制件，生成扫描控制信号；以及
上述实施方式所述的光扫描组件；所述光扫描组件根据所述扫描控制信号将所述光发射组件发出的多组所述发射光依次偏转方向后照射至目标场景内的至少一个目标物体。
根据本公开的实施方式，激光测量方法可以包括：
生成发射信号并根据所述发射信号在本帧扫描时长内依次射出多组发射光；
生成所述扫描控制信号；根据所述扫描控制信号将多组所述发射光依次偏转方向后照射至目标场景内的至少一个目标物体；
将所述发射光经过所述目标场景中的至少一个所述目标物体反射后的至少一组反射光转换为输出信号；其中，所述输出信号的类型为电信号；
根据所述扫描控制信号、所述发射信号和所述输出信号中的至少一个确定所述目标物体的距离、所述目标物体的方向角度、所述目标物体的反射率和所述目标物体的轮廓中的至少一个。
在本公开中，由于本公开实施例中多个光偏转部件中至少两个光偏转部件与第一扫描件的连线的夹角沿第一扫描方向的分量小于或等于第一扫描件沿第一扫描方向的视场角，并且至少两个光偏转部件的长度方向偏离第二扫描方向的角度的差值的绝对值大于零且小于或等于第一扫描件沿第二扫描方向的视场角，光偏转部件沿其长度方向的两端分别与第一扫描件的连线之间的夹角大于或等于第一扫描件沿第二扫描方向的视场角，因此光扫描组件通过采用多个光偏转部件便可扩大其扫描范围，在低成本的前提下实现高速、大角度的扫描。
本领域技术人员将理解的是，以上发明内容仅是说明性的，并且不旨在以任何方式进行限制。除了上述说明性方面、实施方式和特征之外，通过参考附图和以下详细描述，其他方面、实施方式和特征将变得显而易见。
附图说明
通过阅读参照以下附图所作的对非限制性实施方式的详细描述，本公开的其它特征、目的和优点将会变得更明显。其中：
图1是根据本公开实施例一的光扫描组件的结构示意图之一；
图2是根据本公开实施例一的光扫描组件的结构示意图之二；
图3是根据本公开实施例一的光扫描组件的结构示意图之三；
图4是根据本公开实施例中第一区域和第二区域的示意图；
图5是根据本公开实施例一的光扫描组件的结构示意图之四；
图6是根据本公开实施例二的光扫描组件的结构示意图；
图7是根据本公开实施例三的光扫描组件的结构示意图；
图8是根据本公开实施例四的激光系统的框图之一；
图9是根据本公开实施例四的激光系统的框图之二；
图10是根据本公开实施例四的动态偏置电压随时间的变化示意图之一；
图11是根据本公开实施例四的动态偏置电压随时间的变化示意图之二；
图12是根据本公开实施例四的比较输入的电压值随时间的变化 示意图；
图13是根据本公开实施例四的发射视场和接收视场的示意图；
图14是根据本公开实施例五的激光测量方法的流程示意图。
具体实施方式
为了更好地理解本公开，将参照附图对本公开的各个方面做出更详细的说明。应理解的是，这些详细说明只是对本公开的示例性实施方式的描述，而非以任何方式限制本公开的范围。为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
除非另外限定，否则本文中使用的所有术语(包括工程术语和科技术语)具有与本公开所属领域普通技术人员通常理解的含义相同的含义。还应理解的是，除非本公开中有明确的说明，否则诸如在常用词典中限定的术语应被解释为具有与它们在相关技术的上下文中的含义一致的含义，而不应以理想化或过于形式化的意义解释。
需要说明的是，在不冲突的情况下，本公开中的实施方式及实施方式中的特征可以相互组合。另外，除非明确限定或与上下文相矛盾，否则本公开所记载的方法中包含的具体步骤不必限于所记载的顺序，而可以任意顺序执行或并行地执行。下面将参照附图并结合实施方式来详细说明本公开。
实施例一
如图1和图5所示，本公开实施例提供了一种光扫描组件，该光扫描组件包括第一扫描件100和多个光偏转部件；其中，第一扫描件100将接收到的发射光沿第一扫描方向和第二扫描方向同步偏转方向，第一扫描方向与第二扫描方向不同向。其中，多个光偏转部件在本帧扫描时长内依次接收经第一扫描件100偏转后的多组发射光；多个光偏转部件中至少两个光偏转部件与第一扫描件100的连线的夹角沿第一扫描方向的分量小于或等于第一扫描件100沿第一扫描方向的视场角；至少两个光偏转部件的长度方向偏离第二扫描方向的角度的差值的绝对值大于零且小于或等于第一扫描件100沿第二扫描方向的视场角；光偏转部件沿其长度方向的两端分别与第一扫描件100的连 线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角。
在一些实施例中，第一扫描方向和第二扫描方向为水平方向、竖直方向或倾斜方向；其中，倾斜方向介于竖直方向与水平方向之间。
其中，光偏转部件可以但不限于是偏转镜或扫描件。
如图1所示，光偏转部件为偏转镜，至少两个光偏转部件包括第一偏转镜210和第二偏转镜220。以第一扫描方向为水平方向，第二扫描方向为竖直方向为例，在本帧扫描时长内第一扫描件100的镜面绕某一竖直轴在水平方向摆动，与此同时，第一扫描件100的镜面又会绕某一水平轴在竖直方向摆动。对于任一组发射光来说，当第一扫描件100同时沿水平方向转动θ1、沿竖直方向转动θ2时，该发射光经第一扫描件100反射后偏转(θ1，θ2)。由于第一扫描件100的镜面每次转动的角度不同，因此各组发射光经第一扫描件100偏转后射向不同的方向，经过第一扫描件100偏转方向后的至少一组发射光射向第一偏转镜210，另外至少一组发射光射向第二偏转镜220。
假设第一扫描件100沿第一扫描方向即沿水平方向的视场角为δ，第一扫描件100沿第二扫描方向即沿竖直方向的视场角为α。由于第一偏转镜210的长度方向偏离竖直方向的角度为Z1，第二偏转镜220的长度方向偏离竖直方向的角度为Z2，Z1≠Z2，且|Z1-Z2|≤α，因此如图3所示，沿竖直方向、自第一扫描件100射向第一偏转镜210的发射光经第一偏转镜210偏转射出后就会形成一个以α为圆心角的扇形面，该组发射光在目标场景920内的投射区域为一个条形区域也即第一区域211；同理，沿竖直方向、自第一扫描件100射向第二偏转镜220的发射光经第二偏转镜220偏转射出后也会形成一个以α为圆心角的扇形面，该组发射光在目标场景920内的投射区域也为一个条形区域也即第二区域221。若第一区域211与第二区域221不重叠，第一区域211与第二区域221相互衔接，也就是说，第一区域211与第二区域221彼此相邻的边界线共线，那么沿竖直方向、各组发射光经过第一偏转镜210和第二偏转镜220偏转后共同形成的扇形面的圆心角则恰好等于2α，也就是说，该光扫描组件600沿第二扫描方向的视场角则恰好等于2α。若第一区域211与第二区域221部分重叠， 那么沿竖直方向、各组发射光经过第一偏转镜210和第二偏转镜220偏转后共同形成的扇形面的圆心角则大于α且小于2α，也就是说，该光扫描组件600沿第二扫描方向的视场角则大于α且小于2α。另外，由于第一偏转镜210和第一扫描件100的连线以及第二偏转镜220与第一扫描件100的连线之间的夹角沿第一扫描方向的分量β小于或等于第一扫描件100沿第一扫描方向的视场角δ，并且第一偏转镜210沿其长度方向的两端分别与第一扫描件100的连线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角α，第二偏转镜220沿其长度方向的两端分别与第一扫描件100的连线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角α，因此第一扫描件100沿第一扫描方向扫描的过程中，在经过第一偏转镜210或第二偏转镜220时能够反射发射光，同时在沿第二扫描方向的视场角α内的任意角度下反射发射光，进而使得各组发射光分别投射在第一区域211和所述第二区域221。可见，本公开实施例中光扫描组件600通过采用多个偏转镜便可扩大其扫描范围，在低成本的前提下实现高速、大角度的扫描。
如图4所示，第一区域211和第二区域221部分重叠。第一区域211与第二区域221的重叠部分沿第一扫描方向的长度d12与第一基准长度之比大于第一重叠阈值T1，第一基准长度为第一区域211沿第一扫描方向的长度d1与第二区域221沿第一扫描方向的长度d2中的最大值，也就是说，d12÷max(d1，d2)＜T1。其中，第一重叠阈值T1小于或等于1，其取值可以但不限于是1、0.9、0.8或0.6。第一区域211与第二区域221的重叠部分沿第二扫描方向的长度l12与第二基准长度之比小于第二重叠阈值T2；第二基准长度为第一区域211沿第二扫描方向的长度l1与第二区域221沿第二扫描方向的长度l2中的最大值，也就是说，l12÷max(l1，l2)＜T2。其中，第二重叠阈值T2也小于或等于1，第二重叠阈值的取值可以但不限于是0、0.1、0.2或0.5。
