WO2025129458A1 - 光学组件、光学系统和激光雷达 - Google Patents

光学组件、光学系统和激光雷达 Download PDF

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Publication number
WO2025129458A1
WO2025129458A1 PCT/CN2023/139942 CN2023139942W WO2025129458A1 WO 2025129458 A1 WO2025129458 A1 WO 2025129458A1 CN 2023139942 W CN2023139942 W CN 2023139942W WO 2025129458 A1 WO2025129458 A1 WO 2025129458A1
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WIPO (PCT)
Prior art keywords
lens
laser
optical component
light
aspherical lens
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Pending
Application number
PCT/CN2023/139942
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English (en)
French (fr)
Inventor
肖锡晟
龙亚雪
刘军
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Shenzhen Yinwang Intelligent Technology Co Ltd
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Shenzhen Yinwang Intelligent Technology Co Ltd
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.)
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Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Priority to CN202380097118.8A priority Critical patent/CN120981756A/zh
Priority to PCT/CN2023/139942 priority patent/WO2025129458A1/zh
Publication of WO2025129458A1 publication Critical patent/WO2025129458A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00

Definitions

  • the present application relates to the optical field of laser radar, and more specifically, to an optical component, an optical system and a laser radar.
  • the laser radar's transmitting optical system is one of the core components of the laser radar. It is used to transmit lasers to the object space to be detected so that the target can be illuminated by lasers of a specific wavelength.
  • the laser radar's receiving system focuses the light reflected from the object onto the detector, forming a target detection.
  • the current mainstream semi-solid laser radar has a high cost due to the complex structure of the transmitting optical system.
  • the present application provides an optical component, an optical system and a laser radar, which help to reduce the structural complexity of the optical component in the transmitting optical system, thereby helping to reduce the cost of the laser radar.
  • an optical component which includes at least one rotationally symmetric aspherical lens, at least one rotationally symmetric spherical lens or a non-rotationally symmetric cylindrical lens, and the optical component is used to shape a laser beam emitted by a laser; the number of lenses in the optical component is less than or equal to 3.
  • the cylindrical lens can homogenize the light beam, which helps to solve the problem of insufficient light spot coverage or uneven light spot coverage.
  • the above rotationally symmetrical spherical lens and rotationally symmetrical aspherical lens may be circular lenses.
  • a circular lens may refer to a lens with a circular outer contour, or in other words, the outer contours of a spherical lens and an aspherical lens may be circular.
  • a spherical lens may refer to a lens with a spherical surface geometry, and an aspherical lens may refer to a lens with a non-spherical surface geometry (e.g., parabolic, elliptical, etc.).
  • the optical component includes at most one non-rotationally symmetric cylindrical lens.
  • the optical component may be located in the transmitting optical system of the lidar.
  • the optical component does not include a non-rotationally symmetric cylindrical lens, the dimension of the matching or coupling of the transmitting module and the receiving module in the laser radar can be reduced, thereby reducing the difficulty of matching or coupling the transmitting module and the receiving module.
  • the optical component since the optical component only includes two rotationally symmetric circular lenses, the structural complexity of the optical component can be further reduced, and the processing and manufacturing cost and installation cost of the optical component can also be further reduced.
  • the front surface of the aspheric lens is concave and the back surface is convex
  • the refractive index of the aspheric lens is 1.49-1.55 and the Abbe coefficient is 61-67.
  • the front surface of the above aspherical lens can be understood as the surface of the aspherical lens close to the laser, and the rear surface of the aspherical lens can be understood as the surface of the aspherical lens far from the laser.
  • the above Abbe coefficient is used in the optical field to evaluate the dispersion performance of lens materials, and can also be called the dispersion coefficient.
  • the front surface of the spherical lens is concave and the back surface is convex, and the refractive index of the spherical lens is 1.75-1.85 and the Abbe coefficient is 43-49.
  • the front surface of the above spherical lens can be understood as the surface of the spherical lens close to the laser, and the rear surface of the spherical lens can be understood as the surface of the spherical lens far from the laser.
  • the surface parameters of the aspherical lens are:
  • S1 is the front surface of the aspherical lens and S2 is the back surface of the aspherical lens.
  • Radius is the radius of curvature
  • Conic is the cone coefficient.
  • A4, A6, A8, A10 and A12 are aspherical coefficients.
  • the thickness of the aspherical lens is (5.67 mm, 9.32 mm).
  • the surface parameters of the spherical lens are:
  • the thickness of the spherical lens is (3.62 mm, 5.95 mm).
  • S3 is the front surface of the spherical lens and S4 is the back surface of the spherical lens.
  • the air gap between the aspherical lens and the center of the laser is (5.6 mm, 9.2 mm), and the air gap between the aspherical lens and the center of the spherical lens is (9.13 mm, 15 mm).
  • the shaping effect for example, collimation effect
  • the position of the beam waist can be kept away from the surface of the spherical lens, which helps to reduce the required aperture of the rotating mirror or the window, thereby helping to avoid the cost increase caused by the excessive size of the rotating mirror or the window.
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface of the spherical lens in the optical component is greater than or equal to 17 mm and less than or equal to 23 mm.
  • the rotating mirror or the window may be disposed near the beam waist, so as to avoid the problem of light cutting caused by insufficient size of the rotating mirror or the window.
  • the length of the light-emitting area in the laser is (8.49 mm, 9.83 mm), and the divergence angle of the laser beam emitted by the laser after being shaped by the optical component along the long side direction of the light-emitting area is 20°-25°.
  • the optical component includes a rotationally symmetric aspherical lens, a rotationally symmetric spherical lens, and a non-rotationally symmetric cylindrical lens
  • the aspherical lens is used to perform a first collimation on the laser beam emitted by the laser to obtain a third beam
  • the spherical lens is used to perform a second collimation on the third beam to obtain a fourth beam
  • the cylindrical lens is used to homogenize the fourth beam to obtain a fifth beam.
  • the light beam can be collimated by the aspherical lens and the spherical lens, and the light beam can be homogenized by the cylindrical lens, which helps to solve the problem of insufficient light spot coverage.
  • the optical component only includes one non-rotationally symmetric cylindrical lens, it helps to reduce the structural complexity of the optical component; at the same time, it can facilitate the modularization of the optical component and reduce the processing and manufacturing cost and installation cost of the optical component.
  • two discrete light spots overlap in the vertical direction.
  • the laser includes two adjacent light-emitting areas, and there is a gap between the two adjacent light-emitting areas.
  • the laser beams emitted simultaneously by the two adjacent light-emitting areas are collimated after passing through the aspherical lens and the spherical lens, and the light spots formed by the collimated beams after passing through the cylindrical lens overlap.
  • the front surface of the aspheric lens is concave and the back surface is convex
  • the refractive index of the aspheric lens is 1.45-1.6 and the Abbe coefficient is 61-67.
  • the front surface of the spherical lens is concave and the back surface is convex, and the refractive index of the spherical lens is 1.7-1.9 and the Abbe coefficient is 36-45.
  • the front surface of the cylindrical lens is a plane and the rear surface is a concave surface
  • the refractive index of the cylindrical lens is 1.45-1.6 and the Abbe coefficient is 61-67.
  • the front surface mentioned above can be understood as the surface close to the laser, and the rear surface can be understood as the surface far away from the laser.
  • the surface parameters of the aspherical lens are:
  • S5 is the front surface of the aspherical lens and S6 is the back surface of the aspherical lens.
  • the thickness of the aspherical lens is (5.67 mm, 9.32 mm).
  • the surface parameters of the spherical lens are:
  • S7 is the front surface of the spherical lens and S8 is the back surface of the spherical lens.
  • the thickness of the spherical lens is (3.62 mm, 6 mm).
  • the surface parameters of the cylindrical lens are:
  • S9 is the front surface of the cylindrical lens and S10 is the back surface of the cylindrical lens.
  • Radius Y can be understood as the radius of curvature of the cylindrical lens in the Y-axis direction.
  • the radius of curvature in the Y-axis direction is inf, which means that the surface is a plane.
  • the laser includes a rectangular light-emitting area, and the long side direction of the rectangular light-emitting area is the Y-axis direction.
  • the thickness of the cylindrical lens is (1.4 mm, 2.3 mm).
  • the air gap between the aspherical lens and the center of the laser is (5.6mm, 9.2mm)
  • the air gap between the aspherical lens and the center of the spherical lens is (9.13mm, 15mm)
  • the air gap between the cylindrical lens and the center of the spherical lens is (1.4mm, 2.3mm).
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface of the cylindrical lens in the optical component is greater than or equal to 15 mm and less than or equal to 25 mm.
  • the length of the light-emitting area in the laser is (11.4 mm, 13.8 mm), and the divergence angle of the laser beam emitted by the laser after being shaped by the optical component along the long side direction of the light-emitting area is 21°-27°.
  • the collimation of the light beam can be achieved through the cylindrical lens and the aspherical lens. Since the optical component only includes one non-rotationally symmetric cylindrical lens, it helps to reduce the structural complexity of the optical component; at the same time, it can facilitate the modularization of the optical component and reduce the processing and manufacturing costs and installation costs of the optical component.
  • the front surface and the back surface of the aspherical lens are convex surfaces, and the refractive index of the aspherical lens is 1.76-1.86 and the Abbe coefficient is 38-44.
  • the surface parameters of the cylindrical lens are:
  • S11 is the front surface of the cylindrical lens and S12 is the back surface of the cylindrical lens.
  • Radius X can be understood as the curvature radius of the cylindrical lens in the X-axis direction.
  • the laser includes a rectangular light-emitting area, and the short side direction of the rectangular light-emitting area is the X-axis direction.
  • the surface parameters of the aspherical lens are:
  • S13 is the front surface of the aspherical lens and S14 is the back surface of the aspherical lens.
  • the thickness of the aspherical lens is (2.92 mm, 4.79 mm).
  • the air gap between the cylindrical mirror and the center of the laser is (11.3 mm, 18.57 mm), and the air gap between the cylindrical mirror and the center of the aspherical mirror is (1.06 mm, 1.74 mm).
  • the shaping effect for example, collimation effect
  • the position of the beam waist can be kept away from the surface of the aspherical lens, which helps to reduce the required aperture of the rotating mirror or the window, thereby helping to avoid the cost increase caused by the excessive size of the rotating mirror or the window.
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface of the aspherical lens in the optical component is greater than or equal to 15 mm and less than or equal to 22 mm.
  • the length of the light-emitting area in the laser is (8.52 mm, 10.32 mm), and the divergence angle of the laser beam emitted by the laser after being shaped by the optical component along the long side direction of the light-emitting area is 22°-28°.
  • the optical component includes a rotationally symmetric aspherical lens and a rotationally symmetric spherical lens, the aspherical lens is used to perform a first collimation on the laser beam emitted by the laser to obtain an eighth beam; the spherical lens is used to perform a second collimation on the eighth beam to obtain a ninth beam.
  • the optical component does not include a non-rotationally symmetric cylindrical lens, the dimension of the matching or coupling of the transmitting module and the receiving module in the laser radar can be reduced, thereby reducing the difficulty of matching or coupling the transmitting module and the receiving module.
  • the optical component since the optical component only includes two rotationally symmetric circular lenses, the structural complexity of the optical component can be further reduced, and the processing and manufacturing cost and installation cost of the optical component can also be further reduced.
  • the front surface of the aspheric lens is concave and the back surface is convex
  • the refractive index of the aspheric lens is 1.4-1.6 and the Abbe coefficient is 60-66.
  • the front surface and the back surface of the spherical lens are convex surfaces, and the refractive index of the spherical lens is 1.8-2.0 and the Abbe coefficient is 26-36.
  • the surface parameters of the aspherical lens are:
  • S15 is the front surface of the aspherical lens and S16 is the back surface of the aspherical lens.
  • the thickness of the aspherical lens is (3.25 mm, 5.34 mm).
  • the surface parameters of the spherical lens are:
  • S17 is the front surface of the spherical lens and S18 is the back surface of the spherical lens.
  • the thickness of the spherical lens is (4.9 mm, 8.1 mm).
  • the air gap between the aspherical mirror and the center of the laser is (4.892 mm, 8.036 mm), and the air gap between the spherical mirror and the center of the aspherical mirror is (5.748 mm, 9.444 mm).
  • the shaping effect for example, collimation effect
  • the position of the beam waist can be kept away from the surface of the spherical lens, which helps to reduce the required aperture of the rotating mirror or the window, thereby helping to avoid the cost increase caused by the excessive size of the rotating mirror or the window.
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface of the spherical lens in the optical component is greater than or equal to 25.5 mm and less than or equal to 31.5 mm.
  • the rotating mirror or the window may be disposed near the beam waist, so as to avoid the problem of light cutting caused by insufficient size of the rotating mirror or the window.
  • the length of the light-emitting area in the laser is (8.83mm, 10.22mm), and the divergence angle of the laser beam emitted by the laser after being shaped by the optical component along the long side direction of the light-emitting area is 22°-28°.
  • the optical component includes a rotationally symmetric aspherical lens and a non-rotationally symmetric cylindrical lens, the aspherical lens is used to perform a first collimation on the laser beam emitted by the laser to obtain a tenth beam; the cylindrical lens is used to perform a second collimation and homogenization on the tenth beam to obtain an eleventh beam.
  • the shaping effect for example, collimation effect and homogenization effect
  • the position of the beam waist can be kept away from the surface of the cylindrical lens, which helps to reduce the required aperture of the rotating mirror or the window, thereby helping to avoid the cost increase caused by the excessive size of the rotating mirror or the window.
  • the energy distribution of the light spot in the vertical direction is uniform.
  • the energy distribution in the light spot is uniform, so that the beam quality problem (or the problem of uneven intensity distribution of the light spot) can be avoided.
  • the front surface and the back surface of the aspherical lens are convex surfaces, and the refractive index of the aspherical lens is 1.49-1.55 and the Abbe coefficient is 61-67.
  • the front surface of the cylindrical lens is convex and the rear surface is concave, and the refractive index of the cylindrical lens is 1.49-1.55 and the Abbe coefficient is 61-67.
  • the surface parameters of the aspherical lens are:
  • S19 is the front surface of the aspherical lens and S20 is the back surface of the aspherical lens.
  • the thickness of the aspherical lens is (3.5 mm, 5.75 mm).
  • the surface parameters of the cylindrical lens are:
  • S21 is the front surface of the cylindrical lens and S22 is the back surface of the cylindrical lens.
  • a thickness of the cylindrical lens is (3.42 mm, 5.61 mm).
  • the air gap between the aspheric mirror and the center of the laser is (15.279 mm, 25.098 mm), and the air gap between the cylindrical mirror and the center of the aspheric mirror is (0.963 mm, 1.582 mm).
  • the shaping effect for example, collimation effect and homogenization effect
  • the position of the beam waist can be kept away from the surface of the cylindrical lens, which helps to reduce the required aperture of the rotating mirror or the window, thereby helping to avoid the cost increase caused by the excessive size of the rotating mirror or the window.
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface of the cylindrical lens in the optical component is greater than or equal to 10 mm and less than or equal to 20 mm.
  • the length of the light-emitting area in the laser is (6.5mm, 7.5mm), and the divergence angle of the laser beam emitted by the laser after being shaped by the optical component along the long side direction of the light-emitting area is 15°-21°.
  • the laser includes a plurality of rectangular light emitting areas, and the aspect ratio of each of the plurality of rectangular light emitting areas is greater than or equal to 5.
  • the multiple rectangular light-emitting areas are illuminated in a time-sharing manner.
  • the crosstalk problem of light from different fields of view on the receiving module can be avoided to a certain extent by time-sharing lighting of multiple rectangular light-emitting areas.
  • the multiple rectangular light-emitting areas include a first rectangular light-emitting area and a second rectangular light-emitting area, and the first rectangular light-emitting area and the second rectangular light-emitting area are staggered along the long side direction and the staggered length is greater than or equal to 100 ⁇ m.
  • the two rectangular light-emitting areas are staggered along the long side direction, which can avoid the line missing problem caused by mounting errors.
  • the multiple rectangular light-emitting areas include adjacent third rectangular light-emitting areas and fourth rectangular light-emitting areas, the third rectangular light-emitting areas and the fourth rectangular light-emitting areas are linearly arranged along the long side direction and the gap between the third rectangular light-emitting areas and the fourth rectangular light-emitting areas is greater than or equal to 100 ⁇ m.
  • two adjacent rectangular light-emitting areas are arranged linearly and the gap is greater than or equal to 100 ⁇ m, so that the two adjacent rectangular light-emitting areas can be isolated on the electrical device.
  • a laser radar which includes an optical component in any possible implementation of the first aspect, or includes an optical system in any possible implementation of the second aspect.
  • a terminal device which includes a laser radar in any possible implementation of the third aspect.
  • the terminal device is a vehicle.
  • FIG. 1 is a schematic diagram of a laser radar provided in an embodiment of the present application.
  • FIG. 2 is a schematic block diagram of an optical component provided in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of an optical component provided in an embodiment of the present application.
  • FIG4 is a schematic diagram of laser beams emitted from four light-emitting areas provided in an embodiment of the present application being collimated after passing through an aspherical mirror and a spherical mirror.
  • FIG. 5 is a schematic diagram of time-sharing lighting of a light-emitting area provided in an embodiment of the present application.
  • FIG. 6 is a diagram showing the correspondence between the light emitting area and the emission spot provided in an embodiment of the present application.
  • FIG. 7 is another schematic diagram of an optical component provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through an aspherical mirror, a spherical mirror, and a cylindrical mirror.
  • FIG. 9 is another schematic diagram of time-sharing lighting of a light-emitting area provided in an embodiment of the present application.
  • FIG. 10 is another correspondence between the light emitting area and the emission spot provided in an embodiment of the present application.
  • FIG. 11 is another schematic diagram of an optical component provided in an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through a cylindrical lens and an aspherical lens.
  • FIG. 13 is another schematic diagram of time-sharing lighting of a light-emitting area provided in an embodiment of the present application.
  • FIG. 14 is another correspondence between the light emitting area and the emission spot provided in an embodiment of the present application.
  • FIG. 15 is another schematic diagram of an optical component provided in an embodiment of the present application.
  • FIG. 16 is a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through an aspherical lens and a spherical lens.
  • FIG. 17 is another schematic diagram of time-sharing lighting of the light-emitting area provided in an embodiment of the present application.
  • FIG. 18 is another correspondence between the light emitting area and the emission spot provided in an embodiment of the present application.
  • FIG. 19 is another schematic diagram of an optical component provided in an embodiment of the present application.
  • FIG20 is a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through an aspherical lens and a cylindrical lens.
  • FIG. 21 is a schematic diagram of time-sharing lighting of a light-emitting area provided in an embodiment of the present application.
  • FIG. 22 is a diagram showing the correspondence between the light emitting area and the emission spot provided in an embodiment of the present application.
  • FIG. 23 is a schematic block diagram of an optical system provided in an embodiment of the present application.
  • At least one of A and B is similar to "A and/or B", describing the association relationship of associated objects, indicating that three relationships can exist, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.
  • prefixes such as “first” and “second” are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects.
  • the use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects.
  • the meaning of "multiple" is two or more.
  • Fig. 1 shows a schematic diagram of a laser radar 100 provided in an embodiment of the present application.
  • the laser radar 100 may include a transmitting module 110 and a receiving module 120.
  • the transmitting module 110 includes a laser and a transmitting mirror set
  • the receiving module 120 includes a photosensitive chip and a receiving mirror set.
  • the following alignment requirements are included but not limited to:
  • optical axis of the transmitting mirror group is aligned with the light-emitting area, and the optical axis of the receiving mirror group is aligned with the photosensitive chip;
  • modular optical components are used to facilitate overall adjustment of the transmitting mirror set.
  • the transmitting mirror set can be completely rotationally symmetrical around the optical axis, and only the position of the laser needs to be adjusted when matching or coupling the transmitting module and the receiving module, which reduces the matching or coupling process.
  • FIG2 shows a schematic block diagram of an optical assembly 200 provided in an embodiment of the present application.
  • the optical assembly 200 includes at least one rotationally symmetric aspherical lens, at least one rotationally symmetric spherical lens or a rotationally non-symmetric cylindrical lens. Used to shape the laser beam emitted by the laser.
  • the number of lenses in the optical assembly 200 is less than or equal to 3.
  • the optical component 200 may be located in the above-mentioned transmitting mirror assembly.
  • the front surface S1 of the aspheric lens 201 is a concave aspheric surface
  • the rear surface S2 is a convex aspheric surface
  • the refractive index range of the material is 1.49 to 1.55
  • the Abbe coefficient is 61 to 67, which performs a collimation on the laser beam emitted by the laser.
  • the surface parameters of the front surface S1 and the rear surface S2 of the aspherical mirror 201 are shown in Table 2.
  • Radius represents the radius of curvature
  • Conic represents the cone coefficient
  • A4, A6, A8, A10 and A12 are aspherical coefficients.
  • the aperture of the aspherical lens 201 is (9.8 mm, 16.1 mm).
  • the thickness of the aspherical lens 201 is (5.67 mm, 9.32 mm).
  • the front surface S3 of the spherical lens 202 is concave
  • the rear surface S4 is convex
  • the material refractive index ranges from 1.75 to 1.85
  • the Abbe coefficient is 43 to 49
  • the laser beam from the aspherical lens 201 is collimated secondary.
  • the surface parameters of the front surface S3 and the back surface S4 of the spherical lens 202 are shown in Table 3.
  • the aperture of the spherical lens 202 is (10.5 mm, 17.25 mm).
  • the thickness of the spherical lens 202 is (3.62 mm, 5.95 mm).
  • the air gap between the aspherical lens 201 and the center of the laser is (5.6 mm, 9.2 mm), and the air gap between the aspherical lens 201 and the center of the spherical lens 202 is (9.13 mm, 15 mm).
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface S4 of the spherical mirror 202 is greater than or equal to 17 mm and less than or equal to 23 mm.
  • the aspherical lens 201, the spherical lens 202 and the laser can form an optical system (or a transmitting module).
  • the laser can be a vertical cavity surface emitting laser (VCSEL), which includes a plurality of rectangular light-emitting areas.
  • VCSEL vertical cavity surface emitting laser
  • the length of the entire light-emitting area is (8.49 mm, 9.83 mm), and the width of a single rectangular light-emitting area is (0.08 mm, 0.09 mm).
  • the total divergence angle of the collimated laser beam emitted by the entire light-emitting area in the direction of the long side of the rectangular light-emitting area is 20° to 25°
  • the divergence angle of the collimated laser beam emitted by a single rectangular light-emitting area in the direction of the short side of the rectangular light-emitting area is 0.13° to 0.3°.
  • the laser is composed of four rectangular light-emitting areas arranged in an interlaced manner, and the four rectangular light-emitting areas can be driven separately. They can be driven two by two at the same time to achieve different lighting sequences.
  • FIG4 shows a schematic diagram of laser beams emitted from four rectangular light-emitting areas provided in an embodiment of the present application being collimated after passing through an aspherical lens 201 and a spherical lens 202 .
  • Rectangular light-emitting area 1, rectangular light-emitting area 2, rectangular light-emitting area 3 and rectangular light-emitting area 4 can be illuminated in a time sequence.
  • FIG6 shows the correspondence between the light-emitting area and the emission spot provided in the embodiment of the present application.