为了进一步扩大光扫描组件600沿第一扫描方向的扫描范围，该光扫描组件600还包括第二扫描件300。其中，第二扫描件300的扫描方向包括第一扫描方向，第二扫描件300用于将经过偏转镜反射的 发射光偏转方向后照射至目标场景920内的至少一个目标物体910。此外，第二扫描件300还可用于将至少一个目标物体910反射的至少一组反射光偏转方向。
如图2所示，各个光偏转部件偏离第二扫描方向的角度不同。多个偏转镜的镜面的中心与第二扫描件300的反射面的中心共面且平行于第一扫描方向。以第一扫描方向为水平方向，第二扫描方向为竖直方向为例，假设第一扫描件100沿第一扫描方向的视场角为δ，经过第一扫描件100偏转方向后的至少一组发射光射向第一偏转镜210，另外至少一组发射光射向第二偏转镜220。第一偏转镜210将接收到的发射光偏转方向后再射向第二扫描件300，第二偏转镜220将接收到的发射光偏转方向后也射向第二扫描件300，第二扫描件300将接收到的多组发射沿第一扫描方向即水平方向依次偏转方向后射向目标场景920，其中经第一偏转镜210偏转过的发射光在目标场景920内的投射区域为图1中的第一区域211，经第二偏转镜220偏转过的发射光在目标场景920内的投射区域为图1中的第二区域221。由于第一偏转镜210和第一扫描件100的连线以及第二偏转镜220与第一扫描件100的连线之间的夹角沿第一扫描方向的分量β小于或等于第一扫描件100沿第一扫描方向的视场角δ，并且第一偏转镜210沿其长度方向的两端分别与第一扫描件100的连线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角α，第二偏转镜220沿其长度方向的两端分别与第一扫描件100的连线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角α，因此第一扫描件100沿第一扫描方向扫描的过程中，在经过第一偏转镜210或第二偏转镜220时能够反射发射光，同时在沿第二扫描方向的视场角α内的任意角度下反射发射光，进而使得各组发射光分别投射在第一区域211和所述第二区域221。
在一些实施例中，第一扫描件100可以但不限于包括MEMS振镜、光学相控阵列、液晶扫描件、光电偏转器件和声光偏转器中的至少一个。第二扫描件300可以但不限于包括旋转棱镜、光学相控阵列、光电偏转器件、液晶扫描件、旋转楔镜和摆镜中的至少一个。其中，液 晶扫描件包括液晶空间光调制器、液晶超晶面、液晶线控阵、透视式一维液晶阵列、透射式二维液晶阵列或液晶显示模组。
当然，光偏转部件除了可以是偏转镜以外，还可以是中间扫描件200。具体地，如图5所示，中间扫描件200的扫描方向包括第一扫描方向；在第一扫描时长内，沿第一扫描方向至少两个中间扫描件200对相应的发射光的偏转角度不同；中间扫描件200沿第一扫描方向的扫描角度变化率与第一扫描件100沿第二扫描方向的扫描角度变化率的比值小于变化率阈值；其中，第一扫描时长大于或等于第二扫描时长的两倍，且第一扫描时长小于本帧扫描时长；第二扫描时长为第一扫描件100沿第二扫描方向扫描一次的时长；变化率阈值为1/2、1/4、1/8、1/16、1/100或1/1000。其中，中间扫描件200可以但不限于是液晶扫描件，液晶扫描件包括液晶空间光调制器、液晶超晶面、液晶线控阵、透视式一维液晶阵列、透射式二维液晶阵列或液晶显示模组。
以两个中间扫描件200为例，由于两个中间扫描件200与第一扫描件100的连线之间的夹角沿第一扫描方向的分量β小于或等于第一扫描件100沿第一扫描方向的视场角δ，并且每个中间扫描件200沿其长度方向的两端分别与第一扫描件100的连线之间的夹角ω大于或等于第一扫描件100沿第二扫描方向的视场角α，而中间扫描件200沿第一扫描方向的扫描角度变化率小于第一扫描件100沿第二扫描方向的扫描角度变化率，并且沿第一扫描方向两个中间扫描件200分别将对应的发射光偏转至不同的方向，因此如图5所示，沿水平方向、每组发射光依次经过第一扫描件100和中间扫描件200偏转后形成的扇形面的圆心角γ大于δ。
在一些实施例中，在第三扫描时长内，至少一个中间扫描件200沿第一扫描方向的扫描角度不变，也就是说，在该时间段内中间扫描件200停止扫描。其中，第三扫描时长大于或等于第二扫描时长，且第三扫描时长小于或等于第一扫描时长。
实施例二
如图6所示，本公开实施例还提供了另外一种光扫描组件，该光扫描组件包括第一扫描件100、第二扫描件300和多个光偏转部件。 其中，第一扫描件100至少将接收到的发射光沿第二扫描方向偏转方向；多个光偏转部件沿第二扫描方向依次设置，第一个光偏转部件用于接收经第一扫描件100偏转后的发射光，相邻两个光偏转部件中其中一个光偏转部件位于另外一个光偏转部件的透射光路上；最后一个光偏转部件为反射镜240或分光镜，剩余光偏转部件均为分光镜230；相邻两个分光镜230中后面的分光镜230能够反射由前面的分光镜230透射的至少部分发射光；至少一个分光镜230反射的发射光和透射的发射光的波长或偏振性不同。其中，第二扫描件300的扫描方向包括第一扫描方向；第二扫描件300用于将经过光偏转部件反射的发射光偏转方向后照射至目标场景920内的至少一个目标物体910；其中，第一扫描方向与第二扫描方向不同向。其中，多个光偏转部件中至少两个光偏转部件与第一扫描件100的连线的夹角沿第一扫描方向的分量小于或等于第一扫描件100沿第一扫描方向的视场角；至少两个光偏转部件的长度方向偏离第二扫描方向的角度的差值大于零且小于或等于第一扫描件100沿第二扫描方向的视场角；光偏转部件沿其长度方向的两端分别与第一扫描件100的连线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角。
以光偏转部件的数量为两个，其中一个光偏转部件为分光镜230另外一个光偏转部件为反射镜240为例，分光镜230和反射镜240沿第二扫描方向依次设置，且分光镜230临近第一扫描件100。若第一扫描方向为水平方向，第二扫描方向为竖直方向，第一扫描件100沿第二扫描方向即沿竖直方向的视场角为α，分光镜230的长度方向偏离竖直方向的角度为Z1，反射镜240的长度方向偏离竖直方向的角度为Z2，Z1≠Z2，且|Z1-Z2|≤α。假设分光镜230的半透面能够透射波长为λ2或偏振性为v2的发射光，而反射波长为λ1或偏振性为v1的发射光，那么在第一扫描件100接收到至少一组波长为λ1的发射光和至少一组波长为λ2的发射光的情况下，各组发射光经过第一扫描件100偏转方向后依次射向分光镜230。其中，波长为λ1的发射光从分光镜230的半透面反射至第二扫描件300，而波长为λ2的发射光则透过分光镜230直接射向反射镜240，反射镜240将接收到的发射光反射至第 二扫描件300。同理，在第一扫描件100接收到至少一组偏振性为v1的发射光和至少一组偏振性为v2的发射光的情况下，各组发射光经过第一扫描件100偏转方向后依次射向分光镜230。其中，偏振性为v1的发射光从分光镜230的半透面反射至第二扫描件300，而偏振性为v2的发射光则依次透过分光镜230直接射向反射镜240。反射镜240将接收到的发射光反射至第二扫描件300。第二扫描件300沿第一扫描方向将接收到的各组发射光依次偏转方向后射向目标场景920。如图6所示，该光扫描组件600沿第一扫描方向的视场角γ大于δ、沿第二扫描方向的视场角恰好等于2α。
需要说明的是，在光偏转部件的数量大于2个时，例如光偏转部件为4个时，那么前三个光偏转部件则为分光镜230，最后一个光偏转部件则为反射镜240或分光镜。
在一些实施例中，第一扫描件100可以但不限于包括MEMS振镜、光学相控阵列、液晶扫描件、光电偏转器件和声光偏转器中的至少一个。第二扫描件300可以但不限于包括旋转棱镜、光学相控阵列、光电偏转器件、液晶扫描件、旋转楔镜和摆镜中的至少一个。
在一些实施例中，第一扫描方向和第二扫描方向为水平方向、竖直方向或倾斜方向；其中，倾斜方向介于竖直方向与水平方向之间。