  • the rectangular light-emitting areas 1-4 correspond to the photosensitive areas 1-4 of the photosensitive chip respectively. Since the optical component is composed of only two circular lenses with rotationally symmetrical surfaces, when matching or coupling the transmitting module and the receiving module, only the position of the laser needs to be adjusted, and the matching or coupling efficiency of the transmitting module and the receiving module is high. At the same time, the processing requirements for the lens barrel and the assembly requirements for the lenses are relatively low.
  • the optical assembly 200 includes an aspherical lens 203 , a spherical lens 204 and a cylindrical lens 205 .
  • FIG8 shows a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through an aspherical lens 203 , a spherical lens 204 , and a cylindrical lens 205 .
  • the front surface S5 of the aspheric lens 203 is a concave aspheric surface
  • the rear surface S6 is a convex aspheric surface
  • the material refractive index ranges from 1.45 to 1.6
  • the Abbe coefficient is 61 to 67, which performs a primary collimation on the light emitted by the laser.
  • Table 5 shows the surface parameters of the aspherical lens 203 .
  • the thickness of the aspherical lens 203 is (5.67 mm, 9.32 mm).
  • the aperture of the aspherical lens 203 is (10.5 mm, 17.25 mm).
  • the front surface S7 of the spherical lens 204 is concave and the rear surface S8 is convex, the material refractive index ranges from 1.7 to 1.9, and the Abbe coefficient is 36 to 45.
  • the spherical lens 204 can perform secondary collimation on the laser beam from the aspherical lens 203. After passing through the spherical lens 204, the collimation of the beam is close to 0.
  • Table 6 shows the surface parameters of the spherical lens 204 .
  • the thickness of the spherical lens 204 is (3.62 mm, 6 mm).
  • the front surface S9 of the cylindrical lens 205 is a plane and the rear surface S10 is a concave surface.
  • the alignment direction (curvature direction) of the cylindrical lens 205 is along the long side direction or the short side direction of the rectangular light emitting area in the laser.
  • the refractive index of the material corresponding to the cylindrical lens 205 is in the range of 1.45 to 1.6, and the Abbe coefficient is in the range of 61 to 67.
  • the laser beam can be defocused in the directrix direction of the cylindrical lens 205, thereby producing a certain homogenization effect, and at the same time, the light spot in the long side direction is widened.
  • the laser may include a rectangular light emitting area, and the long side direction is the long side direction of the rectangular light emitting area.
  • Table 7 shows the surface parameters of the cylindrical lens 205 .
  • Radius Y is the radius of curvature in the Y-axis direction. Radius Y is inf, indicating that S9 is a plane.
  • the thickness of the cylindrical lens 205 is (1.4 mm, 2.3 mm).
  • the length of the cylindrical lens 205 is (10.5 mm, 17.25 mm).
  • the width of the cylindrical lens 205 is (5.6 mm, 9.2 mm).
  • the air gap between the aspherical lens 203 and the center of the laser is (5.6mm, 9.2mm)
  • the air gap between the aspherical lens 203 and the center of the spherical lens 204 is (9.13mm, 15mm)
  • the air gap between the cylindrical lens 205 and the center of the spherical lens 204 is (1.4mm, 2.3mm).
  • the alignment direction of the cylindrical lens 205 is along the long side direction or the short side direction of the rectangular light emitting area in the laser.
  • the directrix direction of the cylindrical lens 205 is an arc direction or a curve direction, and the generatrix is a direction in which the curve is swept.
  • the generatrix direction of the cylindrical lens 205 can be a straight line.
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component 200 and the rear surface S10 of the cylindrical lens 205 is greater than or equal to 15 mm and less than or equal to 25 mm.
  • the aspherical lens 203, the spherical lens 204 and the cylindrical lens 205 can form an optical system (or a transmitting module) with a laser.
  • the laser may be a VCSEL, which includes a plurality of rectangular light emitting areas.
  • the length of the entire light-emitting area is (11.4 mm, 13.8 mm), and the width of a single rectangular light-emitting area is (0.08 mm, 0.1 mm).
  • the laser is composed of four rectangular light-emitting areas arranged linearly.
  • the four rectangular light-emitting areas can be driven individually or in pairs at the same time to achieve different lighting sequences.
  • the total divergence angle of the collimated laser beam emitted by the entire light-emitting area in the long side direction of the rectangular light-emitting area is 21° to 27°
  • the divergence angle of the collimated laser beam emitted by a single rectangular light-emitting area in the short side direction of the rectangular light-emitting area is 0.13° to 0.4°.
  • Fig. 9 shows another schematic diagram of the time-sharing lighting of the light-emitting areas provided in the embodiment of the present application. Rectangular light-emitting areas 1 and 2 are lit sequentially at the same time, and rectangular light-emitting areas 3 and 4 are lit sequentially at the same time.
  • FIG10 shows another correspondence between the light-emitting area and the emission light spot provided in an embodiment of the present application.
  • the rectangular light-emitting area is divided into 4 partitions, which are separated in pairs in time sequence; the corresponding receiving chip is divided into 2 partitions.
  • the light-emitting component consists of two circular lenses with rotationally symmetrical surfaces and one non-rotationally symmetrical cylindrical lens.
  • the directrix direction of the cylindrical mirror can be made along the long side direction of the rectangular light-emitting area.
  • the curvature of the cylindrical mirror By adjusting the curvature of the cylindrical mirror, the problem of insufficient light spot coverage due to the gap between the light-emitting areas in the long side direction can be compensated.
  • the transmitting lens group only includes one non-rotationally symmetrical cylindrical lens, it helps to reduce the manufacturing cost and installation requirements of the lens; at the same time, it can reduce the process of matching or coupling the transmitting module and the receiving module for transmission and reception.
  • FIG11 shows another schematic diagram of an optical assembly 200 provided in an embodiment of the present application.
  • the optical assembly 200 includes a cylindrical lens 206 and an aspherical lens 207 .
  • FIG12 shows a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through a cylindrical lens 206 and an aspherical lens 207 .
  • the front surface S11 of the cylindrical lens 206 is a concave cylindrical surface and the rear surface S12 is a convex cylindrical surface
  • the material refractive index ranges from 1.45 to 1.51
  • the Abbe coefficient is 67 to 73
  • the laser beam emitted by the laser is collimated once.
  • Table 9 shows the surface parameters of the cylindrical lens 206 .
  • Radius X represents the radius of curvature in the X-axis direction.
  • the thickness of the cylindrical lens 206 is (1.87 mm, 3.07 mm).
  • the length of the cylindrical lens 206 is (11.2 mm, 18.4 mm).
  • the width of the cylindrical lens 206 is (5.6 mm, 9.2 mm).
  • the front surface S13 and the back surface S14 of the aspherical lens 207 are both convex, the material refractive index ranges from 1.76 to 1.86, and the Abbe coefficient is 38 to 44, and the laser beam from the cylindrical lens 206 is collimated secondary.
  • Table 10 shows the surface parameters of the aspherical lens 207 .
  • the thickness of the aspherical lens 207 is (2.92 mm, 4.79 mm).
  • the aperture of the aspherical lens 207 is (12.6 mm, 20.7 mm).
  • the air gap between the cylindrical lens 206 and the center of the laser is (11.3 mm, 18.57 mm), and the air gap between the cylindrical lens 206 and the center of the aspherical lens 207 is (1.06 mm, 1.74 mm).
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface S14 of the aspherical lens 207 is greater than or equal to 15 mm and less than or equal to 22 mm.
  • the cylindrical lens 206, the aspherical lens 207 and the laser can form an optical system (or a transmitting module).
  • the laser may be a VCSEL, which includes a plurality of rectangular light emitting areas.
  • the length of the entire light-emitting area is (8.52 mm, 10.32 mm), and the width of a single rectangular light-emitting area is (0.07 mm, 0.09 mm).
  • the laser is composed of four rectangular light-emitting areas arranged in an alternating manner.
  • the four rectangular light-emitting areas can be driven individually or in pairs at the same time to achieve different lighting sequences.
  • the total divergence angle of the collimated laser beam emitted by the entire light-emitting area in the long side direction of the light-emitting area is 22° to 28°
  • the divergence angle of the collimated laser beam emitted by a single rectangular light-emitting area in the short side direction of the light-emitting area is 0.1° to 0.3°.
  • Fig. 13 shows another schematic diagram of the time-division lighting of the light-emitting areas provided in the embodiment of the present application. Rectangular light-emitting areas 1 and 4 are illuminated simultaneously, and rectangular light-emitting areas 1, 2 and 3 are illuminated in a time-division manner.
  • FIG14 shows another correspondence between the light-emitting area and the emission spot provided in an embodiment of the present application.
  • the rectangular light-emitting area is divided into 4 partitions; the corresponding receiving chip is also divided into 4 partitions.
  • the light-emitting component consists of a cylindrical lens and a circular lens with a rotationally symmetrical surface shape.
  • the directrix direction (the direction with the arc) of the cylindrical lens can be made along the long side or short side direction of the light-emitting area. Since the transmitting lens group only includes one non-rotationally symmetric cylindrical lens, it helps to reduce the manufacturing cost and installation requirements of the lens; at the same time, it can reduce the process of matching or coupling the transmitting module and the receiving module for transmission and reception.
  • FIG16 shows a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through an aspherical lens 208 and a spherical lens 209 .
  • the front surface S15 of the aspherical lens 208 is concave and the rear surface S16 is convex
  • the material refractive index ranges from 1.4 to 1.6
  • the Abbe coefficient is 60 to 66, which performs a primary collimation on the laser beam emitted from the laser.
  • Table 12 shows the surface parameters of the aspherical lens 208 .
  • the thickness of the aspherical lens 208 is (3.25 mm, 5.34 mm).
  • the aperture of the aspherical lens 208 is (9.24 mm, 15.64 mm).
  • the front surface S17 and the rear surface S18 of the spherical lens 209 are convex, the material refractive index ranges from 1.8 to 2.0, and the Abbe coefficient is 26 to 36, and the laser beam from the aspherical lens 208 is collimated secondary.
  • Table 13 shows the surface parameters of the spherical lens 209 .
  • the thickness of the spherical lens 209 is (4.9 mm, 8.1 mm).
  • the aperture of the spherical lens 209 is (12.2 mm, 20 mm).
  • the air gap between the aspherical lens 208 and the center of the laser is (4.892 mm, 8.036 mm), and the air gap between the spherical lens 209 and the center of the aspherical lens 208 is (5.748 mm, 9.444 mm).
  • the distance between the beam waist of the laser beam emitted by the laser formed after being shaped by the optical component and the rear surface S18 of the spherical lens 209 is greater than or equal to 25.5 mm and less than or equal to 31.5 mm.
  • the aspherical lens 208 and the spherical lens 209 can form an optical system (or a transmitting module) with a laser.
  • the laser may be a VCSEL, which includes a plurality of rectangular light emitting areas.
  • the four rectangular light-emitting areas can be driven individually or in pairs at the same time to achieve different lighting sequences.
  • the total divergence angle of the collimated laser beam emitted by the entire light-emitting area in the direction of the long side of the light-emitting area is 22° to 28°
  • the divergence angle of the collimated laser beam emitted by a single rectangular light-emitting area in the direction of the short side of the light-emitting area is 0.22° to 0.4°.
  • Fig. 17 shows another schematic diagram of the time-sharing lighting of the light-emitting areas provided in the embodiment of the present application. Rectangular light-emitting area 1 and rectangular light-emitting area 4 are lit in sequence at the same time, and rectangular light-emitting area 2 and rectangular light-emitting area 3 are lit in sequence at the same time.
  • FIG. 18 shows another correspondence between the light emitting area and the emission spot provided by the embodiment of the present application.
  • the rectangular light emitting area is divided into 4 partitions.