实施例三
如图7所示，本公开实施例提供了又一种光扫描组件，该光扫描组件包括第二扫描件300、多个第一扫描件100和多个光偏转部件。其中，多个第一扫描件100沿第一扫描方向依次设置，第一扫描件100用于至少将接收到的发射光沿第二扫描方向偏转方向；多个光偏转部件与第一扫描件100一一对应设置，每个光偏转部件用于接收经对应的第一扫描件100偏转后的发射光，最后一个光偏转部件为反射镜或分光镜，剩余光偏转部件均为分光镜230，至少一个分光镜230反射的发射光和透射的发射光的波长或偏振性不同。其中，第二扫描件300的扫描方向包括第一扫描方向；第二扫描件300用于将经过光偏转部件反射的发射光偏转方向后照射至目标场景920内的至少一个目标物体910；其中，第一扫描方向与第二扫描方向不同向；其中，多个光 偏转部件中至少两个光偏转部件与第一扫描件100的连线的夹角沿第一扫描方向的分量小于或等于第一扫描件100沿第一扫描方向的视场角；至少两个光偏转部件的长度方向偏离第二扫描方向的角度的差值大于零且小于或等于第一扫描件100沿第二扫描方向的视场角；光偏转部件沿其长度方向的两端分别与第一扫描件100的连线之间的夹角大于或等于第一扫描件100沿第二扫描方向的视场角。
以光偏转部件的数量为两个，两个光偏转部件均为分光镜230为例，若第一扫描方向为水平方向，第二扫描方向为竖直方向，第一扫描件100沿第二扫描方向即沿竖直方向的视场角为α，第一个分光镜230临近第二扫描件300设置，第一个分光镜230的长度方向偏离竖直方向的角度为Z1，第二个分光镜230的长度方向偏离竖直方向的角度为Z2，Z1≠Z2，且|Z1-Z2|≤α。假设第一个分光镜230的半透面能够透射波长为λ2或偏振性为v2的发射光，而反射波长为λ1或偏振性为v1的发射光；第二个分光镜230的半透面能够反射波长为λ2或偏振性为v2的发射光。若与第一个分光镜230对应的第一扫描件100接收到波长为λ1或偏振性为v1的发射光，那么这组发射光经过第一扫描件100偏转方向后射向第一个分光镜230，波长为λ1或偏振性为v1的发射光从第一个分光镜230的半透面反射至第二扫描件300。若与第二个分光镜230对应的第一扫描件100接收到波长为λ2或偏振性为v2的发射光，那么这组发射光经过第一扫描件100偏转方向后射向第二个分光镜230，波长为λ2或偏振性为v2的发射光从第二个分光镜230的半透面反射后透过第一个分光镜230照射至第二扫描件300。第二扫描件300沿第一扫描方向将接收到的上述各组发射光依次偏转方向后射向目标场景920。如图7所示，该光扫描组件600沿第一扫描方向的视场角γ大于δ、沿第二扫描方向的视场角恰好等于2α。
实施例四
结合图9至图13所示，本公开实施例提供了一种激光系统400，该激光系统400包括光发射组件500、扫描控制件和上述光扫描组件600。其中，光发射组件500生成发射信号并根据发射信号在本帧扫描时长内依次射出多组发射光，扫描控制件生成扫描控制信号，光扫描 组件600根据扫描控制信号将光发射组件500发出的多组发射光依次偏转方向后照射至目标场景920内的至少一个目标物体910。
在激光系统400采用实施例二或实施例三中的光扫描组件600的情况下，发射信号包括表示发射光波长的波长信息和/或表示发射光偏振性的偏振信息。光发射组件500根据波长信息依次向外射出多组波长不同的发射光，同理，光发射组件500也可以根据偏振信息依次向外射出多组偏振性不同的发射光。
在一些实施例中，激光系统400还包括接收端组件700和处理装置800。其中，接收端组件700将发射光经过目标场景920中的至少一个目标物体910反射后的至少一组反射光转换为输出信号；其中，输出信号的类型为电信号。其中，处理装置800分别与光发射组件500、扫描控制件和接收端组件700电连接；处理装置800用于根据扫描控制信号、发射信号和输出信号中的至少一个确定目标物体910的距离、目标物体910的方向角度、目标物体910的反射率和目标物体910的轮廓中的至少一个。
在一些实施例中，接收端组件700包括光接收组件710和光电转换组件720；其中，光接收组件710依次接收经目标物体910反射的多组反射光并将多组反射光依次转换为对应的第一光信号；光电转换组件720将多个第一光信号依次转换为对应的第一电信号。在此情况下，第一电信号作为输出信号。其中，光接收组件710包括至少一组透镜组，透镜组包括至少一个位于反射光的光路上的接收透镜。在光接收组件710包括多组透镜组的情况下，多组透镜组可沿第一扫描方向依次设置。
当然，考虑到第一电信号的信号强度可能较弱，为了提高测量的准确性，在一些实施例中，接收端组件700则包括光接收组件710、光电转换组件720和电放大模块740；其中，光接收组件710依次接收经目标物体910反射的多组反射光并将多组反射光依次转换为对应的第一光信号；光电转换组件720将多个第一光信号依次转换为对应的第一电信号，电放大模块740用于将第一电信号放大为第二电信号。在此情况下，第二电信号作为输出信号。
在一些实施例中，发射信号包括表示每组发射光的发射起始时刻的时刻信息。
另外，考虑到若目标物体910距离光发射组件500较远，那么光发射组件500射出的发射光照射到目标物体910再由目标物体910反射至接收端组件700的时长则较长。同理，若目标物体910距离光发射组件500较近，那么光发射组件500射出的发射光照射到目标物体910再由目标物体910反射至接收端组件700的时长则较短。可见，时长可以表征目标物体910的远近，也就是说，若接收端组件700自发射光发出的发射起始时刻起在第一预设时长内接收到反射光，则说明目标物体910距离较近，反之则说明距离较远。因此，为了避免近距离情况下出现反射光过强，进而导致光电转换放大后的电信号严重饱和失真，同时也为了避免远距离情况下反射光过弱而导致第一电信号太弱，本公开实施例中接收端组件700还包括偏置电压模块730。其中，偏置电压模块730提供动态偏置电压；动态偏置电压的绝对值从发射起始时刻起按照第一预设规律在第一预设时长变化至第一预定阈值、并保持不小于第一预定阈值第二预设时长，且动态偏置电压的绝对值在第一预设时长内小于第一预定阈值。其中，光电转换组件720用于根据动态偏置电压将第一光信号依次转换为对应的第一电信号；第一预设时长小于发射起始时刻与接收时刻的最大差值，接收时刻为反射光被接收端组件700接收的时刻。
若目标物体910距离光发射组件500较远，那么相比于光发射组件500射出的发射光来说，光接收组件710接收到的反射光的光强显著衰减。由于动态偏置电压的绝对值从发射起始时刻起在第一预设时长变化至第一预定阈值、并保持不小于第一预定阈值第二预设时长，而由上文可知发射光经远距离目标物体910反射回来的耗时较长，因此光接收组件710接收反射光的时刻对应的动态偏置电压的绝对值不小于第一预定阈值，从而光电转换组件720根据该动态偏置电压就可将较弱的光信号转换为较强的第一电信号。
同理，若目标物体910距离光发射组件500较近，那么相比于光发射组件500射出的发射光来说，光接收组件710接收到的反射光的 光强衰减较少。由于动态偏置电压的绝对值从发射起始时刻起在第一预设时长内小于第一预定阈值，而由上文可知发射光经近距离目标物体910反射回来的耗时较短，因此光接收组件710接收反射光的时刻对应的动态偏置电压的绝对值小于第一预定阈值，从而光电转换组件720根据该动态偏置电压就可将较强的光信号转换为相对较弱的第一电信号，以避免较强的光信号经光电转换放大后饱和失真。
由上可知，本公开实施例中的激光系统基于光束在传播过程中其强度随传播距离即传播时间的增大而衰减的原理，通过采用随时间变化的动态偏置电压，在光电转换过程中就可使自远距离目标物体910反射回来的反射光对应绝对值较大的动态偏置电压也即该动态偏置电压的绝对值不小于第一预定阈值，使自近距离目标物体910反射回来的反射光对应绝对值减小的动态偏置电压也即该动态偏置电压的绝对值小于第一预定阈值，从而不仅可以提高近距离的测量精度、避免近距离反射光束经光电转换放大后饱和失真，而且又不影响远距离的探测能力。
下面以偏置电压模块730提供负动态偏置电压也即动态偏置电压小于零为例，对本公开实施例中的雷达系统进行说明：
作为示例，动态偏置电压小于零时，第一预设规律可以但不限于是动态偏置电压随时间呈整体下降趋势，也就是说，在第一预设时长内动态偏置电压的绝对值呈整体上升趋势。例如，如图10所示，动态偏置电压在t1时刻至t2时刻呈非线性单调递减，在t2时刻减小至动态最终偏置电压即-180v，并在t2时刻至t3时刻稳定在动态最终偏置电压不变。其中，t1时刻为发射起始时刻，t2-t1为第一预设时长，t3-t2为第二预设时长，第一预定阈值为动态最终偏置电压的绝对值。需要说明的是，第一预设时长和/或第二预设时长可以根据发射光的强度、环境条件例如大气传输条件等因素确定，例如第一预设时长小于1us，第二预设时长为1us。若目标物体910距离光发射组件500较近，那么发射光照射到目标物体910的时长以及发射光经目标物体910反射至光接收组件710的时长均较短，从而光接收组件710接收到反射光的时刻即t’时刻(图中未示出)早于t时刻。而偏置电压模块730在 t’时刻提供的动态偏置电压大于-180v，也就是说，在t’时刻动态偏置电压的绝对值小于第一预定阈值即小于180v，从而光电转换组件720根据t’时刻的动态偏置电压便可将较强的光信号转换为相对较弱的第一电信号，避免了较强的光信号经光电转换放大后饱和失真。同理，若目标物体910距离光发射组件500较远，那么发射光照射到目标物体910的时长以及发射光经目标物体910反射至光接收组件710的时长均较长，从而光接收组件710接收到反射光的时刻即t”时刻(图中未示出)晚于t2时刻。而偏置电压模块730在t”时刻提供的动态偏置电压为-180v，也就是说，在t’时刻动态偏置电压的绝对值等于第一预定阈值即180v，从而光电转换组件720根据t”时刻的动态偏置电压便可将较弱的光信号转换为较强的第一电信号。
当然，动态偏置电压在t1时刻至t2时刻除了可以呈非线性单调递减以外，还可以如图11所示，呈线性单调递减、或者以类似正弦波的形式呈整体下降趋势、又或者以类似方波的形式呈整体下降趋势。此外，动态偏置电压的绝对值在t2时刻至t3时刻既可以稳定在第一预定阈值不变，也可以逐渐增大以大于第一预定阈值。
此外，需要说明的是，处理装置800可以基于多种方法来确定目标物体910的距离、目标物体910的方向角度、目标物体910的反射率和目标物体910的轮廓中的至少一个，例如，处理装置800可以基于飞行时间法、相位法测距或三角式测距法等方法来确定目标物体910的距离。
在处理装置800基于飞行时间法确定目标物体910的距离的情况下，处理装置800包括处理器830、至少一个比较器810以及与比较器810一一对应的时长确定模块820。其中，电放大模块740包括多个相互串联或并联的放大器，多个放大器中至少其中一个放大器输出的放大电信号的强度小于另外一个放大器输出的放大电信号的强度的一半。其中，至少输出最大的放大电信号的放大器的输出端连接至少一个比较器810的输入端，比较器810的比较输入与放大器一一对应。例如，当多个放大器依次串联时，最后一级放大器输出的放大电信号最大，若比较器810的数量为一个，那么在比较器810的数量为一个 的情况下，这个比较器810通过最后一级放大器与时长确定模块820连接；当比较器810的数量为多个时，多个放大器的输出端均连接有比较器810，且每个比较器810的比较输入的电压值不同。比较器810接入比较输入，用于将比较输入的电压值与对应放大器输出的电信号进行比较，以确定触发起始时刻、触发结束时刻和脉冲宽度；其中，触发起始时刻和触发结束时刻分别为放大器输出的电信号的强度高于比较输入的电压值的起始时刻和终止时刻，脉冲宽度为触发结束时刻与触发起始时刻的差值；时长确定模块820与比较器810一一对应；时长确定模块820用于根据发射起始时刻与对应比较器810输出的触发起始时刻确定光飞行时长。处理器830根据光飞行时长、脉冲宽度、第二电信号的强度和光速中的至少一个确定目标物体910的距离、方向角度、反射率和轮廓中的至少一个。
以测量目标物体910的距离为例，在此情况下处理器830根据飞行时间法确定目标物体910的距离。由于触发起始时刻受到比较输入的电压值大小的影响，而触发放大器输出的电信号的比较输入的电压值不同时对应的脉冲宽度也不同，因此为了减小上述影响处理器830先根据脉冲宽度修正光飞行时长，然后再根据光速和修正后的光飞行时长确定目标物体910的距离。
其中，比较输入可以是从外部输入比较器810的动态电压曲线，也可以是预存在比较器810内的动态电压曲线。此外，时长确定模块820可以但不限于是TDC(时间数字转换器，全称为时间数字转换器)。时长确定模块820与处理器830可以均为独立部件，也可以集成为一个部件。
考虑到近距离目标物体910反射的反射光的光强较强，而远距离目标物体910反射的反射光的光强较弱，在比较输入的电压值为定值的情况下，若比较输入的电压值偏小，那么由近距离的反射光转换的第二电信号可能导致比较器810产生噪点或者饱和；若比较输入的电压值偏大，那么比较输入的电压值可能大于由远距离的反射光转换的第二电信号进而无法触发，从而为了避免上述情况的发生，如图12所示，本公开实施例中比较输入的电压值自发射起始时刻起按照第二 预设规律动态变化，以提高比较器810近距离的分辨能力同时又不影响远距离的探测能力。
比较输入的电压值自发射起始时刻起按照第二预设规律动态变化，且在第一预设时长内变化幅度大于第二预设变化阈值。作为示例，第二预设规律为比较输入的电压值随时间呈整体下降趋势。例如，如图12所示，第二预设规律为单调递减。若目标物体910距离光发射组件500较近，那么光发射组件500射出的发射光经目标物体910反射至接收端组件700的时长较短，从而第二电信号输入比较器810的时刻对应的比较输入的电压值较大，进而避免了比较器810产生噪点或者饱和。若目标物体910距离光发射组件500较远，那么光发射组件500射出的发射光经目标物体910反射至接收端组件700的时长较长，从而第二电信号输入比较器810的时刻对应的比较输入的电压值较小，进而避免了比较输入的电压值大于第二电信号而导致无法触发的情况发生。需要说明的是，第二预设规律除了可以是比较输入的电压值呈单调递减以外，还可以是以类似正弦波的形式呈整体下降趋势、又或者以类似方波的形式呈整体下降趋势。当然，第二预设规律也可以是比较输入的电压值随时间按照正弦或方波规律变化，以便按距离分段提高局部距离的探测能力。
在一些实施例中，光扫描组件600还被配置为将目标物体910反射的反射光偏转方向的同时生成当前扫描角度信号；处理装置800还被配置为根据发射信号、扫描控制信号、当前扫描角度信号、输出信号以及光电转换组件720上输出第一电信号的位置中的至少一个确定发射光照射至目标物体910的照射角度。例如，在光电转换组件720包括多个光电转换单元的情况下，“光电转换组件720上输出第一电信号的位置”一般指代的是输出第一电信号的光电转换单元所在的位置。
为了扩大该激光系统400的应用领域，使其能够应用于AR、VR和元宇宙领域，多组发射光包括至少一组第一发射光和至少一组第二发射光，第一发射光的发射时刻早于第二发射光的发射时刻，第一发射光经对应的目标物体910反射后的反射光被转换为输出信号，第二 发射光为可见光，也就是说，第一发射光用于测量目标物体910的距离、方向角度、反射率或轮廓中的至少一个，第二发射光用于投影图像。光扫描组件600被配置为将第一发射光照射至多个目标物体910后，根据距离、照射角度、反射率和轮廓中的至少一个将第二发射光按照预设效果投影于多个目标物体910中的其中一个目标物体910的表面。
由于第二发射光是根据目标物体910的距离、照射角度、目标物体910的反射率和目标物体910的轮廓中的至少一个投影在目标物体910表面的，因此第二发射光在目标物体910表面的成像可以再现真实图像。
例如，目标物体910的表面为球面时，光发射组件500通过探头组件先发射至少一组第一发射光至目标物体910表面，然后再射出至少一组第二发射光。处理器830根据与第一发射光对应的发射信号和/或输出信号确定目标物体910的距离、目标物体910的反射率和目标物体910的轮廓中的至少一个，与此同时，处理器830还根据扫描控制信号、当前扫描角度信号、输出信号以及光电转换组件720上输出第一电信号的位置中的至少一个确定发射光照射至目标物体910的照射角度。之后，光扫描组件600根据处理器830基于第一发射光确定的目标物体910的距离、照射角度、目标物体910的反射率和目标物体910的轮廓中的至少一个，将第二发射光例如昆虫图像投影在目标物体910的表面。由于，第二发射光是根据目标物体910的距离、照射角度、目标物体910的反射率和目标物体910的轮廓中的至少一个投影在目标物体910的表面的，因此昆虫的图像并未被目标物体910的曲面扭曲，而是按照一定的曲率覆盖在目标物体910的曲面，使得目标物体910真实还原了昆虫。其中，第二发射光可以但不限于包括红光、蓝光和绿光中的至少一种。