  • the corresponding receiving chip is also divided into 4 partitions. Since the optical component is composed of only two circular lenses with rotationally symmetrical surfaces, when matching the transmitting module and the receiving module, only the position of the laser needs to be adjusted. At the same time, the processing requirements for the lens barrel and the assembly requirements for the lenses are Lower.
  • the optical assembly 200 includes an aspherical lens 210 and a cylindrical lens 211 .
  • FIG20 shows a schematic diagram of a laser beam emitted by a laser provided in an embodiment of the present application being collimated after passing through an aspherical lens 210 and a cylindrical lens 211 .
  • the front surface S19 and the rear surface S20 of the aspherical lens 210 are both convex, the material refractive index ranges from 1.49 to 1.55, and the Abbe coefficient is 61 to 67, and the light emitted by the laser is collimated once.
  • Table 15 shows the surface parameters of the aspherical lens 210 .
  • the thickness of the aspherical lens 210 is (3.5 mm, 5.75 mm).
  • the aperture of the aspherical lens 210 is (10.2 mm, 16.7 mm).
  • the front surface S21 of the cylindrical lens 211 is a convex cylindrical surface
  • the rear surface S22 is a concave cylindrical surface
  • the material refractive index ranges from 1.49 to 1.55
  • the Abbe coefficient is 61 to 67.
  • the cylindrical lens 211 can perform secondary collimation on the light beam coming from the aspherical lens 210 , and at the same time, achieve a virtual focus and homogenization effect in the long side direction of the light emitting area by adjusting the curvature.
  • Table 16 shows the surface parameters of the cylindrical lens 211.
  • the thickness of the cylindrical lens 211 is (3.42 mm, 5.61 mm).
  • the length of the cylindrical lens 211 is (10.5 mm, 17.3 mm).
  • the width of the cylindrical lens 211 is (9.1 mm, 15 mm).
  • the air gap between the aspherical lens 210 and the center of the laser is (15.279 mm, 25.098 mm), and the air gap between the cylindrical lens 211 and the center of the aspherical lens 210 is (0.963 mm, 1.582 mm).
  • the aspherical lens 210 and the cylindrical lens 211 can form an optical system (or a transmitting module) with a laser.
  • the length of the entire light-emitting area is (6.5 mm, 7.5 mm), and the width of a single rectangular light-emitting area is (0.7 mm, 0.9 mm).
  • each rectangular light-emitting area in the laser in the above embodiments is merely illustrative, and the embodiments of the present application do not specifically limit this.
  • the light-emitting area 1 and the light-emitting area 2 can be illuminated at the same time, and the light-emitting area 3 and the light-emitting area 4 can be illuminated sequentially.
  • the light-emitting area 1 and the light-emitting area 4 can be illuminated at the same time, and the light-emitting area 1, the light-emitting area 2 and the light-emitting area 3 can be illuminated in sequence.
  • the laser 2310 includes a plurality of rectangular light emitting areas, and the aspect ratio of each of the plurality of rectangular light emitting areas is greater than or equal to 5.
  • the plurality of rectangular light-emitting areas are illuminated in a time-sharing manner.
  • rectangular light-emitting area 1 , rectangular light-emitting area 2 , rectangular light-emitting area 3 and rectangular light-emitting area 4 may be illuminated in a time-sharing manner.
  • the plurality of rectangular light-emitting areas include a first rectangular light-emitting area and a second rectangular light-emitting area, and the first rectangular light-emitting area and the second rectangular light-emitting area are staggered along the long side direction and the staggered length is greater than or equal to 100 ⁇ m.
  • rectangular light-emitting area 1, rectangular light-emitting area 2, rectangular light-emitting area 3 and rectangular light-emitting area 4 are staggered along the long side direction, and the staggered length is greater than or equal to 100 ⁇ m. In this way, the problem of missing lines caused by mounting errors can be avoided.
  • the multiple rectangular light-emitting areas include adjacent third rectangular light-emitting areas and fourth rectangular light-emitting areas, the third rectangular light-emitting areas and the fourth rectangular light-emitting areas are linearly arranged along the long side direction and the gap between the third rectangular light-emitting areas and the fourth rectangular light-emitting areas is greater than or equal to 100 ⁇ m.
  • rectangular light-emitting area 1, rectangular light-emitting area 2, rectangular light-emitting area 3 and rectangular light-emitting area 4 are arranged linearly along the long side direction, and the gap between adjacent rectangular light-emitting areas is greater than or equal to 100 ⁇ m. In this way, the isolation of two adjacent rectangular light-emitting areas on the electrical device can be achieved.
  • An embodiment of the present application also provides a laser radar, which may include the above-mentioned optical component 200 or optical system 2300.
  • An embodiment of the present application also provides a terminal device, which may include the above-mentioned laser radar.
  • the terminal device may be a vehicle.
  • the vehicles involved in the embodiments of the present application are vehicles in a broad sense, which may be means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • the embodiments of the present application do not specifically limit the type of vehicles.

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Abstract

一种光学组件（200）、光学系统（2300）和激光雷达（100），可以应用于激光雷达领域。光学组件（200）包括至少一个旋转对称的非球面镜片（201，203，207，208，210），至少一个旋转对称的球面镜片（202，204，209）或者非旋转对称的柱面镜片（205，206，211），光学组件（200）用于对激光器（2310）发射的激光光束进行整形；光学组件（200）中镜片的数量小于或者等于3个。通过减少光学组件（200）中镜片的数量，有助于降低光学组件（200）的结构复杂度；同时，可以方便光学组件（200）模块化，降低光学组件（200）的加工制造成本以及安装成本。