又如，目标物体910为汽车挡风玻璃或AR眼镜时，光扫描组件600先将第一发射光投影在汽车挡风玻璃或AR眼镜上，然后再根据目标物体910的距离、照射角度、目标物体910的反射率和目标物体910的轮廓中的至少一个，将预设的虚拟AR图像也即第二发射光投 影在汽车挡风玻璃或AR眼镜上，以使用户能够看到增强后的现实世界和虚拟世界的景象。
当然，光扫描组件600也可以直接将第一发射光和第二发射光分别投影在两个不同的目标物体910的表面，在此情况下该激光系统400相当于一个普通的投影设备。
在一些实施例中，如图13所示，在本帧扫描时长内，接收端组件700的接收视场701在目标场景920内的位置按照第一指定规律变化和/或接收视场701的形状按照第二指定规律变化；自对应发射光发出的发射起始时刻起，光发射组件500的发射视场501在预设接收时长内位于当前的接收视场701中，且接收视场701的面积大于或等于发射视场501的面积的两倍；其中，第一指定规律包括沿指定方向变动；发射视场501为每组发射光在目标场景920内的投射区域，接收视场701为在预设接收时长内接收端组件700能够接收到的所有光束在目标场景920内对应的区域。
需要说的是，“接收视场701在目标场景920内的位置按照第一指定规律变化”一般指代的是每当光发射组件500依次发出多组发射光后接收视场701在目标场景920内的位置变动一次。例如，若本帧扫描时长内多组发射光对应的发射视场501呈矩形点阵分布，那么接收视场701则每间隔一定时长沿矩形点阵的宽度方向移动一次位置。同理，“接收视场701的在目标场景920内的形状按照第二指定规律变化”一般指代的是每当光发射组件500依次发出多组发射光后接收视场701在目标场景920内的形状变化一次。例如，若本帧扫描时长内多组发射光对应的发射视场501呈环形点阵分布，那么接收视场701可为环形区域，则每间隔一定时长接收视场701的宽度增大一次。
考虑到接收视场701大于发射视场501的情况下，接收的背景噪音随之增大，所以，为了适当降低噪音，以平衡噪音、成本和分辨率，如图所示，接收视场701包括至少一个条形的连续区域，本帧扫描时长内多组发射光对应的发射视场501呈点阵分布，点阵的长度方向与接收视场701的长度方向相适应，点阵的宽度方向与指定方向平行。需要说明的是，“点阵的长度方向与接收视场701的长度方向相适应” 一般指代的是点阵的长度方向与接收视场701的长度方向相对应。例如，若目标物体910反射的反射光不经过光扫描组件600偏转，同时光接收组件710对反射光也不进行偏转，也就是说，光接收组件710不包括偏转镜例如45°反射镜240，那么点阵的长度方向与接收视场701的长度方向平行。若目标物体910反射的反射光经过光扫描组件600或光接收组件710偏转方向，例如偏转45°，那么点阵的长度方向不再平行于接收视场701的长度方向，而平行于将接收视场701偏转45°以后的长度方向，也即，此时点阵的长度方向与接收视场701的长度方向之间的夹角大于零。
在接收视场701为一整块条形的连续区域的情况下：由于每组发射光对应的接收视场701的面积大于或等于发射视场501的面积的两倍，也即接收视场701的面积远大于发射视场501的面积，因此发射光的发射角度以及反射光射向接收端组件700的方向无需被精确控制，也就是说，发射视场501和接收视场701均无需被精确控制，只要每组发射光经目标物体910反射后的反射光能够从当前的接收视场701的任意位置射出，则均能被接收端组件700接收。从而本公开实施例中的激光系统400无需通过光扫描组件600精准地偏转发射光和反射光来精确的同步匹配发射视场501与接收视场701。例如，如13图所示，在本帧扫描时长内光发射组件500射出的发射光数量大于四组。以前四组发射光为例，在指定时长内也即自第一组发射光发出的发射起始时刻起一直到第四组发射光发出后的预设接收时长终止，接收端组件700的接收视场701在目标场景920内的位置未变化，也就是说，光发射组件500依次射出的四组发射光对应的发射视场501均对应同一个接收视场701，接收视场701每间隔上述指定时长沿指定方向变化一次位置。假设图中目标场景920内每个虚线圆圈所限定的区域即为一个发射视场501，图中目标场景920内虚线矩形框所限定的区域即为接收端组件700能够接收到的所有光束在目标场景920内对应的区域也即当前的接收视场701。那么，对于每组发射光来说，其发射视场501可以为图中任意一个虚线圆圈所限定的区域，也就是说，发射光的发射角度无需被精确控制，发射光投射至上述任意一个 虚线圆圈所限定的区域其反射光均能被接收端组件700接收。可见，本公开实施例中发射视场501和接收视场701均无需被精确控制。
在接收视场701包括多个条形的连续区域的情况下：由于自对应发射光发出的发射起始时刻起，光发射组件500的发射视场501在预设接收时长内位于当前的接收视场701中，点阵的长度方向与接收视场701的长度方向相适应，因此，接收视场701的各个连续区域与光发射组件500各个发射视场501一一对应，也就是说，对于任意一组发射光来说，自该发射光发出的发射起始时刻起，在预设接收时长内接收视场701的多个条形的连续区域同时存在。由此，每组发射光只要按照既定的方向射出，该发射光经目标物体910反射后的反射光必定能从接收视场701的对应连续区域射出，进而被接收端组件700接收。从而本公开实施例中的激光系统400无需通过光扫描组件600精准地偏转从目标物体910反射的反射光来精确的同步匹配发射视场501与接收视场701。
此外，还需要说明的是，“条形的连续区域”一般指代的是长宽比大于1的区域，该连续区域既可以为多边形区域例如长方形区域，也可以为曲形区域例如S形区域，或者其他不规则形状的区域例如异形区域等。其中，至少一个连续区域的最大宽度和总长度之比小于第一比例阈值，第一比例阈值不大于0.5，例如第一比例阈值可以但不限于是0.5、0.1、0.01、或者0.001。
在一些实施例中，激光系统400还包括显示部件和/或提示部件；其中，显示部件用于显示目标物体910的距离、照射角度、目标物体910的反射率和目标物体910的轮廓中的至少一个；提示部件用于根据目标物体910的距离、照射角度、目标物体910的反射率和目标物体910的轮廓中的至少一个输出提示信号。其中，提示部件可以但不限于是麦克风或震动器。
在一些实施例中，本公开实施例中的激光系统400还包括主壳体和至少一个探头壳体，探头壳体与主壳体分体设置，探头壳体与目标场景920一一对应。其中，主壳体内设置有光发射组件500、扫描控制件和处理装置800；探头壳体内设置有光接收组件710和光扫描组 件600；其中，光电转换组件720设于主壳体或探头壳体。
由于本公开实施例中探头壳体与主壳体分体设置，因此探头壳体和主壳体可以分开固定安装，相比于整个激光系统400来说，探头壳体的体积很小，探头壳体能够安装在小体积的应用对象或应用位置上。以应用对象是盲人眼镜为例，探头壳体可以固定在盲人眼镜的镜架上，主壳体夹持在用户的腰部或者放置在用户的衣服口袋内。再以应用对象是汽车的后视镜为例，探头壳体可以固定在汽车的后视镜上，主壳体则固定在汽车的天花板。可见，安装该激光系统400时便只需将探头壳体安装于应用对象或应用位置，而无需将整个激光系统400安装在应用对象或应用位置上，从而便可扩大激光系统400的适用范围。此外，由于向目标物体910射出发射光的光扫描组件600以及接收目标物体910的反射光的光接收组件710均设置在探头壳体上，而探头壳体安装在应用对象或应用位置上，因此可以保证整个激光系统400的探测范围不受影响。
在探头壳体的数量为多个的情况下，各个探头壳体内的光扫描组件600可分别将对应的发射光照射至不同目标场景920内的目标物体910。
实施例五
如图14所示，本公开实施例提供了一种激光测量方法，该激光测量方法包括：
S1、生成发射信号并根据发射信号在本帧扫描时长内依次射出多组发射光；