Description

光学组件、光学系统和激光雷达 技术领域
本申请涉及激光雷达的光学领域，并且更具体地，涉及一种光学组件、光学系统和激光雷达。
背景技术
激光雷达的发射光学系统是激光雷达的核心部件之一，用于将激光发射到待探测的物空间，使目标能够被特定波长的激光照亮。激光雷达的接收系统将物体反射回来的光汇聚到探测器，形成一次目标探测。当前比较主流的半固体激光雷达，由于发射光学系统的结构复杂，会导致激光雷达的成本较高。
发明内容
本申请提供一种光学组件、光学系统和激光雷达，有助于降低发射光学系统中光学组件的结构复杂度，从而有助于降低激光雷达的成本。
第一方面，提供了一种光学组件，该光学组件包括至少一个旋转对称的非球面镜片，至少一个旋转对称的球面镜片或者非旋转对称的柱面镜片，该光学组件用于对激光器发射的激光光束进行整形；该光学组件中镜片的数量小于或者等于3个。
基于上述技术方案，通过减少光学组件中镜片的数量，有助于降低光学组件的结构复杂度；同时，可以方便光学组件模块化，降低光学组件的加工制造成本以及安装成本，从而有助于降低激光雷达的成本。
此外，在光学组件中包括至少一个非旋转对称的柱面镜片时，柱面镜片可以对光束进行匀化，有助于解决光斑覆盖不足或者光斑覆盖不均匀的问题。
以上旋转对称的球面镜片和旋转对称的非球面镜片可以为圆形镜片。圆形镜片可以指外轮廓为圆形的镜片，或者说，球面镜片和非球面镜片的外轮廓可以为圆形。球面镜片可以指表面几何形状为球形的镜片，非球面镜片可以指表面几何形状为非球形(例如，抛物线形、椭圆形等)的镜片。
在一些可能的实现方式中，该光学组件中包括至多一个非旋转对称的柱面镜片。
在一些可能的实现方式中，该光学组件可以位于激光雷达的发射光学系统中。
结合第一方面，在第一方面的某些实现方式中，该光学组件包括一个旋转对称的非球面镜片和一个旋转对称的球面镜片，该非球面镜片，用于对该激光器发射的激光光束进行第一次准直，得到第一光束；该球面镜片，用于对该第一光束进行第二次准直，得到第二光束。
基于上述技术方案，由于光学组件中不包括非旋转对称的柱面镜片，可以降低激光雷达中发射模组和接收模组进行匹配或者耦合时的维度，进而降低发射模组和接收模组进行匹配或者耦合时的难度。同时，由于光学组件仅包括两块旋转对称的圆形镜片，可以进一步降低光学组件的结构复杂度，也可以进一步降低光学组件的加工制造成本以及安装成本。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的前表面为凹面且后表面为凸面，该非球面镜片的折射率为1.49-1.55且阿贝系数为61-67。
以上非球面镜片的前表面可以理解为该非球面镜片中靠近激光器的表面，该非球面镜的后表面可以理解为该非球面镜片中远离激光器的表面。
以上阿贝系数为光学领域中用来评估镜片材料的色散性能，也可以称为色散系数。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的前表面为凹面且后表面为凸面，该球面镜片的折射率为1.75-1.85且阿贝系数为43-49。
以上球面镜片的前表面可以理解为该球面镜片中靠近激光器的表面，该球面镜的后表面可以理解为该球面镜片中远离激光器的表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的面型参数：

以上S1为该非球面镜片的前表面且S2为该非球面镜片的后表面。Radius为曲率半径，Conic为圆锥系数。A4、A6、A8、A10和A12为非球面系数。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的厚度为(5.67mm，9.32mm)。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的面型参数：
结合第一方面，在第一方面的某些实现方式中，该球面镜片的厚度为(3.62mm，5.95mm)。
以上S3为该球面镜片的前表面且S4为该球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片距离该激光器中心的空气间隙为(5.6mm，9.2mm)，该非球面镜片与该球面镜片中心的空气间隙为(9.13mm，15mm)。
基于上述技术方案，通过非球面镜片和球面镜片的材料参数以及面型参数的配置，可以使得通过尽量少的旋转对称的镜片，实现对激光光束的整形效果(例如，准直效果)。同时，可以使得束腰的位置远离球面镜片的表面，有助于减小对转镜或者视窗的需求口径，从而有助于避免由于转镜或者视窗的尺寸过大而导致的成本上升。
结合第一方面，在第一方面的某些实现方式中，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该光学组件中球面镜片的后表面之间的距离大于或者等于17mm且小于或者等于23mm。
在一些可能的实现方式中，转镜或者视窗的位置可以设置在束腰的附近。这样，可以避免因转镜或者视窗的尺寸不足而导致的切光问题。
结合第一方面，在第一方面的某些实现方式中，该激光器中发光区域的长度为(8.49mm，9.83mm)，该激光器发射的激光光束经过该光学组件整形后形成的光束沿该发光区域的长边方向的发散角为20°-25°。
基于上述技术方案，通过尽可能少的镜片数量，可以实现较好的准直效果，有助于提升光学组件的准直效率。
结合第一方面，在第一方面的某些实现方式中，该光学组件包括一个旋转对称的非球面镜片、一个旋转对称的球面镜片和一个非旋转对称的柱面镜片，该非球面镜片，用于对该激光器发射的激光光束进行第一次准直，得到第三光束；该球面镜片，用于对该第三光束进行第二次准直，得到第四光束；该柱面镜片，用于对该第四光束进行匀化，得到第五光束。
基于上述技术方案，通过非球面镜片和球面镜片可以实现对光束的准直且通过柱面镜片可以实现对光束的匀化，有助于解决光斑覆盖不足的问题。由于光学组件中仅包括一个非旋转对称的柱面镜片，有助于降低光学组件的结构复杂度；同时，可以方便光学组件模块化，降低光学组件的加工制造成本以及安装成本。
结合第一方面，在第一方面的某些实现方式中，经过该柱面镜片匀化后，两段离散的光斑在垂直方向上重叠。
在一些可能的实现方式中，激光器中包括两个相邻的发光区域，这两个相邻的发光区域之间存在间隙。两个相邻的发光区域同时发出的激光光束经过非球面镜片和球面镜片后被准直，准直后的光束经过柱面镜片后形成的光斑重叠。
基于上述技术方案，光束在经过柱面镜片匀化后形成的光斑中，两段离散的光斑在垂直方向上重叠。这样，可以解决由于激光器中两个相邻的发光区域的间隙而导致光斑覆盖不足的问题。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的前表面为凹面且后表面为凸面，该非球面镜片的折射率为1.45-1.6且阿贝系数为61-67。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的前表面为凹面且后表面为凸面，该球面镜片的折射率为1.7-1.9且阿贝系数为36-45。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的前表面为平面且后表面为凹面，该柱面镜片的折射率为1.45-1.6且阿贝系数为61-67。
以上前表面可以理解为靠近激光器的表面，后表面可以理解为远离激光器的表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的面型参数：
以上S5为该非球面镜片的前表面且S6为该非球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的厚度为(5.67mm，9.32mm)。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的面型参数：
以上S7为该球面镜片的前表面且S8为该球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的厚度为(3.62mm，6mm)。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的面型参数：
以上S9为该柱面镜片的前表面且S10为该柱面镜片的后表面。Radius Y可以理解为该柱面镜片在Y轴方向上的曲率半径。Y轴方向上的曲率半径为inf指该表面为平面。该激光器包括矩形发光区域，该矩形发光区域的长边方向为Y轴方向。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的厚度为(1.4mm，2.3mm)。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片距离该激光器中心的空气间隙为(5.6mm，9.2mm)，该非球面镜片与该球面镜片中心的空气间隙为(9.13mm，15mm)，该柱面镜片与球面镜片中心的空气间隙为(1.4mm，2.3mm)。
基于上述技术方案，通过非球面镜片、球面镜片和柱面镜片的材料参数以及面型参数的配置，可以使得通过尽量少的镜片，实现对激光光束的整形效果(例如，准直效果和匀化效果)。同时，可以使得束腰的位置远离柱面镜片的表面，有助于减小对转镜或者视窗的需求口径，从而有助于避免由于转镜或者视窗的尺寸过大而导致的成本上升。
结合第一方面，在第一方面的某些实现方式中，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该光学组件中该柱面镜片的后表面之间的距离大于或者等于15mm且小于或者等于25mm。
结合第一方面，在第一方面的某些实现方式中，该激光器中发光区域的长度为(11.4mm，13.8mm)，该激光器发射的激光光束经过该光学组件整形后形成的光束沿该发光区域的长边方向的发散角为21°-27°。
基于上述技术方案，通过尽可能少的镜片数量，可以实现较好的准直效果，有助于提升光学组件的准直效率。
结合第一方面，在第一方面的某些实现方式中，该光学组件包括一个非旋转对称的柱面镜片和一个旋转对称的非球面镜片，该柱面镜片，用于对该激光器发射的激光光束进行第一次准直，得到第六光束；该非球面镜片，用于对该第六光束进行第二次准直，得到第七光束。
基于上述技术方案，通过柱面镜片和非球面镜片可以实现对光束的准直。由于光学组件中仅包括一个非旋转对称的柱面镜片，有助于降低光学组件的结构复杂度；同时，可以方便光学组件模块化，降低光学组件的加工制造成本以及安装成本。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的前表面为凹面且后表面为凸面，该柱 面镜片的折射率为1.45-1.51且阿贝系数为67-73。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的前表面和后表面为凸面，该非球面镜片的折射率为1.76-1.86且阿贝系数为38-44。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的面型参数：
以上S11为该柱面镜片的前表面且S12为该柱面镜片的后表面。Radius X可以理解为该柱面镜片在X轴方向上的曲率半径。该激光器包括矩形发光区域，该矩形发光区域的短边方向为X轴方向。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的厚度为(1.87mm，3.07mm)。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的面型参数为：
以上S13为该非球面镜片的前表面且S14为该非球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的厚度为(2.92mm，4.79mm)。
结合第一方面，在第一方面的某些实现方式中，该柱面镜与该激光器中心的空气间隙为(11.3mm，18.57mm)，该柱面镜与该非球面镜中心的空气间隙为(1.06mm，1.74mm)。
基于上述技术方案，通过柱面镜片和非球面镜片的材料参数以及面型参数的配置，可以使得通过尽量少的镜片，实现对激光光束的整形效果(例如，准直效果)。同时，可以使得束腰的位置远离非球面镜片的表面，有助于减小对转镜或者视窗的需求口径，从而有助于避免由于转镜或者视窗的尺寸过大而导致的成本上升。
结合第一方面，在第一方面的某些实现方式中，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该光学组件中该非球面镜片的后表面之间的距离大于或者等于15mm且小于或者等于22mm。
结合第一方面，在第一方面的某些实现方式中，该激光器中发光区域的长度为(8.52mm，10.32mm)，该激光器发射的激光光束经过该光学组件整形后形成的光束沿该发光区域的长边方向的发散角为22°-28°。
基于上述技术方案，通过尽可能少的镜片数量，可以实现较好的准直效果，有助于提升光学组件的准直效率。
结合第一方面，在第一方面的某些实现方式中，该光学组件包括一个旋转对称的非球面镜片和一个旋转对称的球面镜片，该非球面镜片，用于对该激光器发射的激光光束进行第一次准直，得到第八光束；该球面镜片，用于对该第八光束进行第二次准直，得到第九光束。
基于上述技术方案，由于光学组件中不包括非旋转对称的柱面镜片，可以降低激光雷达中发射模组和接收模组进行匹配或者耦合时的维度，进而降低发射模组和接收模组进行匹配或者耦合时的难度。同时，由于光学组件仅包括两块旋转对称的圆形镜片，可以进一步降低光学组件的结构复杂度，也可以进一步降低光学组件的加工制造成本以及安装成本。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的前表面为凹面且后表面为凸面，该非球面镜片的折射率为1.4-1.6且阿贝系数为60-66。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的前表面和后表面为凸面，该球面镜片的折射率为1.8-2.0且阿贝系数为26-36。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的面型参数：

以上S15为该非球面镜片的前表面且S16为该非球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的厚度为(3.25mm，5.34mm)。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的面型参数：
以上S17为该球面镜片的前表面且S18为该球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该球面镜片的厚度为(4.9mm，8.1mm)。
结合第一方面，在第一方面的某些实现方式中，该非球面镜与该激光器中心的空气间隙为(4.892mm，8.036mm)，该球面镜与非球面镜中心的空气间隙为(5.748mm，9.444mm)。
基于上述技术方案，通过非球面镜片和球面镜片的材料参数以及面型参数的配置，可以使得通过尽量少的旋转对称的镜片，实现对激光光束的整形效果(例如，准直效果)。同时，可以使得束腰的位置远离球面镜片的表面，有助于减小对转镜或者视窗的需求口径，从而有助于避免由于转镜或者视窗的尺寸过大而导致的成本上升。
结合第一方面，在第一方面的某些实现方式中，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该光学组件中该球面镜片的后表面之间的距离大于或者等于25.5mm且小于或者等于31.5mm。
在一些可能的实现方式中，转镜或者视窗的位置可以设置在束腰的附近。这样，可以避免因转镜或者视窗的尺寸不足而导致的切光问题。
结合第一方面，在第一方面的某些实现方式中，该激光器中发光区域的长度为(8.83mm，10.22mm)，该激光器发射的激光光束经过该光学组件整形后形成的光束沿该发光区域的长边方向的发散角为22°-28°。
基于上述技术方案，通过尽可能少的镜片数量，可以实现较好的准直效果，有助于提升光学组件的准直效率。
结合第一方面，在第一方面的某些实现方式中，该光学组件包括一个旋转对称的非球面镜片和一个非旋转对称的柱面镜片，该非球面镜片，用于对该激光器发射的激光光束进行第一次准直，得到第十光束；该柱面镜片，用于对该第十光束进行第二次准直和匀化，得到第十一光束。
基于上述技术方案，通过非球面镜片和柱面镜片的材料参数以及面型参数的配置，可以使得通过尽量少的镜片，实现对激光光束的整形效果(例如，准直效果和匀化效果)。同时，可以使得束腰的位置远离柱面镜片的表面，有助于减小对转镜或者视窗的需求口径，从而有助于避免由于转镜或者视窗的尺寸过大而导致的成本上升。
结合第一方面，在第一方面的某些实现方式中，经过该柱面镜片匀化后，光斑在垂直方向上能量分布均匀。
基于上述技术方案，第十光束在经过柱面镜片的匀化后，光斑中能量分布均匀，这样，可以避免光束质量问题(或者，光斑的强弱分布不均匀的问题)。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的前表面和后表面为凸面，该非球面镜片的折射率为1.49-1.55且阿贝系数为61-67。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的前表面为凸面且后表面为凹面，该柱面镜片的折射率为1.49-1.55且阿贝系数为61-67。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的面型参数：

以上S19为该非球面镜片的前表面且S20为该非球面镜片的后表面。
结合第一方面，在第一方面的某些实现方式中，该非球面镜片的厚度为(3.5mm，5.75mm)。
结合第一方面，在第一方面的某些实现方式中，该柱面镜片的面型参数：
以上S21为该柱面镜片的前表面且S22为该柱面镜片的后表面。
第一方面，在第一方面的某些实现方式中，该柱面镜片的厚度为(3.42mm，5.61mm)。
结合第一方面，在第一方面的某些实现方式中，该非球面镜与该激光器中心的空气间隙为(15.279mm，25.098mm)，该柱面镜与非球面镜中心的空气间隙为(0.963mm，1.582mm)。
基于上述技术方案，通过非球面镜片和柱面镜片的材料参数以及面型参数的配置，可以使得通过尽量少的镜片，实现对激光光束的整形效果(例如，准直效果和匀化效果)。同时，可以使得束腰的位置远离柱面镜片的表面，有助于减小对转镜或者视窗的需求口径，从而有助于避免由于转镜或者视窗的尺寸过大而导致的成本上升。
结合第一方面，在第一方面的某些实现方式中，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该光学组件中该柱面镜片的后表面之间的距离大于或者等于10mm且小于或者等于20mm。
结合第一方面，在第一方面的某些实现方式中，该激光器中发光区域的长度为(6.5mm，7.5mm)，该激光器发射的激光光束经过该光学组件整形后形成的光束沿该发光区域的长边方向的发散角为15°-21°。
基于上述技术方案，通过尽可能少的镜片数量，可以实现较好的准直效果，有助于提升光学组件的准直效率。
第二方面，提供了一种光学系统，该光学系统包括激光器和上述第一方面中任一种可能的实现方式中的光学组件。
结合第二方面，在第二方面的某些实现方式中，该激光器包括多个矩形发光区域，该多个矩形发光区域中每个矩形发光区域的长宽比大于或者等于5。
结合第二方面，在第二方面的某些实现方式中，该多个矩形发光区域分时打光。
基于上述技术方案，通过多个矩形发光区域分时打光，可以一定程度上避免在接收模组上不同视场光线的串扰问题。
结合第二方面，在第二方面的某些实现方式中，该多个矩形发光区域包括第一矩形发光区域和第二矩形发光区域，该第一矩形发光区域和该第二矩形发光区域沿长边方向上交错排列且交错长度大于或者等于100μm。
基于上述技术方案，两个矩形发光区域沿长边方向上交错排列，可以避免由于贴装误差而导致的缺线问题。
结合第二方面，在第二方面的某些实现方式中，该多个矩形发光区域包括相邻的第三矩形发光区域和第四矩形发光区域，该第三矩形发光区域和该第四矩形发光区域沿长边方向上线性排列且该第三矩形发光区域和该第四矩形发光区域之间的间隙大于或者等于100μm。
基于上述技术方案，相邻的两个矩形发光区域线性排列且间隙大于或者等于100μm，可以实现两个相邻的矩形发光区域在电器上的隔离。
第三方面，提供了一种激光雷达，该激光雷达包括上述第一方面中任一种可能的实现方式中的光学组件，或者，包括上述第二方面中任一种可能的实现方式中的光学系统。
第四方面，提供了一种终端设备，该终端设备包括上述第三方面中任一种可能的实现方式中的激光雷达。
结合第四方面，在第四方面的某些实现方式中，该终端设备为车辆。
附图说明
图1是本申请实施例提供的激光雷达的示意图。
图2是本申请实施例提供的光学组件的示意性框图。
图3是本申请实施例提供的光学组件的示意图。
图4是本申请实施例提供的4个发光区域发出的激光光束经过非球面镜和球面镜后被准直的示意图。
图5是本申请实施例提供的发光区域分时打光的示意图。
图6是本申请实施例提供的发光区域与发射光斑的对应关系。
图7是本申请实施例提供的光学组件的另一示意图。
图8是本申请实施例提供的激光器发出的激光光束经过非球面镜、球面镜和柱面镜后被准直的示意图。
图9是本申请实施例提供的发光区域分时打光的另一示意图。
图10是本申请实施例提供的发光区域与发射光斑的另一对应关系。
图11是本申请实施例提供的光学组件的另一示意图。
图12是本申请实施例提供的激光器发出的激光光束经过柱面镜片和非球面镜片后被准直的示意图。
图13是本申请实施例提供的发光区域分时打光的另一示意图。
图14是本申请实施例提供的发光区域与发射光斑的另一对应关系。
图15是本申请实施例提供的光学组件的另一示意图。
图16是本申请实施例提供的激光器发出的激光光束经过非球面镜片和球面镜片后被准直的示意图。
图17是本申请实施例提供的发光区域分时打光的另一示意图。
图18是本申请实施例提供的发光区域与发射光斑的另一对应关系。
图19是本申请实施例提供的光学组件的另一示意图。
图20是本申请实施例提供的激光器发出的激光光束经过非球面镜片和柱面镜片后被准直的示意图。
图21是本申请实施例提供的发光区域分时打光的示意图。
图22是本申请实施例提供的发光区域与发射光斑的对应关系。
图23是本申请实施例提供的光学系统的示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。其中，在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。“至少一项”是指一项或一项以上。例如，“A和B中的至少一项”，类似于“A和/或B”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和B中的至少一项，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。此外，在本实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
图1示出了本申请实施例提供的激光雷达100的示意图。该激光雷达100可以包括发射模组110和接收模组120。发射模组110中包括激光器和发射镜组，接收模组120中包括感光芯片和接收镜组。
在进行发射模组110和接收模组120的收发匹配过程中，包括但不限于如下几个对准要求：
(1)激光器中发光区域的排布与感光芯片的感光区域对准；
(2)发射镜组的光轴与发光区域对准，接收镜组的光轴与感光芯片对准；
(3)发射镜组和接收镜组之间的光轴对准。
本申请实施例中，通过模块化的光学组件有利于对发射镜组做整体调整。在一些实施例中，发射镜组可以完全绕光轴旋转对称，在进行发射模组和接收模组的匹配或者耦合时仅需要调节激光器的位置，减少了匹配或者耦合时的工序。
图2示出了本申请实施例提供的光学组件200的示意性框图。如图2所示，该光学组件200包括至少一个旋转对称的非球面镜片，至少一个旋转对称的球面镜片或者非旋转对称的柱面镜片，该光学组件200 用于对激光器发射的激光光束进行整形。
可选地，该光学组件200中镜片的数量小于或者等于3个。
示例性的，该光学组件200可以位于上述发射镜组中。
图3示出了本申请实施例提供的光学组件200的示意图。该光学组件200包括一个旋转对称的非球面镜201和一个旋转对称的球面镜202。
示例性的，非球面镜201和球面镜202的材料参数如表1所示。
表1
示例性的，非球面镜片201的前表面S1为凹面非球面，后表面S2为凸面非球面，材料的折射率范围为1.49～1.55，阿贝系数为61～67，对激光器发出的激光光束进行一次准直。
示例性的，该非球面镜201的前表面S1和后表面S2的面型参数如表2所示。
表2
其中，Radius表示曲率半径，Conic表示圆锥系数，A4、A6、A8、A10和A12为非球面系数。
示例性的，该非球面镜片201的孔径为(9.8mm，16.1mm)。
示例性的，该非球面镜片201的厚度为(5.67mm，9.32mm)。
示例性的，球面镜片202的前表面S3为凹面，后表面S4为凸面，材料折射率范围为1.75～1.85，阿贝系数为43～49，对从非球面镜片201来的激光光束进行二次准直。
示例性的，该球面镜片202的前表面S3和后表面S4的面型参数如表3所示。
表3
示例性的，该球面镜片202的孔径为(10.5mm，17.25mm)。
示例性的，该球面镜片202的厚度为(3.62mm，5.95mm)。
示例性的，该非球面镜片201距离该激光器中心的空气间隙为(5.6mm，9.2mm)，该非球面镜片201与该球面镜片202中心的空气间隙为(9.13mm，15mm)。
示例性的，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该球面镜202的后表面S4之间的距离大于或者等于17mm且小于或者等于23mm。
可选地，该非球面镜片201、球面镜片202可以和激光器组成光学系统(或者，发射模组)。
示例性的，该激光器可以为垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)，该VCSEL包括多个矩形发光区域。
示例性的，整个发光区域的长度为(8.49mm，9.83mm)，单个矩形发光区域宽度为(0.08mm，0.09mm)。
示例性的，整个发光区域发出的激光光束被准直后的出射光在矩形发光区域的长边方向上的总发散角为20°～25°，单个矩形发光区域发出的激光光束被准直后的出射光在矩形发光区域的短边方向上的发散角为0.13°～0.3°。
示例性的，该激光器由4个矩形发光区域交错排布而成，4个矩形发光区域可以分别被单独驱动，也 可以被两两同时驱动，从而实现不同的打光时序。
示例性的，图4示出了本申请实施例提供的4个矩形发光区域发出的激光光束经过非球面镜片201和球面镜片202后被准直的示意图。
示例性的，图5示出了本申请实施例提供的发光区域分时打光的示意图。矩形发光区域1、矩形发光区域2、矩形发光区域3和矩形发光区域4可以分时序打光。
示例性的，图6示出了本申请实施例提供的发光区域与发射光斑的对应关系。矩形发光区域1-4分别对应感光芯片的感光区域1-4。由于光学组件只由两块旋转对称面形的圆形镜片组成，在进行发射模组和接收模组匹配或者耦合时，只需要调节激光器的位置，发射模组和接收模组的匹配或者耦合效率较高。同时，对于镜筒的加工和镜片的组装要求都较低。
图7示出了本申请实施例提供的光学组件200的另一示意图。该光学组件200包括非球面镜片203、球面镜片204和柱面镜片205。
示例性的，非球面镜片203、球面镜片204和柱面镜片205的材料参数如表4所示。
表4
示例性的，图8示出了本申请实施例提供的激光器发出的激光光束经过非球面镜片203、球面镜片204和柱面镜片205后被准直的示意图。
示例性的，非球面镜片203的前表面S5为凹面非球面，后表面S6为凸面非球面，材料折射率范围为1.45～1.6，阿贝系数为61～67，对激光器发出的光进行一次准直。
示例性的，表5示出了非球面镜片203的面型参数。
表5
示例性的，该非球面镜片203的厚度为(5.67mm，9.32mm)。
示例性的，该非球面镜片203的孔径为(10.5mm，17.25mm)。
示例性的，球面镜片204的前表面S7为凹面且后表面S8为凸面，材料折射率范围为1.7～1.9，阿贝系数为36～45。该球面镜片204可以对从非球面镜片203来的激光光束进行二次准直。经过球面镜片204后，光束准直度已经接近0。
示例性的，表6示出了球面镜片204的面型参数。
表6
示例性的，该球面镜片204的厚度为(3.62mm，6mm)。
示例性的，该球面镜片204的孔径为(11.2mm，18.4mm)。
示例性的，柱面镜片205的前表面S9为平面且后表面S10为凹面。柱面镜片205的准线方向(曲率方向)沿激光器中矩形发光区域的长边方向或者短边方向。
示例性的，柱面镜片205对应的材料折射率范围为1.45～1.6，阿贝系数为61～67。通过调整柱面镜准线方向上的曲率(或者，光焦度)，可以使得激光光束在柱面镜片205的准线方向虚焦，从而产生一定匀化效果，同时长边方向上的光斑展宽，该激光器中可以包括矩形发光区域，该长边方向为该矩形发光区域的长边方向。
示例性的，表7示出了柱面镜片205的面型参数。
表7
其中，Radius Y为Y轴方向上的曲率半径。Radius Y为inf表示S9为平面。
示例性的，该柱面镜片205的厚度为(1.4mm，2.3mm)。
示例性的，该柱面镜片205的长度为(10.5mm，17.25mm)。
示例性的，该柱面镜片205的宽度为(5.6mm，9.2mm)。
示例性的，该非球面镜片203距离该激光器中心的空气间隙为(5.6mm，9.2mm)，该非球面镜片203与该球面镜片204中心的空气间隙为(9.13mm，15mm)，该柱面镜片205与球面镜片204中心的空气间隙为(1.4mm，2.3mm)。
示例性的，该柱面镜片205的准线方向沿激光器中矩形发光区域的长边方向或者短边方向。
以上柱面镜片205的准线方向为有弧度的方向或者曲线方向，母线为曲线扫掠的方向。柱面镜片205的母线方向可以为直线。
可选地，该激光器发射的激光光束经过该光学组件200整形后形成的光束的束腰与该柱面镜片205的后表面S10之间的距离大于或者等于15mm且小于或者等于25mm。
可选地，该非球面镜片203、球面镜片204和柱面镜片205可以和激光器组成光学系统(或者，发射模组)。
示例性的，该激光器可以为VCSEL，该VCSEL包括多个矩形发光区域。
示例性的，整个发光区域的长度为(11.4mm，13.8mm)，单个矩形发光区域的宽度为(0.08mm，0.1mm)。
可选地，该激光器由4个矩形发光区域线性排布而成。示例性的，4个矩形发光区域可以分别被单独驱动，也可以两两同时被驱动，实现不同的打光时序。
可选地，整个发光区域发出的激光光束被准直后的出射光在矩形发光区域的长边方向上的总发散角为21°～27°，单个矩形发光区域发出的激光光束被准直后的出射光在矩形发光区域的短边方向上的发散角为0.13°～0.4°。
示例性的，图9示出了本申请实施例提供的发光区域分时打光的另一示意图。矩形发光区域1和矩形发光区域2同时序打光，矩形发光区域3和矩形发光区域4同时序打光。
示例性的，图10示出了本申请实施例提供的发光区域与发射光斑的另一对应关系。矩形发光区域分为4分区，时序上两两分开；对应接收芯片分为2分区。发光组件由两块旋转对称面形的圆形镜片和一个非旋转对称的柱面镜片组成，在进行发射模组和接收模组匹配时，可以让柱面镜的准线方向沿着矩形发光区域的长边方向，通过调节柱面镜的曲率，可以补偿长边方向因发光区间隙导致光斑覆盖不足的问题。经过柱面镜片匀化后，两段离散的光斑在垂直方向上重叠。由于发射镜组中仅包括一个非旋转对称的柱面镜片，有助于降低镜头的制造成本以及安装要求；同时，可以减少发射模组和接收模块做收发匹配或者耦合时的工序。
图11示出了本申请实施例提供的光学组件200的另一示意图。该光学组件200包括柱面镜片206和非球面镜片207。
示例性的，柱面镜片206和非球面镜片207的材料参数如表8所示。
表8
示例性的，图12示出了本申请实施例提供的激光器发出的激光光束经过柱面镜片206和非球面镜片207后被准直的示意图。
示例性的，柱面镜片206的前表面S11为凹面柱面且后表面S12为凸面柱面，材料折射率范围为1.45～1.51，阿贝系数为67～73，对激光器发出的激光光束进行一次准直。
示例性的，表9示出了柱面镜片206的面型参数。
表9
其中，Radius X表示X轴方向上的曲率半径。
示例性的，该柱面镜片206的厚度为(1.87mm，3.07mm)。
示例性的，该柱面镜片206的长度为(11.2mm，18.4mm)。
示例性的，该柱面镜片206的宽度为(5.6mm，9.2mm)。
示例性的，非球面镜片207的前表面S13和后表面S14均为凸面，材料折射率范围为1.76～1.86，阿贝系数为38～44，对从柱面镜片206来的激光光束进行二次准直。
示例性的，表10示出了非球面镜片207的面型参数。
表10
示例性的，该非球面镜片207的厚度为(2.92mm，4.79mm)。
示例性的，该非球面镜片207的孔径为(12.6mm，20.7mm)。
示例性的，该柱面镜片206与该激光器中心的空气间隙为(11.3mm，18.57mm)，该柱面镜片206与该非球面镜片207中心的空气间隙为(1.06mm，1.74mm)。
示例性的，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该非球面镜片207的后表面S14之间的距离大于或者等于15mm且小于或者等于22mm。
可选地，该柱面镜片206、非球面镜片207可以和激光器组成光学系统(或者，发射模组)。
示例性的，该激光器可以为VCSEL，该VCSEL包括多个矩形发光区域。
示例性的，整个发光区域的长度为(8.52mm，10.32mm)，单个矩形发光区域的宽度为(0.07mm，0.09mm)。
示例性的，该激光器由4个矩形发光区域交错排布而成。
示例性的，4个矩形发光区域可以分别被单独驱动，也可以两两同时被驱动，实现不同的打光时序。
可选地，整个发光区域发出的激光光束被准直后的出射光在发光区域的长边方向上的总发散角为22°～28°，单个矩形发光区域发出的激光光束被准直后的出射光在发光区域的短边方向上的发散角为0.1°～0.3°。
示例性的，图13示出了本申请实施例提供的发光区域分时打光的另一示意图。矩形发光区域1和矩形发光区域4同时序打光，矩形发光区域1、矩形发光区域2和矩形发光区域3分时序打光。
示例性的，图14示出了本申请实施例提供的发光区域与发射光斑的另一对应关系。矩形发光区域分为4分区；对应接收芯片也分为4分区。发光组件由一个柱面镜片和一个旋转对称面形的圆形镜片组成，在做发射模组和接收模组匹配时，可以让柱面镜片的准线方向(有弧度的方向)沿着发光区域的长边或者短边方向。由于发射镜组中仅包括一个非旋转对称的柱面镜片，有助于降低镜头的制造成本以及安装要求；同时，可以减少发射模组和接收模块做收发匹配或者耦合时的工序。
图15示出了本申请实施例提供的光学组件200的另一示意图。该光学组件200包括非球面镜片208和球面镜片209。
示例性的，非球面镜片208和球面镜片209的材料参数如表11所示。
表11
示例性的，图16示出了本申请实施例提供的激光器发出的激光光束经过非球面镜片208和球面镜片209后被准直的示意图。
示例性的，非球面镜片208的前表面S15为凹面且后表面S16为凸面，材料折射率范围1.4～1.6，阿贝系数60～66，对从激光器发出的激光光束进行一次准直。
示例性的，表12示出了该非球面镜片208的面型参数。
表12
示例性的，该非球面镜片208的厚度为(3.25mm，5.34mm)。
示例性的，该非球面镜片208的孔径为(9.24mm，15.64mm)。
示例性的，该球面镜片209的前表面S17和后表面S18为凸面，材料折射率范围为1.8～2.0，阿贝系数为26～36，对从非球面镜片208来的激光光束进行二次准直。
示例性的，表13示出了该球面镜片209的面型参数。
表13
示例性的，该球面镜片209的厚度为(4.9mm，8.1mm)。
示例性的，该球面镜片209的孔径为(12.2mm，20mm)。
示例性的，该非球面镜片208与该激光器中心的空气间隙为(4.892mm，8.036mm)，该球面镜片209与该非球面镜片208中心的空气间隙为(5.748mm，9.444mm)。
示例性的，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该球面镜片209的后表面S18之间的距离大于或者等于25.5mm且小于或者等于31.5mm。
可选地，该非球面镜片208和球面镜片209可以和激光器组成光学系统(或者，发射模组)。
示例性的，该激光器可以为VCSEL，该VCSEL包括多个矩形发光区域。
示例性的，整个发光区域的长度为(8.83mm，10.22mm)，单个矩形发光区域的宽度为(0.09mm，0.11mm)。
示例性的，该激光器由4个矩形发光区域两两线性排布而成。
示例性的，4个矩形发光区域可以分别被单独驱动，也可以两两同时被驱动，实现不同的打光时序。
示例性的，整个发光区域发出的激光光束被准直后的出射光在该发光区域的长边方向上的总发散角为22°～28°，单个矩形发光区域发出的激光光束被准直后的出射光在该发光区域的短边方向上的发散角为0.22°～0.4°。
示例性的，图17示出了本申请实施例提供的发光区域分时打光的另一示意图。矩形发光区域1和矩形发光区域4同时序打光，矩形发光区域2和矩形发光区域3同时序打光。
示例性的，图18示出了本申请实施例提供的发光区域与发射光斑的另一对应关系。矩形发光区域分为4个分区。对应接收芯片也分为4个分区。由于光学组件仅由两块旋转对称面形的圆形镜片组成，在做发射模组和接收模组匹配时，只需要调节激光器的位置。同时，对于镜筒的加工和镜片的组装要求都 较低。
图19示出了本申请实施例提供的光学组件200的另一示意图。该光学组件200包括非球面镜片210和柱面镜片211。
示例性的，非球面镜片210和柱面镜片211的材料参数如表14所示。
表14
示例性的，图20示出了本申请实施例提供的激光器发出的激光光束经过非球面镜片210和柱面镜片211后被准直的示意图。
示例性的，该非球面镜片210的前表面S19和后表面S20均为凸面，材料折射率范围1.49～1.55，阿贝系数61～67，对激光器发出的光进行一次准直。
示例性的，表15示出了该非球面镜片210的面型参数。
表15
示例性的，该非球面镜片210的厚度为(3.5mm，5.75mm)。
示例性的，该非球面镜片210的孔径为(10.2mm，16.7mm)。
示例性的，柱面镜片211的前表面S21为凸面柱面，后表面S22为凹面柱面，材料折射率范围1.49～1.55，阿贝系数61～67。
柱面镜片211可以对从非球面镜片210来的光束进行二次准直，同时，通过对曲率的调控在发光区域长边方向上实现虚焦引入匀化效果。
示例性的，表16示出了该柱面镜片211的面型参数。
表16
示例性的，该柱面镜片211的厚度为(3.42mm，5.61mm)。
示例性的，该柱面镜片211的长度为(10.5mm，17.3mm)。
示例性的，该柱面镜片211的宽度为(9.1mm，15mm)。
示例性的，该非球面镜片210与该激光器中心的空气间隙为(15.279mm，25.098mm)，该柱面镜片211与非球面镜片210中心的空气间隙为(0.963mm，1.582mm)。
可选地，该激光器发射的激光光束经过该光学组件整形后形成的光束的束腰与该柱面镜片211的后表面S22之间的距离大于或者等于10mm且小于或者等于20mm。
可选地，该非球面镜片210、柱面镜片211可以和激光器组成光学系统(或者，发射模组)。
示例性的，该激光器可以为VCSEL，该VCSEL包括多个矩形发光区域。
示例性的，整个发光区域的长度为(6.5mm，7.5mm)，单个矩形发光区域的宽度为(0.7mm，0.9mm)。
示例性的，该激光器由3个发光区域交错排布而成，3个矩形发光区域可以分别被单独驱动，也可以两两同时被驱动，实现不同的打光时序。
可选地，整个发光区域发出的激光光束被准直后的出射光在该发光区域的长边方向上的总发散角为15°～21°，单个矩形发光区域发出的激光光束被准直后的出射光在该发光区域的短边方向上的发散角为 0.15°～0.35°。
示例性的，图21示出了本申请实施例提供的发光区域分时打光的示意图。矩形发光区域1、矩形发光区域2和矩形发光区域3分时序打光。
示例性的，图22示出了本申请实施例提供的发光区域与发射光斑的对应关系。发光区域分为3分区；对应接收芯片也分为3个分区。光学组件由一个旋转对称面形的圆形镜片和一个非旋转对称的柱面镜片组成，在做发射模组和接收模组匹配时，可以让柱面镜片的准线方向沿着发光区域的长边或者短边方向。经过柱面镜片匀化后，每一段光斑中的能量分布均匀。由于光学组件中仅包括一个非旋转对称的柱面镜片，有助于降低镜头的制造成本以及安装要求；同时，可以减少发射模组和接收模块做收发匹配或者耦合时的工序。
以上各个实施例中激光器中各个矩形发光区域的打光时序仅仅是示意性的，本申请实施例对此并不作具体限定。
例如，如图3所示的光学组件200和激光器组成的发光系统中，发光区域1和发光区域2可以同时打光，发光区域3和发光区域4可以同时序打光。
又例如，如图3所示的光学组件200和激光器组成的发光系统中，发光区域1和发光区域4可以同时打光，发光区域1、发光区域2和发光区域3可以分时序打光。
图23示出了本申请实施例提供的光学系统2300的示意性框图。该光学系统2300包括激光器2310和光学组件200。
可选地，该激光器2310包括多个矩形发光区域，该多个矩形发光区域中每个矩形发光区域的长宽比大于或者等于5。
可选地，该多个矩形发光区域分时打光。
示例性的，如图5所示，矩形发光区域1、矩形发光区域2、矩形发光区域3和矩形发光区域4可以分时打光。
可选地，该多个矩形发光区域包括第一矩形发光区域和第二矩形发光区域，该第一矩形发光区域和该第二矩形发光区域沿长边方向上交错排列且交错长度大于或者等于100μm。
示例性的，如图6所示，矩形发光区域1、矩形发光区域2、矩形发光区域3和矩形发光区域4沿长边方向上交错排列，且交错的长度大于或者等于100μm。这样，可以避免由于贴装误差而导致的缺线问题。
可选地，该多个矩形发光区域包括相邻的第三矩形发光区域和第四矩形发光区域，该第三矩形发光区域和该第四矩形发光区域沿长边方向上线性排列且该第三矩形发光区域和该第四矩形发光区域之间的间隙大于或者等于100μm。
示例性的，如图10所示，矩形发光区域1、矩形发光区域2、矩形发光区域3和矩形发光区域4沿长边方向上线性排列，且相邻的矩形发光区域之间的间隙大于或者等于100μm。这样，可以实现相邻的两个矩形发光区域在电器上的隔离。
本申请实施例还提供了一种激光雷达，该激光雷达可以包括上述光学组件200或者光学系统2300。
本申请实施例还提供了一种终端设备，该终端设备可以包括上述激光雷达。
可选地，该终端设备可以为车辆。
本申请实施例中涉及的车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (36)

  1. 一种光学组件，其特征在于，所述光学组件包括至少一个旋转对称的非球面镜片，至少一个旋转对称的球面镜片或者非旋转对称的柱面镜片，所述光学组件用于对激光器发射的激光光束进行整形；
    所述光学组件中镜片的数量小于或者等于3个。
  2. 根据权利要求1所述的光学组件，其特征在于，所述光学组件包括一个旋转对称的非球面镜片和一个旋转对称的球面镜片，
    所述非球面镜片，用于对所述激光器发射的激光光束进行第一次准直，得到第一光束；
    所述球面镜片，用于对所述第一光束进行第二次准直，得到第二光束。
  3. 根据权利要求2所述的光学组件，其特征在于，所述非球面镜片的前表面为凹面且后表面为凸面，所述非球面镜片的折射率为1.49-1.55且阿贝系数为61-67；
    所述球面镜片的前表面为凹面且后表面为凸面，所述球面镜片的折射率为1.75-1.85且阿贝系数为43-49；
    其中，所述前表面为靠近所述激光器的表面，所述后表面为远离所述激光器的表面。
  4. 根据权利要求2或3所述的光学组件，其特征在于，
    所述非球面镜片的面型参数：
    所述S1为所述非球面镜片的前表面，所述S2为所述非球面镜片的后表面，所述非球面镜片的厚度为(5.67mm，9.32mm)；
    所述球面镜片的面型参数：
    所述S3为所述球面镜片的前表面，所述S4为所述球面镜片的后表面，所述球面镜片的厚度为(3.62mm，5.95mm)；
    所述非球面镜片距离所述激光器中心的空气间隙为(5.6mm，9.2mm)，所述非球面镜片与所述球面镜片中心的空气间隙为(9.13mm，15mm)。
  5. 根据权利要求2至4中任一项所述的光学组件，其特征在于，所述激光器发射的激光光束经过所述光学组件整形后形成的光束的束腰与所述球面镜片的后表面之间的距离大于或者等于17mm且小于或者等于23mm。
  6. 根据权利要求2至5中任一项所述的光学组件，其特征在于，所述激光器中发光区域的长度为(8.49mm，9.83mm)，所述激光器发射的激光光束经过所述光学组件整形后形成的光束沿所述发光区域的长边方向的发散角为20°-25°。
  7. 根据权利要求1所述的光学组件，其特征在于，所述光学组件包括一个旋转对称的非球面镜片、一个旋转对称的球面镜片和一个非旋转对称的柱面镜片，
    所述非球面镜片，用于对所述激光器发射的激光光束进行第一次准直，得到第三光束；
    所述球面镜片，用于对所述第三光束进行第二次准直，得到第四光束；
    所述柱面镜片，用于对所述第四光束进行匀化，得到第五光束。
  8. 根据权利要求7所述的光学组件，其特征在于，经过所述柱面镜片匀化后，两段离散的光斑在垂直方向上重叠。
  9. 根据权利要求7或8所述的光学组件，其特征在于，所述非球面镜片的前表面为凹面且后表面为凸面，所述非球面镜片的折射率为1.45-1.6且阿贝系数为61-67；
    所述球面镜片的前表面为凹面且后表面为凸面，所述球面镜片的折射率为1.7-1.9且阿贝系数为36-45；
    所述柱面镜片的前表面为平面且后表面为凹面，所述柱面镜片的折射率为1.45-1.6且阿贝系数为61-67；
    其中，所述前表面为靠近所述激光器的表面，所述后表面为远离所述激光器的表面。
  10. 根据权利要求7至9中任一项所述的光学组件，其特征在于，
    所述非球面镜片的面型参数：
    所述S5为所述非球面镜片的前表面，所述S6为所述非球面镜片的后表面，所述非球面镜片的厚度为(5.67mm，9.32mm)；
    所述球面镜片的面型参数：
    所述S7为所述球面镜片的前表面，所述S8为所述球面镜片的后表面，所述球面镜片的厚度为(3.62mm，6mm)；
    所述柱面镜片的面型参数：
    所述S9为所述柱面镜片的前表面，所述S10为所述柱面镜片的后表面，所述柱面镜片的厚度为(1.4mm，2.3mm)；
    所述非球面镜片距离所述激光器中心的空气间隙为(5.6mm，9.2mm)，所述非球面镜片与所述球面镜片中心的空气间隙为(9.13mm，15mm)，所述柱面镜片与球面镜片中心的空气间隙为(1.4mm，2.3mm)。
  11. 根据权利要求7至10中任一项所述的光学组件，其特征在于，所述激光器发射的激光光束经过所述光学组件整形后形成的光束的束腰与所述柱面镜片的后表面之间的距离大于或者等于15mm且小于或者等于25mm。
  12. 根据权利要求7至11中任一项所述的光学组件，其特征在于，所述激光器中发光区域的长度为(11.4mm，13.8mm)，所述激光器发射的激光光束经过所述光学组件整形后形成的光束沿所述发光区域的长边方向的发散角为21°-27°。
  13. 根据权利要求1所述的光学组件，其特征在于，所述光学组件包括一个非旋转对称的柱面镜片和一个旋转对称的非球面镜片，
    所述柱面镜片，用于对所述激光器发射的激光光束进行第一次准直，得到第六光束；
    所述非球面镜片，用于对所述第六光束进行第二次准直，得到第七光束。
  14. 根据权利要求13所述的光学组件，其特征在于，所述柱面镜片的前表面为凹面且后表面为凸面，所述柱面镜片的折射率为1.45-1.51且阿贝系数为67-73；
    所述非球面镜片的前表面和后表面为凸面，所述非球面镜片的折射率为1.76-1.86且阿贝系数为38-44；
    其中，所述前表面为靠近所述激光器的表面，所述后表面为远离所述激光器的表面。
  15. 根据权利要求13或14所述的光学组件，其特征在于，
    所述柱面镜片的面型参数：
    所述S11为所述柱面镜片的前表面，所述S12为所述柱面镜片的后表面，所述柱面镜片的厚度为(1.87mm，3.07mm)；
    所述非球面镜片的面型参数为：
    所述S13为所述非球面镜片的前表面，所述S14为所述非球面镜片的后表面，所述非球面镜片的厚度为(2.92mm，4.79mm)；
    所述柱面镜片与所述激光器中心的空气间隙为(11.3mm，18.57mm)，所述柱面镜片与所述非球面镜片中心的空气间隙为(1.06mm，1.74mm)。
  16. 根据权利要求13至15中任一项所述的光学组件，其特征在于，所述激光器发射的激光光束经过所述光学组件整形后形成的光束的束腰与所述非球面镜片的后表面之间的距离大于或者等于15mm且小于或者等于22mm。
  17. 根据权利要求13至16中任一项所述的光学组件，其特征在于，所述激光器中发光区域的长度为(8.52mm，10.32mm)，所述激光器发射的激光光束经过所述光学组件整形后形成的光束沿所述发光区域的长边方向的发散角为22°-28°。
  18. 根据权利要求1所述的光学组件，其特征在于，所述光学组件包括一个旋转对称的非球面镜片和一个旋转对称的球面镜片，
    所述非球面镜片，用于对所述激光器发射的激光光束进行第一次准直，得到第八光束；
    所述球面镜片，用于对所述第八光束进行第二次准直，得到第九光束。
  19. 根据权利要求18所述的光学组件，其特征在于，所述非球面镜片的前表面为凹面且后表面为凸面，所述非球面镜片的折射率为1.4-1.6且阿贝系数为60-66；
    所述球面镜片的前表面和后表面为凸面，所述球面镜片的折射率为1.8-2.0且阿贝系数为26-36；
    其中，所述前表面为靠近所述激光器的表面，所述后表面为远离所述激光器的表面。
  20. 根据权利要求18或19所述的光学组件，其特征在于，
    所述非球面镜片的面型参数：
    所述S15为所述非球面镜片的前表面，所述S16为所述非球面镜片的后表面，所述非球面镜片的厚度为(3.25mm，5.34mm)；
    所述球面镜片的面型参数：
    所述S17为所述球面镜片的前表面，所述S18为所述球面镜片的后表面，所述球面镜片的厚度为(4.9mm，8.1mm)；
    所述非球面镜片与所述激光器中心的空气间隙为(4.892mm，8.036mm)，所述球面镜片与非球面镜片中心的空气间隙为(5.748mm，9.444mm)。
  21. 根据权利要求18至20中任一项所述的光学组件，其特征在于，所述激光器发射的激光光束经过所述光学组件整形后形成的光束的束腰与所述球面镜片的后表面之间的距离大于或者等于25.5mm且小于或者等于31.5mm。
  22. 根据权利要求18至21中任一项所述的光学组件，其特征在于，所述激光器中发光区域的长度为(8.83mm，10.22mm)，所述激光器发射的激光光束经过所述光学组件整形后形成的光束沿长边方向的发散角为22°-28°。
  23. 根据权利要求1所述的光学组件，其特征在于，所述光学组件包括一个旋转对称的非球面镜片和一个非旋转对称的柱面镜片，
    所述非球面镜片，用于对所述激光器发射的激光光束进行第一次准直，得到第十光束；
    所述柱面镜片，用于对所述第十光束进行第二次准直和匀化，得到第十一光束。
  24. 根据权利要求23所述的光学组件，其特征在于，经过所述柱面镜片匀化后，光斑在垂直方向上能量分布均匀。
  25. 根据权利要求23或24所述的光学组件，其特征在于，所述非球面镜片的前表面和后表面为凸面，所述非球面镜片的折射率为1.49-1.55且阿贝系数为61-67；
    所述柱面镜片的前表面为凸面且后表面为凹面，所述柱面镜片的折射率为1.49-1.55且阿贝系数为61-67；
    其中，所述前表面为靠近所述激光器的表面，所述后表面为远离所述激光器的表面。
  26. 根据权利要求23至25中任一项所述的光学组件，其特征在于，
    所述非球面镜片的面型参数：
    所述S19为所述非球面镜片的前表面，所述S20为所述非球面镜片的后表面，所述非球面镜片的厚度为(3.5mm，5.75mm)；
    所述柱面镜片的面型参数：
    所述S21为所述柱面镜片的前表面，所述S22为所述柱面镜片的后表面，所述柱面镜片的厚度为(3.42mm，5.61mm)；
    所述非球面镜片与所述激光器中心的空气间隙为(15.279mm，25.098mm)，所述柱面镜片与非球面镜片中心的空气间隙为(0.963mm，1.582mm)。
  27. 根据权利要求23至26中任一项所述的光学组件，其特征在于，所述激光器发射的激光光束经过所述光学组件整形后形成的光束的束腰与所述柱面镜片的后表面之间的距离大于或者等于10mm且小于或者等于20mm。
  28. 根据权利要求23至27中任一项所述的光学组件，其特征在于，所述激光器中发光区域的长度为(6.5mm，7.5mm)，所述激光器发射的激光光束经过所述光学组件整形后形成的光束沿长边方向的发散角为15°-21°。
  29. 一种光学系统，其特征在于，所述光学系统包括激光器和如权利要求1至28中任一项所述的光学组件。
  30. 根据权利要求29所述的光学系统，其特征在于，
    所述激光器包括多个矩形发光区域，所述多个矩形发光区域中每个矩形发光区域的长宽比大于或者等于5。
  31. 根据权利要求30所述的光学系统，其特征在于，所述多个矩形发光区域分时打光。
  32. 根据权利要求30或31所述的光学系统，其特征在于，所述多个矩形发光区域包括第一矩形发 光区域和第二矩形发光区域，所述第一矩形发光区域和所述第二矩形发光区域沿长边方向上交错排列且交错长度大于或者等于100μm。
  33. 根据权利要求30至32中任一项所述的光学系统，其特征在于，所述多个矩形发光区域包括相邻的第三矩形发光区域和第四矩形发光区域，所述第三矩形发光区域和所述第四矩形发光区域沿长边方向上线性排列且所述第三矩形发光区域和所述第四矩形发光区域之间的间隙大于或者等于100μm。
  34. 一种激光雷达，其特征在于，所述激光雷达包括如权利要求1至28中任一项所述的光学组件，或者，包括如权利要求29至33中任一项所述的光学系统。
  35. 一种终端设备，其特征在于，所述终端设备包括如权利要求34所述的激光雷达。
  36. 根据权利要求35所述的终端设备，其特征在于，所述终端设备为车辆。
PCT/CN2023/139942 2023-12-19 2023-12-19 光学组件、光学系统和激光雷达 Pending WO2025129458A1 (zh)

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