S2、生成扫描控制信号；根据扫描控制信号将多组发射光依次偏转方向后照射至目标场景920内的至少一个目标物体910；
S3、将发射光经过目标场景920中的至少一个目标物体910反射后的至少一组反射光转换为输出信号；其中，输出信号的类型为电信号；
S4、根据扫描控制信号、发射信号和输出信号中的至少一个确定目标物体910的距离、目标物体910的方向角度、目标物体910的反射率和目标物体910的轮廓中的至少一个。
在一些实施例中，步骤S3包括：
S3.1、依次接收经目标物体910反射的多组反射光并将多组反射光依次转换为对应的第一光信号；
S3.2、将多个第一光信号依次转换为对应的第一电信号。
执行步骤S2中的生成扫描控制信号的步骤之后，激光测量方法还包括：
将目标物体910反射的反射光偏转方向的同时生成当前扫描角度信号；
根据发射信号、扫描控制信号、当前扫描角度信号、输出信号以及第一光信号的转换位置中的至少一个确定发射光照射至目标物体910的照射角度。
在一些实施例中，步骤S1包括：在本帧扫描时长内依次射出至少一组第一发射光和至少一组第二发射光；第一发射光的发射时刻早于第二发射光的发射时刻；其中，第二发射光为可见光；
步骤S3包括：将第一发射光经对应的目标物体910反射后的反射光转换为输出信号。
在一些实施例中步骤S2包括：
根据扫描控制信号将第一发射光照射至多个目标物体910；以及
根据距离、照射角度、反射率和轮廓中的至少一个将第二发射光按照预设效果投影于多个目标物体910中的其中一个目标物体910的表面。
在一些实施例中步骤S2包括：根据扫描控制信号将发射光偏转方向后，将第一发射光和第二发射光分别照射至两个不同的目标物体910。
以上描述仅为本公开的实施方式以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的保护范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离技术构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (39)

  1. 一种光扫描组件，其特征在于，包括：
    第一扫描件，将接收到的发射光沿第一扫描方向和第二扫描方向同步偏转方向；其中，所述第一扫描方向与所述第二扫描方向不同向；以及
    多个光偏转部件，在本帧扫描时长内依次接收经所述第一扫描件偏转后的多组所述发射光；
    其中，多个所述光偏转部件中至少两个所述光偏转部件与所述第一扫描件的连线的夹角沿所述第一扫描方向的分量小于或等于所述第一扫描件沿所述第一扫描方向的视场角；所述至少两个所述光偏转部件的长度方向偏离所述第二扫描方向的角度的差值的绝对值大于零且小于或等于所述第一扫描件沿所述第二扫描方向的视场角；所述光偏转部件沿其长度方向的两端分别与所述第一扫描件的连线之间的夹角大于或等于所述第一扫描件沿所述第二扫描方向的视场角。
  2. 根据权利要求1所述的光扫描组件，其中，所述光偏转部件为中间扫描件，所述中间扫描件的扫描方向包括所述第一扫描方向；在第一扫描时长内，沿所述第一扫描方向至少两个所述中间扫描件对相应的所述发射光的偏转角度不同；所述中间扫描件沿所述第一扫描方向的扫描角度变化率与所述第一扫描件分别沿所述第二扫描方向的扫描角度变化率的比值小于变化率阈值；
    其中，所述第一扫描时长大于或等于第二扫描时长的两倍，且所述第一扫描时长小于所述本帧扫描时长；所述第二扫描时长为所述第一扫描件沿所述第二扫描方向扫描一次的时长；所述变化率阈值为1/2、1/4、1/8、1/16、1/100或1/1000。
  3. 根据权利要求2所述的光扫描组件，其中，在第三扫描时长内，至少一个所述中间扫描件沿所述第一扫描方向的扫描角度不变；其中，所述第三扫描时长大于或等于所述第二扫描时长，且所述第三扫描时 长小于或等于所述第一扫描时长。
  4. 根据权利要求2所述的光扫描组件，其中，所述中间扫描件为液晶扫描件，所述液晶扫描件包括液晶空间光调制器、液晶超晶面、液晶线控阵、透视式一维液晶阵列、透射式二维液晶阵列或液晶显示模组。
  5. 根据权利要求1所述的光扫描组件，其中，所述光偏转部件为偏转镜。
  6. 根据权利要求5所述的光扫描组件，其中，所述光扫描组件还包括：
    第二扫描件，其扫描方向包括第一扫描方向；所述第二扫描件用于将经过所述偏转镜反射的所述发射光偏转方向后照射至目标场景内的至少一个目标物体。
  7. 根据权利要求6所述的光扫描组件，其中，所述第二扫描件还用于将至少一个所述目标物体反射的至少一组反射光偏转方向。
  8. 根据权利要求6所述的光扫描组件，其中，多个所述偏转镜的镜面的中心与所述第二扫描件的反射面的中心共面且平行于所述第一扫描方向。
  9. 根据权利要求6所述的光扫描组件，其中，所述第二扫描件包括旋转棱镜、光学相控阵列、光电偏转器件、液晶扫描件、旋转楔镜和摆镜中的至少一个。
  10. 根据权利要求5至9任一项所述的光扫描组件，其中，所述至少两个所述光偏转部件包括第一偏转镜和第二偏转镜；与所述第一偏转镜对应的第一区域以及与所述第二偏转镜对应的第二区域部分重 叠或相互衔接；
    其中，所述第一区域为经过所述第一偏转镜偏转的所述发射光在目标场景内的投射区域；所述第二区域为经过所述第二偏转镜偏转的所述发射光在所述目标场景内的投射区域。
  11. 根据权利要求10所述的光扫描组件，其中，所述第一区域与所述第二区域的重叠部分沿所述第一扫描方向的长度与第一基准长度之比大于第一重叠阈值；所述第一区域与所述第二区域的重叠部分沿所述第二扫描方向的长度与第二基准长度之比小于第二重叠阈值；
    其中，所述第一基准长度为所述第一区域沿所述第一扫描方向的长度与所述第二区域沿所述第一扫描方向的长度中的最大值；所述第二基准长度为所述第一区域沿所述第二扫描方向的长度与所述第二区域沿所述第二扫描方向的长度中的最大值；其中，所述第一重叠阈值和所述第二重叠阈值均小于或等于1。
  12. 根据权利要求1至9任一项所述的光扫描组件，其中，各个所述光偏转部件偏离所述第二扫描方向的角度不同。
  13. 根据权利要求1至9任一项所述的光扫描组件，其中，所述第一扫描方向和所述第二扫描方向为水平方向、竖直方向或倾斜方向；其中，所述倾斜方向介于所述竖直方向与所述水平方向之间。
  14. 根据权利要求1至9任一项所述的光扫描组件，其中，所述第一扫描件包括MEMS振镜、光学相控阵列、液晶扫描件、光电偏转器件和声光偏转器中的至少一个。
  15. 一种光扫描组件，其特征在于，包括：
    第一扫描件，至少将接收到的发射光沿第二扫描方向偏转方向；
    多个光偏转部件，沿所述第二扫描方向依次设置；第一个所述光偏转部件用于接收经所述第一扫描件偏转后的所述发射光，相邻两个 所述光偏转部件中其中一个所述光偏转部件位于另外一个所述光偏转部件的透射光路上；最后一个所述光偏转部件为反射镜或分光镜，剩余所述光偏转部件均为分光镜；相邻两个所述分光镜中后面的所述分光镜能够反射由前面的所述分光镜透射的至少部分所述发射光；至少一个所述分光镜反射的所述发射光和透射的所述发射光的波长或偏振性不同；以及
    第二扫描件，其扫描方向包括第一扫描方向；所述第二扫描件用于将经过所述光偏转部件反射的所述发射光偏转方向后照射至目标场景内的至少一个目标物体；其中，所述第一扫描方向与所述第二扫描方向不同向；
    其中，多个所述光偏转部件中至少两个所述光偏转部件与所述第一扫描件的连线的夹角沿所述第一扫描方向的分量小于或等于所述第一扫描件沿所述第一扫描方向的视场角；所述至少两个所述光偏转部件的长度方向偏离所述第二扫描方向的角度的差值的绝对值大于零且小于或等于所述第一扫描件沿所述第二扫描方向的视场角；所述光偏转部件沿其长度方向的两端分别与所述第一扫描件的连线之间的夹角大于或等于所述第一扫描件沿所述第二扫描方向的视场角。
  16. 一种光扫描组件，其特征在于，包括：
    多个第一扫描件，沿第一扫描方向依次设置；所述第一扫描件用于至少将接收到的发射光沿第二扫描方向偏转方向；
    多个光偏转部件，与所述第一扫描件一一对应设置；每个所述光偏转部件用于接收经对应的所述第一扫描件偏转后的所述发射光，最后一个所述光偏转部件为反射镜或分光镜，剩余所述光偏转部件均为分光镜，至少一个所述分光镜反射的所述发射光和透射的所述发射光的波长或偏振性不同；以及
    第二扫描件，其扫描方向包括第一扫描方向；所述第二扫描件用于将经过所述光偏转部件反射的所述发射光偏转方向后照射至目标场景内的至少一个目标物体；其中，所述第一扫描方向与所述第二扫描方向不同向；
    其中，多个所述光偏转部件中至少两个所述光偏转部件与所述第一扫描件的连线的夹角沿所述第一扫描方向的分量小于或等于所述第一扫描件沿所述第一扫描方向的视场角；所述至少两个所述光偏转部件的长度方向偏离所述第二扫描方向的角度的差值的绝对值大于零且小于或等于所述第一扫描件沿所述第二扫描方向的视场角；所述光偏转部件沿其长度方向的两端分别与所述第一扫描件的连线之间的夹角大于或等于所述第一扫描件沿所述第二扫描方向的视场角。
  17. 一种激光系统，其特征在于，包括：
    光发射组件，生成发射信号并根据所述发射信号在本帧扫描时长内依次射出多组所述发射光；
    扫描控制件，生成扫描控制信号；以及
    如权利要求1至16任一项所述的光扫描组件；所述光扫描组件根据所述扫描控制信号将所述光发射组件发出的多组所述发射光依次偏转方向后照射至目标场景内的至少一个目标物体。
  18. 根据权利要求17所述的激光系统，其中，所述激光系统还包括：
    接收端组件，将所述发射光经过所述目标场景中的至少一个所述目标物体反射后的至少一组反射光转换为输出信号；其中，所述输出信号的类型为电信号；
    处理装置，分别与所述光发射组件、所述扫描控制件和所述接收端组件电连接；所述处理装置用于根据所述扫描控制信号、所述发射信号和所述输出信号中的至少一个确定所述目标物体的距离、所述目标物体的方向角度、所述目标物体的反射率和所述目标物体的轮廓中的至少一个。
  19. 根据权利要求18所述的激光系统，其中，所述接收端组件包括：
    光接收组件，依次接收经所述目标物体反射的多组反射光并将多 组所述反射光依次转换为对应的第一光信号；以及
    光电转换组件，将多个所述第一光信号依次转换为对应的第一电信号。
  20. 根据权利要求19所述的激光系统，其中，所述发射信号包括表示每组所述发射光的发射起始时刻的时刻信息；所述接收端组件还包括：
    偏置电压模块，提供动态偏置电压；所述动态偏置电压的绝对值从所述发射起始时刻起按照第一预设规律在第一预设时长变化至第一预定阈值、并保持不小于所述第一预定阈值第二预设时长，且所述动态偏置电压的绝对值在所述第一预设时长内小于所述第一预定阈值；
    其中，光电转换组件用于根据所述动态偏置电压将所述第一光信号依次转换为对应的第一电信号；所述第一预设时长小于所述发射起始时刻与接收时刻的最大差值，所述接收时刻为所述反射光被所述接收端组件接收的时刻。
  21. 根据权利要求20所述的激光系统，其中，所述动态偏置电压小于零，所述第一预设规律为所述动态偏置电压随时间呈整体下降趋势。
  22. 根据权利要求21所述的激光系统，其中，所述接收端组件还包括电放大模块，所述电放大模块用于将所述第一电信号放大为第二电信号。
  23. 根据权利要求22所述的激光系统，其中，所述电放大模块包括多个相互串联或并联的放大器，多个所述放大器中至少其中一个所述放大器输出的放大电信号的强度小于另外一个所述放大器输出的放大电信号的强度的一半。
  24. 根据权利要求23所述的激光系统，其中，所述处理装置包括：
    至少一个比较器；至少输出最大放大电信号的所述放大器的输出端连接至少一个所述比较器的输入端，所述比较器的比较输入与所述放大器一一对应；所述比较器用于将所述比较输入的电压值与对应所述放大器输出的电信号进行比较，以确定触发起始时刻、触发结束时刻和脉冲宽度；其中，所述触发起始时刻和所述触发结束时刻分别为所述放大器输出的电信号的强度高于所述比较输入的电压值的起始时刻和终止时刻，所述脉冲宽度为所述触发结束时刻与所述触发起始时刻的差值；
    时长确定模块，与所述比较器一一对应；所述时长确定模块用于根据所述发射起始时刻与对应所述比较器输出的所述触发起始时刻确定光飞行时长；以及
    处理器，根据所述光飞行时长、所述脉冲宽度、所述第二电信号的强度和光速中的至少一个确定所述距离、所述反射率和所述轮廓中的至少一个。
  25. 根据权利要求24所述的激光系统，其中，所述比较输入的电压值自所述发射起始时刻起按照第二预设规律动态变化，且在第一预设时长内变化幅度大于第二预设变化阈值。
  26. 根据权利要求25所述的激光系统，其中，所述第二预设规律为所述比较输入的电压值随时间呈整体下降趋势。
  27. 根据权利要求19至26任一项所述的激光系统，其中，所述光扫描组件还被配置为将所述目标物体反射的反射光偏转方向的同时生成当前扫描角度信号；所述处理装置还被配置为根据所述发射信号、所述扫描控制信号、所述当前扫描角度信号、所述输出信号以及所述光电转换组件上输出所述第一电信号的位置中的至少一个确定所述发射光照射至所述目标物体的照射角度。
  28. 根据权利要求27所述的激光系统，其中，多组所述发射光包 括至少一组第一发射光和至少一组第二发射光，所述第一发射光的发射时刻早于所述第二发射光的发射时刻，所述第一发射光经对应的所述目标物体反射后的反射光被转换为所述输出信号，所述第二发射光为可见光；
    其中，所述光扫描组件将所述第一发射光照射至多个所述目标物体后，根据所述距离、所述照射角度、所述反射率和所述轮廓中的至少一个将所述第二发射光按照预设效果投影于多个所述目标物体中的其中一个所述目标物体的表面；或者，
    所述光扫描组件将所述第一发射光和所述第二发射光分别照射至两个不同的所述目标物体。
  29. 根据权利要求28所述的激光系统，其中，所述第二发射光包括红光、蓝光和绿光中的至少一种。
  30. 根据权利要求18至26任一项所述的激光系统，其中，在所述本帧扫描时长内，所述接收端组件的接收视场在所述目标场景内的位置按照第一指定规律变化和/或所述接收视场的形状按照第二指定规律变化；自对应所述发射光发出的发射起始时刻起，所述光发射组件的发射视场在预设接收时长内位于当前的所述接收视场中，且所述接收视场的面积大于或等于所述发射视场的面积的两倍；
    其中，所述第一指定规律包括沿指定方向变动；所述发射视场为每组所述发射光在所述目标场景内的投射区域，所述接收视场为在所述预设接收时长内所述接收端组件能够接收到的所有光束在所述目标场景内对应的区域。
  31. 根据权利要求30所述的激光系统，其中，所述接收视场包括至少一个条形的连续区域，所述本帧扫描时长内多组所述发射光对应的所述发射视场呈点阵分布，所述点阵的宽度方向与所述指定方向平行。
  32. 根据权利要求20至26任一项所述的激光系统，其中，所述激光系统还包括：
    主壳体，设置有所述光发射组件、所述扫描控制件、所述偏置电压模块和所述处理装置；
    至少一个探头壳体，与所述主壳体分体设置；每个所述探头壳体内均设置有所述光接收组件和所述光扫描组件，所述探头壳体与所述目标场景一一对应；
    其中，所述光电转换组件设于所述主壳体或所述探头壳体。
  33. 根据权利要求18至26任一项所述的激光系统，其中，所述激光系统还包括：
    显示部件，显示所述距离、所述反射率和所述轮廓中的至少一个；和/或
    提示部件，根据所述距离、所述反射率和所述轮廓中的至少一个输出提示信号。
  34. 一种基于权利要求17至33任一项所述的激光系统的激光测量方法，其特征在于，包括：
    生成发射信号并根据所述发射信号在本帧扫描时长内依次射出多组发射光；
    生成所述扫描控制信号；根据所述扫描控制信号将多组所述发射光依次偏转方向后照射至目标场景内的至少一个目标物体；
    将所述发射光经过所述目标场景中的至少一个所述目标物体反射后的至少一组反射光转换为输出信号；其中，所述输出信号的类型为电信号；
    根据所述扫描控制信号、所述发射信号和所述输出信号中的至少一个确定所述目标物体的距离、所述目标物体的方向角度、所述目标物体的反射率和所述目标物体的轮廓中的至少一个。
  35. 根据权利要求34所述的激光测量方法，其中，将所述发射光 经过目标场景中的至少一个目标物体反射后的至少一组反射光转换为输出信号，包括：
    依次接收经所述目标物体反射的多组反射光并将多组所述反射光依次转换为对应的第一光信号；
    将多个所述第一光信号依次转换为对应的第一电信号。
  36. 根据权利要求35所述的激光测量方法，其中，执行生成扫描控制信号的步骤之后，所述激光测量方法还包括：
    将所述目标物体反射的反射光偏转方向的同时生成当前扫描角度信号；
    根据所述发射信号、所述扫描控制信号、所述当前扫描角度信号、所述输出信号以及所述第一光信号的转换位置中的至少一个确定所述发射光照射至所述目标物体的照射角度。
  37. 根据权利要求36所述的激光测量方法，其中，生成发射信号并根据所述发射信号在本帧扫描时长内依次射出多组发射光的步骤，包括：
    在本帧扫描时长内依次射出至少一组第一发射光和至少一组第二发射光；所述第一发射光的发射时刻早于所述第二发射光的发射时刻；其中，所述第二发射光为可见光；
    其中，将所述发射光经过目标场景中的至少一个目标物体反射后的至少一组反射光转换为输出信号的步骤，包括：
    将所述第一发射光经对应的所述目标物体反射后的反射光转换为所述输出信号。
  38. 根据权利要求37所述的激光测量方法，其中，根据所述扫描控制信号将所述发射光偏转方向后照射至所述目标场景内的至少一个所述目标物体的步骤，包括：
    根据所述扫描控制信号将所述第一发射光照射至多个所述目标物体；以及
    根据所述距离、所述照射角度、所述反射率和所述轮廓中的至少一个将所述第二发射光按照预设效果投影于多个所述目标物体中的其中一个所述目标物体的表面。
  39. 根据权利要求37所述的激光测量方法，其中，根据所述扫描控制信号将所述发射光偏转方向后照射至所述目标场景内的至少一个所述目标物体的步骤，包括：
    根据所述扫描控制信号将所述发射光偏转方向后，将所述第一发射光和所述第二发射光分别照射至两个不同的所述目标物体。
PCT/CN2023/073762 2022-01-30 2023-01-30 光扫描组件、激光系统和激光测量方法 WO2023143594A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210116225.8A CN116559826A (zh) 2022-01-30 2022-01-30 光扫描组件、激光系统和激光测量方法
CN202210116225.8 2022-01-30

Publications (1)

Publication Number Publication Date
WO2023143594A1 true WO2023143594A1 (zh) 2023-08-03

Family

ID=87470766

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/073762 WO2023143594A1 (zh) 2022-01-30 2023-01-30 光扫描组件、激光系统和激光测量方法

Country Status (2)

Country Link
CN (1) CN116559826A (zh)
WO (1) WO2023143594A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012063236A (ja) * 2010-09-16 2012-03-29 Ricoh Co Ltd レーザレーダ装置
CN105824118A (zh) * 2015-01-07 2016-08-03 先进微系统科技股份有限公司 激光投射装置
CN107490792A (zh) * 2016-06-12 2017-12-19 北京飞思迈尔光电科技有限公司 光学扫描传感器
CN109828259A (zh) * 2019-02-14 2019-05-31 昂纳信息技术（深圳）有限公司 一种激光雷达及组合扫描装置
CN113030909A (zh) * 2019-12-09 2021-06-25 觉芯电子(无锡)有限公司 一种基于微镜阵列的激光雷达系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012063236A (ja) * 2010-09-16 2012-03-29 Ricoh Co Ltd レーザレーダ装置
CN105824118A (zh) * 2015-01-07 2016-08-03 先进微系统科技股份有限公司 激光投射装置
CN107490792A (zh) * 2016-06-12 2017-12-19 北京飞思迈尔光电科技有限公司 光学扫描传感器
CN109828259A (zh) * 2019-02-14 2019-05-31 昂纳信息技术（深圳）有限公司 一种激光雷达及组合扫描装置
CN113030909A (zh) * 2019-12-09 2021-06-25 觉芯电子(无锡)有限公司 一种基于微镜阵列的激光雷达系统

Also Published As

Publication number Publication date
CN116559826A (zh) 2023-08-08

Similar Documents

Publication Publication Date Title
CN106569224B (zh) 一种扫描型激光雷达光学系统
CN107272014B (zh) 一种固态的二维扫描激光雷达及其扫描方法
CA3017735C (en) Integrated illumination and detection for lidar based 3-d imaging
CN113567994B (zh) 激光雷达的光学系统和激光雷达系统
US6989890B2 (en) Apparatus for taking up an object space
WO2021212915A1 (zh) 一种激光测距装置及方法
US11589029B2 (en) 3D imaging system for RGB-D imaging
US20240012114A1 (en) Electromagnetic wave detection apparatus, program, and information acquisition system
US12019188B2 (en) Eye-safe scanning lidar with virtual protective housing
WO2021058016A1 (zh) 激光雷达及生成激光点云数据的方法
CN104251995A (zh) 彩色激光三维扫描技术
US11092679B2 (en) Compensation for laser light source misalignment in a multiple laser scanning TOF sensor system
US11579427B2 (en) Method and apparatus for filtering and filtered light detection
US11860309B2 (en) 3D imaging system and method of 3D imaging
WO2023143594A1 (zh) 光扫描组件、激光系统和激光测量方法
CN110456371B (zh) 一种激光雷达系统及相关测量方法
CN110967681B (zh) 用于三维扫描的结构振镜及应用其的激光雷达
CN115343688B (zh) 一种基于多面转镜的激光扫描同步控制系统及控制方法
CN111527740B (zh) 电磁波检测装置
WO2023143593A1 (zh) 激光系统及激光测量方法
US20190212447A1 (en) Scanning 3D Imaging Device with Power Control Using Multiple Wavelengths
WO2023143592A1 (zh) 激光系统及激光测量方法
CN116338670A (zh) 雷达系统及雷达测距方法
CN111684299A (zh) 电磁波检测装置以及信息获取系统
CN217561719U (zh) 用于激光雷达的光同步偏折装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23746471

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE