WO2025201348A1 - 一种发射系统、雷达及终端 - Google Patents

一种发射系统、雷达及终端

Info

Publication number
WO2025201348A1
WO2025201348A1 PCT/CN2025/084803 CN2025084803W WO2025201348A1 WO 2025201348 A1 WO2025201348 A1 WO 2025201348A1 CN 2025084803 W CN2025084803 W CN 2025084803W WO 2025201348 A1 WO2025201348 A1 WO 2025201348A1
Authority
WO
WIPO (PCT)
Prior art keywords
prism
light
detection beam
exit surface
incident surface
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/CN2025/084803
Other languages
English (en)
French (fr)
Inventor
施祖传
华康健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligent Technology Co Ltd
Original Assignee
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.)
Filing date
Publication date
Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Publication of WO2025201348A1 publication Critical patent/WO2025201348A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
    • 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
    • G02B27/10—Beam splitting or combining systems
    • G02B27/12—Beam splitting or combining systems operating by refraction only

Definitions

  • the present application relates to the field of laser radar technology, and in particular to a transmitting system, radar and terminal.
  • Laser beam properties affect LiDAR detection performance. For example, higher laser beam energy density improves interference immunity and range-finding performance. Therefore, improving laser beam properties is a pressing issue.
  • This application provides a transmission system, radar, and terminal.
  • the transmission system of this application enables the spacing of the virtual images of light-emitting units to be smaller than the actual spacing of the light-emitting units, thereby reducing the overall line width of the light-emitting area. This effectively improves the power density and uniformity of the laser beam provided by the transmission system. Furthermore, the transmission system of this application does not change the actual spacing of the light-emitting units, thus avoiding heat dissipation issues caused by reducing the actual distance.
  • the present application provides a transmitting system, comprising a first light transmitting module, a second light transmitting module and an optical module. There is a first interval between the first light transmitting module and the second light transmitting module in a first direction, and they are used to transmit a first detection beam and a second detection beam, respectively, and the optical module is arranged in the propagation direction of the first detection beam and the second detection beam.
  • the optical module comprises a V-shaped refractive prism, and the two sides of the V-shaped refractive prism are used to refract the above-mentioned first detection beam and the second detection beam, respectively, so that the interval between the first detection beam and the second detection beam after passing through the V-shaped refractive prism is smaller than the first interval.
  • the incident angle and the refraction angle of the first detection beam or the second detection beam on the V-shaped refractive prism are equal, so as to ensure that the propagation direction of the first detection beam or the second detection beam before and after passing through the V-shaped refractive prism is the same.
  • a V-shaped refractive prism is set on the propagation path of the first detection beam and the second detection beam, so that the two sides of the V-shaped refractive prism refract the first detection beam and the second detection beam respectively, so that the interval between the first detection beam and the second detection beam after passing through the V-shaped refractive prism is smaller than the first interval, thereby achieving the effect of reducing the overall line width of the light-emitting area of the emission system and improving the arrangement density, which is equivalent to improving the power density and uniformity of the laser beam provided by the emission system.
  • the present application does not change the actual spacing between the first light emitting module and the second light emitting module, avoiding the heat dissipation problem caused by reducing the actual spacing, thereby enabling the emission system to emit laser beams at full power. Since the incident angle and refraction angle of the first detection beam or the second detection beam on the V-shaped refractive prism are equal, the first detection beam or the second detection beam has the same propagation direction before and after passing through the V-shaped refractive prism, which is conducive to the design convenience of subsequent optical path shaping.
  • the first direction is perpendicular to the direction of propagation of the probe beam.
  • the first direction can be used to indicate the direction in which the first optical transmitter module points toward the second optical transmitter module.
  • the first direction is the direction of the line connecting the center points of the first and second optical transmitter modules.
  • the "interval" in this application is calculated using the center of the probe beam as a reference point. For a detailed description, please refer to the description in the specific embodiment.
  • the first plane is a plane formed by the first direction and the direction of light beam propagation, and the first plane and the cross-section of the V-shaped refractive prism are axially symmetrical along the direction of light beam propagation, so that the first detection beam and the second detection beam have the same optical path when passing through the V-shaped refractive prism.
  • it can ensure that the degree of refraction of the first detection beam and the second detection beam on both sides of the V-shaped refractive prism is the same.
  • it can make the optical path of the first detection beam and the second detection beam in the V-shaped refractive prism the same, avoiding interference caused by astigmatism.
  • the two sides of the V-shaped refracting prism include a first refractive edge and a second refractive edge.
  • the first refractive edge includes a first incident surface and a first exit surface oppositely disposed along a second direction
  • the second refractive edge includes a second incident surface and a second exit surface oppositely disposed along a third direction, wherein the second direction, the third direction, and the light beam propagation direction are mutually different.
  • the first incident surface and the first exit surface are disposed relative to each other along the second direction
  • the second incident surface and the second exit surface are disposed relative to each other along the third direction.
  • the third direction being perpendicular to the second incident surface and the second exit surface.
  • the second or third direction differs from the beam propagation direction, allowing the first and second probe beams to be incident at an angle upon the first incident surface and the second incident surface, respectively, thereby ensuring that the first and second refractive edges have a certain degree of refractive power for the first and second probe beams, respectively.
  • the refractive direction of the first probe beam by the first refractive edge is different from the refractive direction of the second probe beam by the second refractive edge, thereby avoiding the situation where beam combining cannot occur due to the same refractive directions.
  • the first incident surface is parallel to the first exit surface, and the second incident surface is parallel to the second exit surface.
  • the first incident surface is parallel to the first exit surface
  • the second incident surface is parallel to the second exit surface, so that the first detection beam and the second detection beam have the same incident angle and exit angle on the V-shaped refractive prism, thereby making the first detection beam or the second detection beam have the same incident angle and exit angle before and after passing through the V-shaped refractive prism, and further making the first detection beam or the second detection beam have the same propagation direction before and after passing through the V-shaped refractive prism, which is beneficial to the design convenience of subsequent optical path shaping.
  • the direction of the opening formed by the first refractive edge and the second refractive edge is the same as the propagation direction of the light beam.
  • the central direction corresponding to the angle range (0°, 180°) between the first refractive edge and the second refractive edge can be referred to as the opening direction.
  • the opening direction formed by the first refractive edge and the second refractive edge is the same as the light beam propagation direction, so that the V-shaped refractive prism is placed in a positive V-shaped posture relative to the first light transmitting module and the second light transmitting module. This allows the V-shaped refractive prism to offset the first detection beam and the second detection beam in opposite directions, thereby achieving the effect of reducing the distance between the first detection beam and the second detection beam.
  • the placement of multiple optical elements can be designed so that the air gaps between the multiple optical elements form an inverted V shape, and act on the refraction of the first detection beam and the second detection beam, which can also achieve the effect of reducing the distance between the first detection beam and the second detection beam.
  • the first probe beam sequentially passes through the first incident surface and the first exit surface and is refracted by the first incident surface and the first exit surface.
  • the second probe beam sequentially passes through the second incident surface and the second exit surface and is refracted by the second incident surface and the second exit surface.
  • the first incident surface and the second incident surface can be understood as the interface where the probe light beam enters medium B from medium A, and refracted at this interface (i.e., the refraction angle is greater than 0° and less than 90°).
  • the first exit surface and the second exit surface can be understood as the interface where the probe light beam enters medium A from medium B, and refracted at this interface (i.e., the refraction angle is greater than 0° and less than 90°).
  • This application does not limit the relationship between the refractive indices of medium A and medium B.
  • the refractive index of medium A is greater than that of medium B, or the refractive index of medium A is less than that of medium B.
  • the first detection beam or the second detection beam may also vertically pass through other interfaces when passing through the V-shaped refractive prism.
  • the first detection beam emitted by the first light emitting module is parallel to the second detection beam emitted by the second light emitting module, and the first detection beam after passing through the V-shaped refractive prism is parallel to the second detection beam after passing through the V-shaped refractive prism.
  • the V-shaped refractive prism does not change the propagation direction of the first detection beam or the second detection beam, which is beneficial to the design convenience of subsequent optical path shaping.
  • the first light emitting module and the second light emitting module can also be photonic crystal surface emitting semiconductor lasers (PCSEL), edge emitting lasers (EEL), laser diodes (LD), distributed feedback laser diodes (DFB-LD), grating coupled sampling reflection laser diodes (GCSR-LD), or micro opto electro mechanical system laser diodes (MOEMS-LD), etc.
  • PCSEL photonic crystal surface emitting semiconductor lasers
  • EEL edge emitting lasers
  • LD laser diodes
  • DFB-LD distributed feedback laser diodes
  • GCSR-LD grating coupled sampling reflection laser diodes
  • MOEMS-LD micro opto electro mechanical system laser diodes
  • the first light emitting module and the second light emitting module each include a plurality of light-emitting apertures.
  • the first light emitting module includes a plurality of first light-emitting apertures
  • the second light emitting module includes a plurality of second light-emitting apertures.
  • the staggered arrangement of the plurality of first light-emitting apertures and the plurality of second light-emitting apertures in the fourth direction is equivalent to the absence of the first light-emitting aperture and the second light-emitting aperture being in the same position in the fourth direction.
  • the fourth direction being perpendicular to the beam propagation direction and different from the first direction, the light spots of the combined first and second detection beams are still staggered, thereby achieving improved uniformity of the light spots of the combined first and second detection beams.
  • the plurality of first light-emitting holes and the plurality of second light-emitting holes may be arranged in a non-offset manner in the fourth direction.
  • the first refractive edge further includes a third incident surface and a third exit surface
  • the second refractive edge further includes a fourth incident surface and a fourth exit surface.
  • the third incident surface and the third exit surface are disposed opposite each other along a fifth direction
  • the fourth incident surface and the fourth exit surface are disposed opposite each other along a sixth direction, wherein the fifth direction, the sixth direction, and the propagation direction are mutually different.
  • the third incident surface and the third exit surface are arranged relative to each other along the fifth direction
  • the fourth incident surface and the fourth exit surface are arranged relative to each other along the sixth direction.
  • the fifth direction is perpendicular to the third incident surface and the third exit surface
  • the sixth direction is perpendicular to the fourth incident surface and the fourth exit surface.
  • the fifth or sixth direction differs from the beam propagation direction, allowing the third and fourth probe beams to be incident at an angle onto the third and fourth incident surfaces, respectively. This ensures that the first and second refractive edges have a certain degree of refractive power for the third and fourth probe beams, respectively.
  • the refractive direction of the third probe beam by the first refractive edge is different from the refractive direction of the fourth probe beam by the second refractive edge, thus avoiding the situation where beam combining cannot occur due to the same refractive directions.
  • the third incident surface is parallel to the third exit surface
  • the fourth incident surface is parallel to the fourth exit surface
  • the angle range between the third incident surface, the fourth incident surface and the light beam propagation direction is determined to be between 0° and 90°, which can ensure that the V-shaped refractive prism is placed in a positive V shape, so that the V-shaped refractive prism can offset the third detection beam and the fourth detection beam in opposite directions, thereby achieving the effect of reducing the distance between the third detection beam and the fourth detection beam.
  • the placement of multiple optical elements can be designed so that the air gaps between the multiple optical elements form an inverted V shape, and act on the refraction of the third detection beam and the fourth detection beam, which can also achieve the effect of reducing the distance between the third detection beam and the fourth detection beam.
  • the angle between the third incident surface and the propagation direction of the light beam is smaller than the angle between the first incident surface and the propagation direction of the light beam, so that the degree of refraction of the third detection beam by the V-shaped refractive prism is greater than the degree of refraction of the first detection beam, thereby reducing the distance between the first detection beam and the third detection beam after passing through the V-shaped refractive prism.
  • the angle between the fourth incident surface and the propagation direction of the light beam is smaller than the angle between the second incident surface and the propagation direction of the light beam, so that the degree of refraction of the fourth detection beam by the V-shaped refractive prism is greater than the degree of refraction of the second detection beam, thereby reducing the distance between the second detection beam and the fourth detection beam after passing through the V-shaped refractive prism.
  • the third probe beam sequentially passes through a third incident surface and a third exit surface and is refracted by the third incident surface and the third exit surface.
  • the fourth probe beam sequentially passes through a fourth incident surface and a fourth exit surface and is refracted by the fourth incident surface and the fourth exit surface.
  • the third detection beam or the fourth detection beam may also vertically pass through other interfaces when passing through the V-shaped refractive prism.
  • the angle between the fifth direction and the light beam propagation direction is greater than the angle between the second direction and the light beam propagation direction, and/or the angle between the sixth direction and the light beam propagation direction is greater than the angle between the third direction and the light beam propagation direction.
  • angles between the second, third, fifth, and sixth directions and the beam propagation direction are equal to the incident angle of the first probe beam at the first incident surface, the incident angle of the second probe beam at the second incident surface, the incident angle of the third probe beam at the third incident surface, and the incident angle of the fourth probe beam at the fourth incident surface, respectively.
  • the degree of refraction of the third probe beam by the V-shaped refractive prism is greater than the degree of refraction of the first probe beam by the V-shaped refractive prism, resulting in a spacing between the third probe beam and the first probe beam after passing through the V-shaped refractive prism that is less than the second spacing.
  • the degree of refraction of the fourth probe beam by the V-shaped refractive prism is greater than the degree of refraction of the second probe beam by the V-shaped refractive prism, resulting in a spacing between the fourth probe beam and the second probe beam after passing through the V-shaped refractive prism that is less than the third spacing.
  • This can reduce the overall line width of the emitting system's light-emitting area and increase the density of the arrangement, which is equivalent to improving the power density and uniformity of the laser beam provided by the emitting system.
  • the V-shaped refractive prism in the above embodiment can reduce the spacing between the first and second probe beams. Therefore, even if the spacing between the fifth probe beam after passing through the V-shaped refractive prism and the first probe beam is equal to the second spacing, and/or the spacing between the sixth probe beam after passing through the V-shaped refractive prism and the second probe beam is equal to the third spacing, the overall line width of the emission system's light-emitting area can still be reduced and the arrangement density can be increased.
  • the refractive index of the material between the third incident surface and the third exit surface is greater than the refractive index of the material between the first incident surface and the first exit surface and/or the refractive index of the material between the fourth incident surface and the fourth exit surface is greater than the refractive index of the material between the second incident surface and the second exit surface.
  • the V-shaped refractive prism refracts the third probe beam more than the first probe beam, thereby making the distance between the third probe beam and the first probe beam after passing through the V-shaped refractive prism less than the second distance.
  • FIG9A is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application.
  • FIG10A is a schematic diagram of a light spot at a receiving end provided in an embodiment of the present application.
  • FIG11C is a front view of another V-shaped refractive prism provided in an embodiment of the present application.
  • FIG12B is a front view of the V-shaped refractive prism shown in FIG12A;
  • FIG12D is a front view of the V-shaped refractive prism shown in FIG12C;
  • FIG12F is a front view of the V-shaped refractive prism shown in FIG12E;
  • FIG12G is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application.
  • FIG12I is a schematic structural diagram of another transmitting system provided in an embodiment of the present application.
  • FIG12J is a schematic diagram of the optical path of the transmitting system corresponding to FIG12C;
  • FIG13A is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application.
  • FIG13B is a schematic diagram of an optical path of another transmitting system provided in an embodiment of the present application.
  • FIG14 is a schematic diagram of a light spot of another receiving end provided in an embodiment of the present application.
  • FIG15A is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application.
  • FIG15B is a schematic diagram of the optical path of the emission system corresponding to FIG15A .
  • a laser emitter (also known as a laser or a laser chip) refers to a device that can emit laser light.
  • the laser 10 shown in FIG1 (a) includes a plurality of light-emitting units 11.
  • the structure of the light-emitting unit 11 is shown in FIG1 (b).
  • Each light-emitting unit 11 includes a light-emitting hole 12, and a laser beam is emitted from the light-emitting hole 12.
  • the area of the cross section of the laser beam is less than or equal to the area of the light-emitting hole 12.
  • the area of the light-emitting hole 12 is usually smaller than the area of the light-emitting unit 11, resulting in a low proportion of the area of the light-emitting hole.
  • Some detection devices may also use multiple columns of light emitting units 11, or even multiple lasers 10. In this case, there are intervals between the multiple columns of light emitting units 11, and there are intervals between the multiple lasers 10, so that the power density of the laser beam is further reduced.
  • the laser 10 includes a plurality of light-emitting units 11, and the plurality of light-emitting units 11 are arranged in the form of multiple columns.
  • the arrangement of the multiple columns of light-emitting units 11 can be non-staggered (as shown in FIG2 ) or staggered (as shown in FIG3 ).
  • the laser 10 includes two columns of light-emitting units 11. Taking the viewing angle of FIG2 (b) as an example, the two columns of light-emitting units 11 are non-staggered, and the light-emitting holes 12 of the two columns of light-emitting units are not staggered in the vertical direction.
  • the light-emitting holes of the two columns of light-emitting units 11 shown in FIG3 are staggered in the vertical direction.
  • the laser 10 includes multiple columns of light-emitting units 11, there is a gap M2 between the multiple columns of light-emitting units 11, so that the power density of the laser beam emitted by the laser 10 is low.
  • the laser 10 includes more columns (for example, 3 columns, 4 columns or more columns) of light emitting units 11, the above-mentioned problems shown in FIG. 2 or FIG. 3 also exist.
  • the detection device adopts an emission system including a plurality of lasers 10.
  • the emission system 400 includes two lasers 10. Regardless of the arrangement of the light-emitting units in the laser 10, there is a gap M3 between the lasers 10.
  • the two lasers 10 can each include a column of light-emitting units 11 (as shown in FIG1 ). By arranging the two lasers 10 differently in the vertical direction, the light-emitting units 11 included in the two lasers 10 can be arranged in a non-staggered arrangement (as shown in FIG4 ) and a staggered arrangement (as shown in FIG5 ).
  • the two lasers 10 can also each include two columns of light-emitting units 11. The two columns of light-emitting units 11 can be arranged in a non-staggered arrangement (not shown) or a staggered arrangement (as shown in FIG6 ).
  • the present application provides a transmission system, a radar and a terminal, which can improve the power density and uniformity of the laser beam emitted by the laser transmission system without changing the spacing between the light-emitting units or the spacing between the lasers.
  • the “intervals”, “spacing” or “distance” mentioned in this application are all spacings calculated with the center point of the light-emitting hole as a reference point.
  • the spacing between two light-emitting units refers to the spacing between the center points of the light-emitting holes on the two light-emitting units.
  • the spacing between two columns of light-emitting units can be obtained by connecting the center points of the light-emitting holes in the two columns of light-emitting units to obtain a set of parallel lines, and the spacing of the parallel lines is used as the spacing between the two columns of light-emitting units.
  • the first column of light-emitting units and the second column of light-emitting units are respectively located in two lasers 10 , and the first column of light-emitting units and the second column of light-emitting units are two adjacent columns of light-emitting units.
  • the spacing between the first column of light-emitting units and the second column of light-emitting units can be regarded as the spacing between the two lasers 10 .
  • This application does not limit whether there is a gap between the light-emitting units or lasers, nor does it limit the size of the gap.
  • the presence of a gap between the light-emitting units or lasers may be to meet the heat dissipation requirements of the light-emitting units.
  • top view is used frequently. It is understood that the three-view diagram is often determined by the relative position of the observer and the object, as well as the placement of the object. Therefore, under certain circumstances, the "top view” described in Figures 1 through 6 above may also be referred to as the front view or left view.
  • the optical module may also include optical elements for light path shaping, such as one or more of an optical emitting mirror, a two-dimensional micro-electro-mechanical system (MEMS) galvanometer, a collimating mirror, a beam splitter or a diffuser.
  • optical elements for light path shaping such as one or more of an optical emitting mirror, a two-dimensional micro-electro-mechanical system (MEMS) galvanometer, a collimating mirror, a beam splitter or a diffuser.
  • MEMS micro-electro-mechanical system
  • the optical module includes a V-shaped refractive prism 800 as shown in Figures 8A and 8B .
  • the V-shaped refractive prism 800 includes a first exit surface 81, a first incident surface 82, a third surface 83, a fourth surface 84, a fifth surface 85, a second exit surface 86, a second incident surface 87, and an eighth surface 88.
  • the first exit surface 81 is parallel to the first incident surface 82
  • the second exit surface 86 is parallel to the second incident surface 87.
  • the beam propagation direction refers to the propagation direction of the detection beam without being refracted.
  • the vertical upward direction shown in the current figure can be used as the beam propagation direction (or simply referred to as the "propagation direction").
  • the vertical upward direction shown in FIG8B can be used as the beam propagation direction.
  • the angle between the exit surface (incident surface) and the beam propagation direction in this application is generally based on the annotation in the accompanying drawings unless otherwise specified.
  • the angle ⁇ 1 in Figure 8B is the angle formed between the beam propagation direction and the first exit surface 81 along the oblique upward direction
  • the angle ⁇ 2 in Figure 8B is the angle formed between the beam propagation direction and the second exit surface 86 along the oblique upward direction.
  • the present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 800.
  • the third surface 83, the fourth surface 84, or the fifth surface 85 can be perpendicular to the first exit surface 81 or the first incident surface 82.
  • the fourth surface 84, the fifth surface 85, or the eighth surface 88 can be perpendicular to the second exit surface 86 or the second incident surface 87.
  • the refraction direction of the first refraction edge for the first detection beam is different from the refraction direction of the second refraction edge for the second detection beam, thereby avoiding the situation where the beams cannot be combined due to the same refraction directions.
  • the opening direction of the V-shaped refractive prism 800 is aligned with the beam propagation direction.
  • the angle between the first and second refractive edges is in the range of (0°, 180°), and the corresponding center direction is aligned with the beam propagation direction.
  • the included angle between the first refractive edge and the second refractive edge may be the included angle between the first exit surface and the second exit surface or the included angle between the first incident surface and the second incident surface.
  • the two refractive edges of the V-shaped refractive prism 800 are not axially symmetrical along the direction of light beam propagation, so that the opening direction of the V-shaped refractive prism 800 forms a certain angle (greater than 0° and less than 90°) with the direction of light beam propagation. In this case, the opening direction is still the same as the light beam propagation direction in the present application.
  • the V-shaped refractive prism 800 includes a first optical element and a second optical element. Referring to FIG8B , the V-shaped refractive prism 800 is split along the beam propagation direction (dashed line 89 shown in FIG8B ) at the intersection of the first incident surface 82 and the second incident surface 87. The resulting two optical elements can be referred to as the first optical element and the second optical element, respectively.
  • the surface on the right side of the first optical element (the surface at the dashed line in FIG8B ) and the surface on the left side of the second optical element (the surface at the dashed line in FIG8B ) can fit together, or there can be a certain air gap, which is not limited in this application.
  • the above ⁇ 1 , ⁇ 2 , L1 and L2 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of refraction of the light beam.
  • the material used for the V-shaped refractive prism 800 includes one or more of quartz glass, borosilicate glass, sapphire glass, and the like.
  • the first refractive edge and the second refractive edge in the V-shaped refractive prism 800 may have different refractive powers for the first detection beam and the second detection beam, respectively, to ensure that the distance between the first detection beam and the second detection beam after passing through the V-shaped refractive prism 800 is less than the above-mentioned first distance.
  • the cross section of the V-shaped refractive prism 800 in the first plane is axisymmetric along the direction of light beam propagation (the vertical direction shown in FIG8B ), and the first plane is the plane formed by the first direction (the horizontal direction shown in FIG8B ) and the direction of light beam propagation.
  • the interface of the V-shaped refractive prism 800 in the first plane is shown in FIG8B , and the cross section is axisymmetric along the vertical direction.
  • the degree of refraction of the first detection beam and the second detection beam on both sides of the V-shaped refractive prism 800 is the same.
  • it can make the optical path of the first detection beam and the second detection beam in the V-shaped refractive prism 800 the same, avoiding interference caused by astigmatism.
  • part of the surface can be painted black, for example, one or more of the third surface 83, the fourth surface 84, the fifth surface 85, and the eighth surface 88 can be painted black. It is understandable that any black material can be selected for the blackening, such as ink, water-based paint, paint, or ink.
  • the incident angle and refraction angle of the first or second probe beam on V-shaped refractive prism 800 are equal.
  • the incident angle and exit angle of the first probe beam on V-shaped refractive prism 800 are both (90° - ⁇ 1 )
  • the incident angle and exit angle of the second probe beam on V-shaped refractive prism 800 are both (90° - ⁇ 2 ). This ensures that the first or second probe beam has the same propagation direction before and after passing through V-shaped refractive prism 800, facilitating the design of subsequent optical path shaping.
  • the virtual image 810' corresponding to the first light emitting module 810 and the virtual image 820' corresponding to the second light emitting module 820 are located at the same position in the propagation direction (the vertical direction shown in FIG8E ).
  • the positions of the first light emitting module 810 and the second light emitting module 820 in the propagation direction can be adjusted so that the virtual image 810' and the virtual image 820' are located at the same position in the propagation direction, thereby reducing the interference of astigmatism.
  • the optical module includes a V-shaped refractive prism 900 shown in Figure 9A.
  • the V-shaped refractive prism 900 is used to combine the first detection beam and the second detection beam. Compared with the previous Figure 8A, the difference is that the opening direction of the V-shaped refractive prism 900 is opposite to the propagation direction of the light beam.
  • the V-shaped refractive prism 900 shown in Figure 9A includes prism A1, prism A2, and prism A3.
  • the front surface of prism A1 and prism A2 is called the first principal surface
  • the rear surface is called the second principal surface
  • the upper surface is called the first side surface
  • the left surface of prism A1 is called the second side surface
  • the lower right surface of prism A1 is called the first incident surface
  • the right surface of prism A2 is called the second side surface
  • the lower left surface of prism A2 is called the second incident surface.
  • the distance L3 between the first incident surface of prism A1 and the first exit surface of prism A3 and the distance L4 between the second incident surface of prism A2 and the second exit surface of prism A3 are both greater than 0.
  • this application does not limit this.
  • L3 is equal to L4.
  • the opening direction of the V-shaped refractive prism 900 is opposite to the direction of light beam propagation.
  • the angle between the first and second refractive edges is in the range of (0°, 180°), and the corresponding center direction is opposite to the direction of light beam propagation.
  • both refractive edges are formed of air, resulting in a smaller incident angle for the probe beam than an exit angle. This allows the V-shaped refractive prism 900 to shift the first and second probe beams in opposite directions, thereby reducing the distance between the first and second probe beams.
  • the above ⁇ 3 , ⁇ 4 , L3 and L4 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of refraction of the light beam.
  • n is the ratio of the refractive index of the material used in the V-shaped refractive prism 900 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.
  • the material used for the V-shaped refractive prism 900 includes one or more of quartz glass, borosilicate glass, and sapphire glass.
  • the cross-section of the V-shaped refractive prism 900 in the first plane is axisymmetric along the direction of light beam propagation (the vertical direction shown in FIG9B ), where the first plane is the plane formed by the first direction (the horizontal direction shown in FIG9B ) and the direction of light beam propagation.
  • the interface of the V-shaped refractive prism 900 in the first plane is shown in FIG9B , where the cross-section is axisymmetric along the vertical direction.
  • some surfaces may be painted black.
  • one or more of the first principal surface, the second principal surface, and the second side surface of prism A1, and the first principal surface, the second principal surface, and the second side surface of prism A2 may be painted black.
  • any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.
  • FIG. 9B The optical path diagram of the transmitting system shown in FIG. 9B or FIG. 9C is introduced below.
  • V-shaped refracting prism 900 the two sides of V-shaped refracting prism 900 are used to refract the first and second probe beams, respectively.
  • the optical paths of the first and second probe beams are described below with reference to FIG. 9B .
  • the first probe beam emitted by the first light emitting module 810 and the second probe beam emitted by the second light emitting module 820 are perpendicularly incident on the first side surface of prism A3 (the propagation directions of the first probe beam and the second probe beam remain unchanged), and are then refracted by the first exit surface and the second exit surface of prism A3, respectively. Because the first exit surface of prism A3 is parallel to the first incident surface of prism A1, the first probe beam passing through prism A3 will obliquely enter the first incident surface of prism A1 and be refracted. After the refraction, the first probe beam will still be emitted from the first side surface of prism A1 in a vertical direction.
  • the second probe beam will also obliquely enter the second incident surface of prism A2 and be refracted. After the refraction, the third probe beam will still be emitted from the first side surface of prism A2 in a vertical direction.
  • the interval between the first probe beam and the second probe beam before passing through V-shaped refracting prism 900 is d1
  • the interval between the first probe beam and the second probe beam after passing through V-shaped refracting prism 900 is d2
  • d1 is less than d2.
  • the degree of refraction of the first and second probe beams by the V-shaped refractive prism depends on the thickness of the air gap between prisms A1 and A3, and the thickness of the air gap between prisms A2 and A3, respectively.
  • air has a higher transmittance for the probe beams, so the V-shaped refractive prism 900 can also reduce the loss of the probe beams during the beam combining process.
  • the light path shown in FIG. 9B may also be a light path corresponding to the light beams emitted by the two light-emitting units 11 .
  • the above content introduces the V-shaped refractive prism 800 and the V-shaped refractive prism 900 in turn.
  • the present application also shows the relative positions of the light spots of the first detection beam and the second detection beam on the receiving end, which is used to exemplarily illustrate the influence of the V-shaped refractive prism 800 or the V-shaped refractive prism 900 on the first detection beam and the second detection beam.
  • Figures 10A and 10B illustrate the relative positions of the light spots of the first and second probe beams on the receiving end when the first and second light transmitting modules 810, 820 are the lasers 10 shown in Figure 1 above.
  • Figure 10A illustrates a non-staggered arrangement of the light emitting units 11 in the first direction
  • Figure 10B illustrates a staggered arrangement of the light emitting units 11 in the first direction.
  • the light spots of the first and second probe beams on the receiving end will also exhibit a non-staggered arrangement (as shown in (b) or (c) in Figure 10A) and a staggered arrangement (as shown in (b) or (c) in Figure 10B), respectively, in the first direction.
  • Light spot 101 may be the light spot formed by the first probe beam on the receiving end
  • light spot 102 may be the light spot formed by the second probe beam on the receiving end 20.
  • Figures 10C and 10D respectively illustrate the relative positions of the light spots of the first probe beam and the second probe beam at the receiving end when the first light emitting module 810 and the second light emitting module 820 are the lasers 10 shown in Figures 2 and 3 above.
  • the two columns of light emitting units 11 included in the laser 10 shown in Figure 2 above are arranged in a non-staggered arrangement
  • the two columns of light emitting units 11 included in the laser 10 shown in Figure 3 above are arranged in a staggered arrangement, so that the arrangement of the light spots 101 and the light spots 102 at the receiving end 20 shown in Figures 10C and 10D are non-staggered and staggered, respectively.
  • the optical module includes a V-shaped refractive prism 1100 as shown in Figures 11A and 11B .
  • the V-shaped refractive prism 1100 includes prism P1, prism P2, prism P3, and prism P4.
  • the front side of prism P1 and prism P4 is referred to as the first principal surface
  • the rear side is referred to as the second principal surface
  • the upper left side is referred to as the first side surface
  • the upper right side is referred to as the second side surface
  • the lower right side is referred to as the third side surface
  • the lower left side is referred to as the fourth side surface.
  • the third side surface of prism P1 is aligned with the first side surface of prism P2, the third side surface of prism P2 is aligned with the first side surface of prism P3, and the third side surface of prism P3 is aligned with the fourth side surface of prism P4.
  • any two mating side surfaces may have the same shape and size.
  • the third side surface of prism P1 has the same shape and size as the first side surface of prism P2
  • the third side surface of prism P2 has the same shape and size as the first side surface of prism P3.
  • the first incident surface is parallel to the first exit surface
  • the second incident surface is parallel to the second exit surface
  • the third incident surface is parallel to the third exit surface
  • the fourth incident surface is parallel to the fourth exit surface.
  • the angles between the first exit surface, the second exit surface, the third exit surface, and the fourth exit surface and the beam propagation direction are ⁇ 5 , ⁇ 6 , ⁇ 7 , and ⁇ 8 , respectively.
  • ⁇ 5 , ⁇ 6 , ⁇ 7 , and ⁇ 8 are in the range of (0°, 90°), and ⁇ 5 is less than ⁇ 7 , and ⁇ 6 is less than ⁇ 8.
  • This application does not limit the relationship between ⁇ 5 and ⁇ 6 , and ⁇ 7 and ⁇ 8 .
  • ⁇ 5 equals ⁇ 6
  • ⁇ 7 equals ⁇ 8 .
  • the distance L5 between the first incident surface and the first exit surface, the distance L6 between the second incident surface and the second exit surface, the distance L7 between the third incident surface and the third exit surface, and the distance L8 between the fourth incident surface and the fourth exit surface are all greater than 0.
  • the present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 1100.
  • the first principal surface of prism P1, the second principal surface of prism P1, the first side surface of prism P1, or the third side surface of prism P1 may be perpendicular to the third exit surface or the third incident surface.
  • the first principal surface of prism P2, the second principal surface of prism P2, the first side surface of prism P2, or the third side surface of prism P2 may be perpendicular to the first exit surface or the first incident surface.
  • the two sides of the V-shaped refractive prism 1100 include a first refractive edge and a second refractive edge, wherein the first refractive edge includes a first incident surface, a first exit surface, a third incident surface, and a third exit surface, and the second refractive edge includes a second incident surface, a second exit surface, a fourth incident surface, and a fourth exit surface.
  • the beneficial effects of the second direction, the third direction, and the propagation direction of the above-mentioned light beam being different from each other can be referred to the relevant description of the above-mentioned V-shaped refractive prism 800 and will not be repeated here.
  • the third and fourth probe beams can be obliquely incident on the third and fourth incident surfaces, respectively, ensuring that the first and second refractive edges have a certain degree of refraction for the third and fourth probe beams, respectively.
  • the opening direction of the V-shaped refractive prism 1100 is the same as the beam propagation direction.
  • the angle range between the first refractive edge and the second refractive edge is (0°, 180°), and the corresponding center direction is the same as the beam propagation direction.
  • the angle range between the first refractive edge and the second refractive edge can be the angle between the first exit surface and the second exit surface or the angle between the first incident surface and the second incident surface, or the angle between the third exit surface and the fourth exit surface or the angle between the third incident surface and the fourth incident surface.
  • the two refractive edges of the V-shaped refractive prism 1100 are not axially symmetrical along the direction of light beam propagation, so that the opening direction of the V-shaped refractive prism 1100 forms a certain angle (greater than 0° and less than 90°) with the direction of light beam propagation. In this case, the opening direction is still the same as the light beam propagation direction in the present application.
  • the first and second refractive edges of the V-shaped refractive prism 1100 may have different refractive powers for the first and second probe beams, respectively, to ensure that the distance between the first and second probe beams after passing through the V-shaped refractive prism 1100 is less than the first distance.
  • the first and second refractive edges of the V-shaped refractive prism 1100 may have different refractive powers for the third and fourth probe beams, respectively, to ensure that the distance between the third and first probe beams after passing through the V-shaped refractive prism 1100 is less than the second distance, and the distance between the fourth and second probe beams is less than the fourth distance.
  • the degree of deviation of the light beam by prism P1 is greater than that by prism P2
  • the degree of deviation of the light beam by prism P4 is greater than that by prism P3.
  • the degree of deviation of the light beam by prism P2 satisfies the relationship
  • the degree of deviation of the light beam by prism P3 satisfies the relationship
  • the degree of deviation of the light beam by prism P4 satisfies the relationship
  • the cross-section of the V-shaped refractive prism 1100 in the first plane is axisymmetric along the beam propagation direction (the vertical direction shown in FIG. 11B ).
  • the first plane is the plane formed by the first direction (the horizontal direction shown in FIG. 11B ) and the beam propagation direction.
  • the interface of the V-shaped refractive prism 1100 in the first plane is shown in FIG. 11B , where the cross-section is axisymmetric along the vertical direction.
  • the first probe beam (third probe beam) and the second probe beam (fourth probe beam) can have the same optical path as they pass through the V-shaped refractive prism 1100. This ensures that the first probe beam (third probe beam) and the second probe beam (fourth probe beam) are refracted to the same degree on both sides of the V-shaped refractive prism 1100. Furthermore, the optical path lengths of the first probe beam (third probe beam) and the second probe beam (fourth probe beam) in the V-shaped refractive prism 1100 are the same, thus avoiding interference caused by astigmatism.
  • some surfaces may be painted black.
  • one or more of the first principal surface, second principal surface, first side surface, and third side surface of prism P1, the first principal surface, second principal surface, first side surface, and third side surface of prism P2, the first principal surface, second principal surface, first side surface, and third side surface of prism P3, and the first principal surface, second principal surface, second side surface, and fourth side surface of prism P4 may be painted black.
  • any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.
  • the V-shaped refracting prism 1100 may include more or fewer surfaces while satisfying the above-mentioned restrictions, and this application does not limit this.
  • prism P2 further includes a fifth side surface 1101
  • prism P3 further includes a fifth side surface 1102. Providing the fifth side surface 1101 of prism P2 and the fifth side surface 1102 of prism P3 facilitates the placement of the V-shaped refracting prism 1100.
  • V-shaped refractive prism shown in this application is not limited to the standard V-shape.
  • it can be similar to the V-shape or a deformation based on the V-shape.
  • the present application does not limit the casting process of the V-shaped refractive prism 1100.
  • the V-shaped refractive prism 1100 can be composed of a single optical element through an integrated casting process.
  • the prism P1 and prism P2 can be combined into a single optical element, and the prism P3 and prism P4 can be combined into a single optical element through an integrated casting process.
  • the following introduces the emission system including the V-shaped refractive prism 1100 shown in Figure 11A, Figure 11B or Figure 11C.
  • the transmitting system includes a V-shaped refractive prism 1100, a first light transmitting module 810, a second light transmitting module 820, a third light transmitting module 830, and a fourth light transmitting module 840.
  • the first light transmitting module 810, the second light transmitting module 820, the third light transmitting module 830, or the fourth light transmitting module 840 is, for example, the laser 10 shown in any one of FIG1 to FIG3 .
  • the first light transmitting module 810 and the second light transmitting module 820 are spaced apart in a first direction (the horizontal direction shown in FIG11D ) by a first distance ( d1 as shown in FIG11D ), the third light transmitting module 830 and the first light transmitting module 810 are spaced apart in the first direction ( d3 as shown in FIG11D ), and the fourth light transmitting module 840 and the second light transmitting module 820 are spaced apart in the first direction ( d5 as shown in FIG11D ).
  • the third light emitting module 830, the first light emitting module 810, the second light emitting module 820, and the fourth light emitting module 840 are arranged from left to right and are used to emit the third probe beam, the first probe beam, the second probe beam, and the fourth probe beam, respectively.
  • the V-shaped refractive prism 1100 is disposed in the beam propagation direction of the first probe beam and the second probe beam.
  • the beam propagation directions of the first probe beam, the second probe beam, the third probe beam, and the fourth probe beam are the same. It should be noted that the emission of three probe beams by the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, and the fourth light emitting module 840 in FIG. 11D is for illustrative purposes only and should not be construed as limiting the present application.
  • the plurality of light emitting units 11 included in the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, or the fourth light emitting module 840 are arranged along a fourth direction (a column direction of the light emitting units as shown in FIG11D ), where the fourth direction is different from the first direction.
  • the fourth direction forms a specified angle with the first direction, for example, the fourth direction is perpendicular to the first direction.
  • the plurality of light-emitting units 11 between the first light-emitting module 810, the second light-emitting module 820, the third light-emitting module 830, and the fourth light-emitting module 840 are staggered along a fourth direction, which is perpendicular to the beam propagation direction and different from the first direction. Therefore, in the fourth direction, some or all of the light-emitting units 11 in the first light-emitting module 810, the light-emitting units 11 in the second light-emitting module 820, the light-emitting units 11 in the third light-emitting module 830, and the light-emitting units 11 in the fourth light-emitting module 840 are not in the same position.
  • the light spots of the combined first to fourth detection beams are still staggered, thereby improving the uniformity of the light spots of the combined first to fourth detection beams.
  • the multiple light-emitting units 11 included in the first light-emitting module 810, the second light-emitting module 820, the third light-emitting module 830, and the fourth light-emitting module 840 can also be arranged in a non-staggered manner.
  • the first to fourth detection beams are affected by the V-shaped refractive prism 800, and the spacing between them is also reduced, which also helps to achieve better uniformity of the light spots of the first to fourth detection beams after the combined beams.
  • first detection beam to the fourth detection beam in this application refer to the first detection beam, the second detection beam, the third detection beam and the fourth detection beam, and this representation method is also applicable below.
  • the optical path diagram of the transmitting system shown in FIG11D is introduced below.
  • the two sides of V-shaped refracting prism 1100 are used to refract the first and second probe beams, respectively.
  • the two sides of V-shaped refracting prism 1100 are also used to refract the third and fourth probe beams, respectively.
  • the optical path from the first to the fourth probe beam is described below with reference to FIG. 11E .
  • Figure 11E is a schematic diagram of an optical path provided in an embodiment of the present application.
  • the optical paths shown in Figure 11E belong, from left to right, to the light beams emitted by the light-emitting unit 11 in the third light-emitting module 830, the first light-emitting module 810, the second light-emitting module 820, and the fourth light-emitting module 840.
  • the third detection beam, the first detection beam, the second detection beam, and the fourth detection beam are incident at an angle onto the third incident surface, the first incident surface, the second incident surface, and the fourth incident surface, respectively, and are emitted from the third exit surface, the first exit surface, the second exit surface, and the fourth exit surface, respectively.
  • the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam before passing through the V-shaped refractive prism 1100 are d1, d3, and d5, respectively.
  • the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam are d2, d4, and d6, respectively, and d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.
  • light beams A, B, C, and D sequentially enter (emit) the first, second, third, and fourth planes.
  • light beam A enters (emit) the first plane
  • light beam B enters (emit) the second plane
  • light beam C enters (emit) the third plane
  • light beam D enters (emit) the fourth plane.
  • the temporal order in which light beams A, B, C, and D enter (emit) the planes is not limited.
  • the phrase "the third probe beam, the first probe beam, the second probe beam, and the fourth probe beam sequentially obliquely enter the third incident plane, the first incident plane, the second incident plane, and the fourth incident plane” means that the third probe beam obliquely enters the third incident plane, the first probe beam obliquely enters the first incident plane, the second probe beam obliquely enters the second incident plane, and the fourth probe beam obliquely enters the fourth incident plane.
  • the temporal order in which the third, first, second, and fourth probe beams enter the incident planes is not limited.
  • the phrase “sequentially” used in other descriptions of this application is merely a matter of precedence and does not constitute a limitation on the temporal order.
  • the incident angle and refraction angle of the first, second, third, or fourth probe beam on V-shaped refractive prism 1100 are equal.
  • the incident angle and exit angle of the first probe beam on V-shaped refractive prism 1100 are both (90° - ⁇ 5 )
  • the incident angle and exit angle of the second probe beam on V-shaped refractive prism 1100 are both (90° - ⁇ 6 )
  • the incident angle and exit angle of the third probe beam on V-shaped refractive prism 1100 are both (90° - ⁇ 7 )
  • the incident angle and exit angle of the fourth probe beam on V-shaped refractive prism 1100 are both (90° - ⁇ 8 ).
  • the virtual image 810' corresponding to the first light emitting module 810, the virtual image 820' corresponding to the second light emitting module 820, the virtual image 830' corresponding to the third light emitting module 830, and the virtual image 840' corresponding to the fourth light emitting module 840 are in the same position in the propagation direction (the vertical direction shown in FIG. 11E ).
  • the position of one or more of the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, and the fourth light emitting module 840 in the propagation direction can be adjusted so that the virtual image 810', the virtual image 820', the virtual image 830', and the virtual image 840' are in the same position in the propagation direction, thereby reducing the interference of astigmatism.
  • This can make d4 smaller than d3 and d6 smaller than d5, thereby increasing the power density of the detection beam emitted by the detector and having better uniformity.
  • the present application also provides another V-shaped refractive prism 1200, which ensures that the first detection beam to the fourth detection beam enter the V-shaped refractive prism 1200 at the same angle, and by increasing the transmission distance of the third detection beam and the fourth detection beam in the V-shaped refractive prism 1200, the V-shaped refractive prism 1200 has a greater degree of refraction of the third detection beam and the fourth detection beam, thereby making d4 smaller than d3 and d6 smaller than d5, thereby increasing the power density of the detection beam emitted by the detector and having better uniformity.
  • the V-shaped refractive prism 1200 includes prism P1, prism P2, prism P3, and prism P4.
  • the front side of prism P1 and prism P4 is referred to as the first principal side
  • the rear side is referred to as the second principal side
  • the upper left side is referred to as the first side
  • the upper right side is referred to as the second side
  • the lower right side is referred to as the third side
  • the lower left side is referred to as the fourth side.
  • the front side of prism P2 and prism P3 is referred to as the first principal side
  • the rear side is referred to as the second principal side
  • the left side is referred to as the first side
  • the upper side is referred to as the second side
  • the right side is referred to as the third side
  • the lower side is referred to as the fourth side.
  • the second side surface of prism P1 is also called the third exit surface
  • the fourth side surface of prism P1 is also called the third incident surface
  • the second side surface of prism P2 is also called the first exit surface
  • the fourth side surface of prism P2 is also called the first incident surface
  • the second side surface of prism P3 is also called the second exit surface
  • the fourth side surface of prism P3 is also called the second incident surface
  • the first side surface of prism P4 is also called the fourth exit surface
  • the third side surface of prism P4 is also called the fourth incident surface.
  • This application does not limit the relationship between ⁇ 9 and ⁇ 10 , for example, ⁇ 9 is equal to ⁇ 10 .
  • the distance L9 between the first incident surface and the first exit surface, the distance L10 between the second incident surface and the second exit surface, the distance L11 between the third incident surface and the third exit surface, and the distance L12 between the fourth incident surface and the fourth exit surface are all greater than 0.
  • the present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 1200.
  • the first principal surface of prism P1, the second principal surface of prism P1, the first side surface of prism P1, or the third side surface of prism P1 can be perpendicular to the third exit surface or the third incident surface.
  • the first principal surface of prism P2, the second principal surface of prism P2, the first side surface of prism P2, or the third side surface of prism P2 can be perpendicular to the first exit surface or the first incident surface.
  • L9, L10, L11, and L12 require separate descriptions in conjunction with specific figures. As shown in Figures 12A and 12B or Figures 12C and 12D, the size relationships between L9, L10, L11, and L12 are not limited in this application. For example, L9 is equal to L10, and L11 is equal to L12. As shown in Figures 12E and 12F or Figures 12G and 12H, L9 is smaller than L11, and L10 is smaller than L12.
  • the fourth side surface of prism P1 is partially attached to the second side surface of prism P2
  • the third side surface of prism P4 is partially attached to the second side surface of prism P3
  • the third side surface of prism P2 is attached to the first side surface of prism P3.
  • the leftmost side of the fourth side surface of prism P1 intersects with the leftmost side surface of the second side surface of prism P2
  • the rightmost side surface of the third side surface of prism P4 intersects with the rightmost side surface of the second side surface of prism P3.
  • the bottom edge of the first side surface of prism P2 intersects with the bottom edge of the third side surface of prism P1 (as shown in Figure 12E), and the bottom edge of the third side surface of prism P3 intersects with the bottom edge of the fourth side surface of prism P4 (as shown in Figure 12E).
  • the bottom edge and top edge of the third side surface of prism P1 both intersect with the first side surface of prism P2 (as shown in Figure 12G), and the bottom edge and top edge of the third side surface of prism P3 both intersect with the fourth side surface of prism P4 (as shown in Figure 12G).
  • side A partially adheres to side B, indicating that side B is larger than side A.
  • the fourth side of prism P1 is smaller than the second side of prism P2
  • the third side of prism P4 is smaller than the second side of prism P3.
  • the two sides of the V-shaped refracting prism 1200 include a first refracting edge and a second refracting edge.
  • first refracting edge and the second refracting edge reference may be made to the description of the V-shaped refracting prism 1100 described above and will not be repeated here.
  • second direction, the third direction, and the propagation direction of the light beam are mutually different, and the second direction is parallel to the fifth direction, and the third direction is parallel to the sixth direction, such that the fifth direction, the sixth direction, and the propagation direction of the light beam are also mutually different.
  • the opening direction of the V-shaped refractive prism 1200 is the same as the propagation direction of the light beam.
  • the relevant content of the above-mentioned V-shaped refractive prism 1100 please refer to the relevant content of the above-mentioned V-shaped refractive prism 1100, which will not be repeated here.
  • the above ⁇ 9 , ⁇ 10 , L9, L10, L11 and L12 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of deviation of the light beam.
  • n is the ratio of the refractive index of the material used in the V-shaped refractive prism 1200 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.
  • the material used for the V-shaped refractive prism 1200 includes one or more of quartz glass, borosilicate glass, and sapphire glass.
  • the refractive powers of the first refractive edge and the second refractive edge in the V-shaped refractive prism 1200 for the first detection beam (third detection beam) and the second detection beam (fourth detection beam) respectively may also be different.
  • some surfaces may be painted black.
  • one or more of the first principal surface, second principal surface, first side surface, and third side surface of prism P1, the first principal surface, second principal surface, first side surface, and third side surface of prism P2, the first principal surface, second principal surface, first side surface, and third side surface of prism P3, and the first principal surface, second principal surface, second side surface, and fourth side surface of prism P4 may be painted black.
  • any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.
  • the V-shaped refracting prism 1200 may further include more or fewer surfaces while satisfying the above-mentioned restrictions, which is not limited in this application. Specific examples may refer to the relevant descriptions of FIG. 8C or FIG. 11C above, which will not be repeated here.
  • the following describes an emission system including the V-shaped refractive prism 1200 shown in any one of Figures 12A to 12H.
  • the propagation directions of the first detection beam, the second detection beam, the third detection beam, and the fourth detection beam are the same, for example, all in the vertical direction as shown in FIG12I .
  • the V-shaped refractive prism 1200 in the above-mentioned transmitting system may also be the V-shaped refractive prism 1200 shown in FIG12A , FIG12C , or FIG12G .
  • each example will not be described here.
  • Figure 12J is a schematic diagram of an optical path provided in an embodiment of the present application.
  • the optical paths shown in Figure 12J belong to the light beams emitted by the light-emitting unit 11 in the third light emitting module 830, the first light emitting module 810, the second light emitting module 820, and the fourth light emitting module 840, from left to right.
  • the first detection beam and the third detection beam are obliquely incident on different positions of the first incident surface and obliquely emitted from different positions of the first exit surface
  • the second detection beam and the fourth detection beam are obliquely incident on different positions of the second incident surface and obliquely emitted from different positions of the second exit surface
  • the third detection beam will again obliquely enter the third incident surface and obliquely emit from the third exit surface
  • the fourth detection beam will again obliquely enter the fourth incident surface and obliquely emit from the fourth exit surface.
  • the intervals between the first and second probe beams, the intervals between the first and third probe beams, and the intervals between the second and fourth probe beams before passing through the V-shaped refractive prism 1200 are d1, d3, and d5, respectively.
  • the intervals between the first and second probe beams, the intervals between the first and third probe beams, and the intervals between the second and fourth probe beams are d2, d4, and d6, respectively.
  • d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.
  • the optical path shown in FIG12K is used to describe the optical path of the probe beam when the transmitting system includes the V-shaped refractive prism shown in FIG12A , FIG12E , or FIG12G .
  • the incident angle and refraction angle of the first, second, third, or fourth probe beams on V-shaped refractive prism 1200 are equal.
  • the incident angle and exit angle of the first probe beam on V-shaped refractive prism 1200 are both (90°- ⁇ 9 )
  • the incident angle and exit angle of the second probe beam on V-shaped refractive prism 1200 are both (90°- ⁇ 10 )
  • the incident angle and exit angle of the third probe beam on V-shaped refractive prism 1200 are both (90°- ⁇ 9
  • the incident angle and exit angle of the fourth probe beam on V-shaped refractive prism 1200 are both (90°- ⁇ 10 ).
  • the above ⁇ 11 , ⁇ 12 , ⁇ 13 , ⁇ 14 , L13, L14, L15 and L16 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of deviation of the light beam.
  • n is the ratio of the refractive index of the material used in the V-shaped refractive prism 1300 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.
  • some surfaces may be painted black.
  • one or more of the first principal surface, second principal surface, and second side surface of prism B1, and the first principal surface, second principal surface, and first side surface of prism B2 may be painted black.
  • any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.
  • the V-shaped refracting prism 1300 may further include more or fewer surfaces while satisfying the above-mentioned restrictions, which is not limited in this application. Specific examples may refer to the relevant descriptions of FIG. 8C or FIG. 11C above, which will not be repeated here.
  • an integrated casting process can be used to make the prism B1, prism B2, prism B3, and prism B4 shown in Figure 13A consist of a single optical element.
  • an integrated casting process can be used to make the prism C1, prism C2, prism C3, and prism C4 consist of a single optical element.
  • the distance between the first incident surface and the first exit surface can be made smaller than the distance between the third incident surface and the third exit surface, so that the refractive intensity of the first refractive edge on the third probe beam is greater than the refractive intensity of the first refractive edge on the first probe beam.
  • the distance between the second incident surface and the second exit surface can be made smaller than the distance between the fourth incident surface and the fourth exit surface, so that the refractive intensity of the second refractive edge on the fourth probe beam is greater than the refractive intensity of the second refractive edge on the first probe beam.
  • the following describes a transmitting system including the V-shaped refractive prism 1300 shown in FIG. 13A .
  • the transmitting system includes a V-shaped refractive prism 1300 (shown in Figure 13A), a first light transmitting module 810, a second light transmitting module 820, a third light transmitting module 830, and a fourth light transmitting module 840.
  • a first light transmitting module 810 for the introduction of the first light transmitting module 810, the second light transmitting module 820, the third light transmitting module 830, and the fourth light transmitting module 840, please refer to the relevant description of Figure 12I above and will not be repeated here.
  • the V-shaped refractive prism 1300 is arranged in the propagation direction of the first detection beam, the second detection beam, the third detection beam, and the fourth detection beam.
  • the propagation direction of the four detection beams is the same, for example, they are all in the vertical direction shown in Figure 13B.
  • Figure 13B is a schematic diagram of an optical path provided in an embodiment of the present application.
  • the optical path shown in Figure 13B belongs to the light beams emitted by the light-emitting unit 11 in the third light emitting module 830, the first light emitting module 810, the second light emitting module 820, and the fourth light emitting module 840, from left to right.
  • the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam are d2, d4, and d6, respectively, and d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.
  • the incident angle and refraction angle of the first, second, third, or fourth probe beams on V-shaped refractive prism 1300 are equal.
  • the incident angle of the first probe beam on the first incident surface and the exit angle on the first exit surface are both (90°- ⁇ 11 )
  • the incident angle of the second probe beam on the second incident surface and the exit angle on the second exit surface are both (90°- ⁇ 12 )
  • the incident angle of the third probe beam on the third incident surface and the exit angle on the third exit surface are both (90°- ⁇ 13 )
  • the incident angle of the fourth probe beam on the fourth incident surface and the exit angle on the fourth exit surface are both (90°- ⁇ 14 ).
  • the virtual image 810' corresponding to the first light emitting module 810, the virtual image 820' corresponding to the second light emitting module 820, the virtual image 830' corresponding to the third light emitting module 830, and the virtual image 840' corresponding to the fourth light emitting module 840 are in the same position in the propagation direction (the vertical direction shown in FIG13B).
  • the spacing between light spots 101, 102, 103, and 104 on the receiving end 20 is d1 (as shown in FIG14 (a) ).
  • the spacing between light spots 101, 102, 103, and 104 on the receiving end 20 is d2 (as shown in FIG14 (b) or (c) ).
  • light spots 101, 102, 103, and 104 overlap (as shown in FIG14 (c) ).
  • the light emitting units 11 in the first light emitting module 810 to the fourth light emitting module 840 may be staggered in the first direction, and the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, and the fourth light emitting module 840 may also be the lasers 10 shown in FIG. 2 or FIG. 3 To reduce redundancy, they will not be described one by one here.
  • the high-power density laser beam can improve the distance measurement performance of the detector and the miniaturization design of the detector.
  • the high-uniformity laser beam can be used in high-resolution detectors, thereby expanding the application range of the laser beam.
  • the solution provided in the application does not change the actual spacing between the first light emitting module 810 and the fourth light emitting module 840, avoiding the heat dissipation problem caused by reducing the actual spacing, thereby enabling the emission system to emit the laser beam at full power.
  • the V-shaped refractive prism 1500 includes prism P1, prism P2, prism P3, and prism P4.
  • the front side of prism P1 and prism P4 is referred to as the first principal surface
  • the rear side is referred to as the second principal surface
  • the upper left side is referred to as the first side surface
  • the upper right side is referred to as the second side surface
  • the lower right side is referred to as the third side surface
  • the lower left side is referred to as the fourth side surface.
  • the front side of prism P2 and prism P3 is referred to as the first principal surface
  • the rear side is referred to as the second principal surface
  • the left side is referred to as the first side surface
  • the upper side is referred to as the second side surface
  • the right side is referred to as the third side surface
  • the lower side is referred to as the fourth side surface.
  • the second side surface of prism P1 is also called the third exit surface
  • the fourth side surface of prism P1 is also called the third incident surface
  • the second side surface of prism P2 is also called the first exit surface
  • the fourth side surface of prism P2 is also called the first incident surface
  • the second side surface of prism P3 is also called the second exit surface
  • the fourth side surface of prism P3 is also called the second incident surface
  • the first side surface of prism P4 is also called the fourth exit surface
  • the third side surface of prism P4 is also called the fourth incident surface.
  • the third side surface of prism P1 is aligned with the first side surface of prism P2, the third side surface of prism P2 is aligned with the first side surface of prism P3, and the third side surface of prism P3 is aligned with the fourth side surface of prism P4.
  • the first incident surface is parallel to the first exit surface
  • the second incident surface is parallel to the second exit surface
  • the third incident surface is parallel to the third exit surface
  • the fourth incident surface is parallel to the fourth exit surface.
  • the present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 1500.
  • the first principal surface of prism P1, the second principal surface of prism P1, the first side surface of prism P1, or the third side surface of prism P1 may be perpendicular to the third exit surface or the third incident surface.
  • the first principal surface of prism P2, the second principal surface of prism P2, the first side surface of prism P2, or the third side surface of prism P2 may be perpendicular to the first exit surface or the first incident surface.
  • the two sides of the V-shaped refractive prism 1500 include a first refractive edge and a second refractive edge.
  • first refractive edge and second refractive edge please refer to the relevant description of the above-mentioned V-shaped refractive prism 1200, which will not be repeated here.
  • the refractive index n1 of the material used in prism P1 is greater than the refractive index n2 of the material used in prism P2, and the refractive index n4 of the material used in prism P4 is greater than the refractive index n3 of the material used in prism P4.
  • the refraction degree of the target prism to the detection beam satisfies the following relationship: Where L is the thickness of the target prism, ⁇ is the angle between the target prism and the direction of light beam propagation, and N is the ratio of the refractive index of the material used for the target prism to the refractive index of air.
  • L and ⁇ are the same for prisms P1, P2, P3, and P4 in V-shaped refracting prism 1500. Furthermore, the refractive index n1 of the material used for prism P1 is greater than the refractive index n2 of the material used for prism P2, and the refractive index n4 of the material used for prism P4 is greater than the refractive index n3 of the material used for prism P4. As a result, prism P1 refracts the light beam more than prism P2, and prism P4 refracts the light beam more than prism P3.
  • the emission system shown in FIG15B Please refer to the emission system shown in FIG15B.
  • the intervals between the first and second detection beams, the intervals between the first and third detection beams, and the intervals between the second and fourth detection beams before passing through the V-shaped refractive prism 1500 are d1, d3, and d5, respectively.
  • the intervals between the first and second detection beams, the intervals between the first and third detection beams, and the intervals between the second and fourth detection beams are d2, d4, and d6, respectively, and d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.
  • the V-shaped refractive prism 1500 shown in FIG15A can combine the first to fourth detection beams, so that the detection beam composed of the first to fourth detection beams has a higher power density and better uniformity.
  • the high-power density laser beam can improve the detector's range-finding performance and the detector's miniaturization design.
  • the highly uniform laser beam can be used in high-resolution detectors, thereby expanding the application range of laser beams.
  • V-shaped refractive prism 1500 shown in FIG15A does not require changing the actual spacing between the first optical transmitter module 810 and the fourth optical transmitter module 840, avoiding the heat dissipation problem caused by reducing the actual spacing, thereby allowing the transmitting system to transmit the laser beam at full power.
  • V-shaped refractive prism 1500 and corresponding beneficial effects can be combined with the description of the aforementioned V-shaped refractive prism 800, V-shaped refractive prism 900, V-shaped refractive prism 1100, V-shaped refractive prism 1200 or V-shaped refractive prism 1300, and will not be repeated here.
  • the present application also provides a laser radar, which includes the aforementioned transmitting system for transmitting a detection beam, such as the transmitting system shown in Figure 8D, the transmitting system shown in Figure 9B, the transmitting system shown in Figure 11D, the transmitting system shown in Figure 12I, the transmitting system shown in Figure 13B, or the transmitting system shown in Figure 15B.
  • a laser radar which includes the aforementioned transmitting system for transmitting a detection beam, such as the transmitting system shown in Figure 8D, the transmitting system shown in Figure 9B, the transmitting system shown in Figure 11D, the transmitting system shown in Figure 12I, the transmitting system shown in Figure 13B, or the transmitting system shown in Figure 15B.
  • An embodiment of the present application also provides a terminal, which includes the aforementioned V-shaped refractive prism 800 (900, 1100, 1200, 1300 or 1500), or includes the aforementioned transmitting system, or includes the aforementioned laser radar.
  • a terminal which includes the aforementioned V-shaped refractive prism 800 (900, 1100, 1200, 1300 or 1500), or includes the aforementioned transmitting system, or includes the aforementioned laser radar.
  • the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot, or the terminal can also be an industrial device. It should be understood that the terminals involved in this application may include intelligent terminals or transportation tools such as vehicles, robots, drones, ships, and ships.
  • the vehicle is a vehicle in a broad sense, which can be a transportation tool (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a mower, a harvester, etc.), etc.
  • the robot can be an intelligent handling robot (automated guided vehicle, AGV), a walking conversational robot, a service robot, etc.
  • Industrial equipment such as industrial robots, robotic arms, etc.
  • Leisure and entertainment equipment such as virtual reality (VR) equipment, mixed reality (MR) equipment, or a 4D cinema cabin, etc.

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Abstract

一种发射系统、雷达及终端，涉及激光雷达技术领域。该发射系统包括第一光发射模块（810）、第二光发射模块（820）和光学模组，其中，第一光发射模块（810）与第二光发射模块（820）在第一方向上存在第一间隔（d1），并分别用于发射第一探测光束和第二探测光束，光学模组设置于第一探测光束和第二探测光束的传播方向。光学模组包括V型折射棱镜（800），V型折射棱镜（800）的两边分别用于对上述第一探测光束和第二探测光束进行折射，使得经过V型折射棱镜（800）后的第一探测光束与第二探测光束的间隔（d2）小于第一间隔（d1），实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。

Description

一种发射系统、雷达及终端
本申请要求在2024年3月29日提交中国国家知识产权局、申请号为202410387538.6的中国专利申请的优先权，申请名称为“一种发射系统、雷达及终端”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及激光雷达技术领域，尤其涉及一种发射系统、雷达及终端。
背景技术
激光雷达，也称光学雷达，是光探测与测距(light detection and ranging)系统的简称，又可以称为Laser Radar或LADAR(laser detection and ranging)。激光雷达以光为探测介质，利用激光的发射与接收，实现对目标的探测，包括测距、测速、或方位角的测量等。激光雷达包括激光发射系统、激光接收系统和信号处理系统等，其中，激光发射系统用于发射激光光束。例如，激光发射系统可以通过其内置的激光发射器产生激光，并借助适当的光学系统(例如，整形光路等)将激光发射出去。
激光光束的属性(包括：激光光束的能量密度、激光光束的均匀性等)会影响激光雷达的探测性能。例如，激光光束的能量密度越高，激光光束的抗干扰能力会越强，激光雷达的测远性能也会越好。因此如何改善激光光束的属性，是目前急需解决的问题。
发明内容
本申请提供一种发射系统、雷达及终端，本申请的发射系统能够让发光单元虚像的间距小于发光单元的实际间距，实现降低发光区整体线宽的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。此外，本申请的发射系统没有改变发光单元的实际间距，避免了减少实际距离引起的散热问题。
第一方面，本申请提供了一种发射系统，包括第一光发射模块、第二光发射模块和光学模组。其中，第一光发射模块与第二光发射模块在第一方向上存在第一间隔，并分别用于发射第一探测光束和第二探测光束，光学模组设置于第一探测光束和第二探测光束的传播方向。光学模组包括V型折射棱镜，V型折射棱镜的两边分别用于对上述第一探测光束和第二探测光束进行折射，使得经过V型折射棱镜后的第一探测光束与第二探测光束的间隔小于第一间隔。此外，第一探测光束或第二探测光束在V型折射棱镜上的入射角和折射角相等，用于确保经过V型折射棱镜前后的第一探测光束或第二探测光束的传播方向相同。
本申请中，通过在第一探测光束和第二探测光束的传播路径上设置V型折射棱镜，使V型折射棱镜的两边分别对第一探测光束和第二探测光束进行折射，从而让经过V型折射棱镜后的第一探测光束与第二探测光束的间隔小于第一间隔，实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。此外，本申请没有改变第一光发射模块与第二光发射模块的实际间距，避免了减少实际间距引起的散热问题，进而能够让发射系统全功率的发射激光光束。由于，第一探测光束或第二探测光束在V型折射棱镜上的入射角和折射角相等，使得第一探测光束或第二探测光束在经过V型折射棱镜前后具有相同的传播方向，有利于后续光路整形的设计便利性。
需要说明的是，上述第一方向与探测光束的光束传播方向相互垂直，第一方向可以用于指示第一光发射模块指向第二光发射模块的方向，例如，第一方向为第一光发射模块与第二光发射模块中心点连线的方向。本申请中的“间隔”是以探测光束中心作为参考点计算得到的间隔，详细的介绍可以参考具体实施方式中的描述。
在第一方面的一种可能的实施方式中，上述V型折射棱镜在第一平面的截面沿上述探测光束的光束传播方向轴对称。其中，第一平面为上述第一方向与光束传播方向形成的平面。
在上述实施方式中，第一平面为第一方向与光束传播方向形成的平面，且第一平面与V型折射棱镜的截面沿光束传播方向轴对称，使得第一探测光束与第二探测光束经过V型折射棱镜的过程中具有相同的光路，一方面能够确保V型折射棱镜两边对第一探测光束和第二探测光束的折射程度相同，另一方面可以让第一探测光束和第二探测光束在V型折射棱镜中的光程相同，避免出现像散引起的干扰。
在第一方面的另一种可能的实施方式中，上述V型折射棱镜的两边包括第一折射边和第二折射边。其中，第一折射边包括沿第二方向相对设置的第一入射面和第一出射面，第二折射边包括第三方向相对设置的第二入射面和第二出射面，且第二方向、第三方向和上述光束传播方向互不相同。
在上述实施方式中，第一入射面和第一出射面沿第二方向相对设置，第二入射面和第二出射面沿第三方向相对设置，等同于，第二方向垂直于第一入射面和第一出射面，第三方向垂直于第二入射面和第二出射面。第二方向或第三方向与光束传播方向不同，能够让第一探测光束和第二探测光束分别倾斜射入第一入射面和第二入射面，从而确保第一折射边和第二折射边分别对第一探测光束和第二探测光束具有一定的折射能力。结合第一探测光束和第二探测光束的传播方向相同以及第二方向与第三方向互不相同，使得第一折射边对第一探测光束的折射方向不同于第二折射边对第二探测光束的折射方向，避免折射方向相同引起不能合束的情况。
在第一方面的另一种可能的实施方式中，第一入射面与第一出射面平行，第二入射面与第二出射面平行。
在上述实施方式中，第一入射面与第一出射面平行，第二入射面与第二出射面平行，能够让第一探测光束和第二探测光束在V型折射棱镜上具有相同的入射角和出射角，从而使经过V型折射棱镜前后的第一探测光束或第二探测光束具有相同的入射角和出射角，进而让经过V型折射棱镜前后的第一探测光束或第二探测光束具有相同的传播方向，有利于后续光路整形的设计便利性。
在第一方面的另一种可能的实施方式中，上述第一折射边与第二折射边形成的开口方向与光束传播方向相同。
上述实施方式中，可以将第一折射边与第二折射边的夹角范围为(0°，180°)对应的中心方向，称为开口方向。第一折射边与第二折射边形成的开口方向与光束传播方向相同，使得V型折射棱镜相对于第一光发射模块和第二光发射模块以正V的姿态放置，从而让V型折射棱镜对第一探测光束和第二探测光束进行对向的偏移，进而达到减少第一探测光束和第二探测光束间距的效果。
可选地，还可以通过设计多个光学元件的放置方式，让多个光学元件的空气间隙形成倒V的形状，并作用于第一探测光束和第二探测光束的折射，同样能够达到减少第一探测光束和第二探测光束间距的效果。
在第一方面的另一种可能的实施方式中，第一探测光束依次经过第一入射面和第一出射面，并被上述第一入射面和第一出射面折射。第二探测光束依次经过第二入射面和第二出射面，并被上述第二入射面和第二出射面折射。
上述实施方式中，第一入射面和第二入射面可以理解为探测光束从介质A进入介质B的界面，且在该界面上发生了折射(即折射角大于0°小于90°)。第一出射面和第二出射面可以理解为探测光束从介质B进入介质A的界面，且在该界面上发生了折射(即折射角大于0°小于90°)。关于介质A和介质B折射率的大小关系本申请不做限定，例如，介质A大于介质B的折射率或者介质A小于介质B的折射率。
可选地，第一探测光束或第二探测光束经过V型折射棱镜的过程中还可能垂直穿过其它界面。
在第一方面的另一种可能的实施方式中，第一光发射模块发射的第一探测光束与第二光发射模块发射的第二探测光束平行，经过V型折射棱镜后的所述第一探测光束与经过V型折射棱镜后的第二探测光束平行。
上述实施方式中，V型折射棱镜不改变第一探测光束或第二探测光束的传播方向，有利于后续光路整形的设计便利性。
在第一方面的另一种可能的实施方式中，所述第一光发射模块和第二光发射模块为垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)。
可选地，第一光发射模块和第二光发射模块还可以为光子晶体表面发射激光器(photonic crystal surface emitting semiconductor lasers，PCSEL)、边发射激光器(edge emitting laser，EEL)、激光二极管(laser diode，LD)、分布式反馈激光二极管(distributed feedback LD，DFB-LD)、光栅耦合采样反射激光二极管(Grating coupled sampling reflection LD，GCSR-LD)、或者微光机电系统激光二极管(micro opto electro mechanical system LD，MOEMS-LD)等。
在第一方面的另一种可能的实施方式中，上述第一光发射模块和第二光发射模块均包括多个发光孔(发光单元)，两个发射模块之间的多个发光孔沿第四方向错位排布，该第四方向与上述光束传播方向垂直，且与上述第一方向不同。
在上述实施方式中，第一光发射模块和第二光发射模块均包括多个发光孔，例如，第一光发射模块包括多个第一发光孔，第二光发射模块包括多个第二发光孔。多个第一发光孔与多个第二发光孔在第四方向上错位排布等同于，在第四方向上不存在第一发光孔与第二发光孔在同一位置。结合第四方向与光束传播方向垂直，且与第一方向不同，使得合束后的第一探测光束和第二探测光束的光斑仍然错位排布，从而使合束后的第一探测光束和第二探测光束的光斑具有更好的均匀性。
可选地，第四方向与第一方向垂直。
可选地，多个第一发光孔与多个第二发光孔在第四方向上还可以是非错位排布。
在第一方面的另一种可能的实施方式中，上述发射系统还包括第三光发射模块和第四光发射模块。在第一方向上，第三光发射模块、第一光发射模块、第二光发射模块与第四光发射模块依次排列，第三光发射模块与第一光发射模块存在第二间隔，第二光发射模块与第四光发射模块存在第三间隔。其中，第三光发射模块和第四光发射模块分别用于发射第三探测光束和第四探测光束，上述V型折射棱镜的两边分别还用于对第三探测光束和第四探测光束进行折射，使得经过V型折射棱镜后的第三探测光束与第一探测光束的间隔小于第二间隔，经过所述V型折射棱镜后的所述第四探测光束与第二探测光束的间隔小于第三间隔。此外，第三探测光束或第四探测光束在V型折射棱镜上的入射角和折射角相等，用于确保经过V型折射棱镜前后的第三探测光束或第四探测光束的传播方向相同。
上述实施方式中，V型折射棱镜的两边还分别用于折射第三探测光束和第四探测光束，且经过V型折射棱镜后的第三探测光束与第一探测光束的间隔小于上述第二间隔，经过V型折射棱镜后的第四探测光束与第二探测光束的间隔小于上述第三间隔，实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。此外，本申请没有改变第一光发射模块、第二光发射模块、第三光发射模块与第四光发射模块相互之间的实际间距，避免了减少实际间距引起的散热问题，进而能够让发射系统全功率的发射激光光束。由于，第三探测光束或第四探测光束在V型折射棱镜上的入射角和折射角相等，使得第三探测光束或第四探测光束在经过V型折射棱镜前后具有相同的传播方向，有利于后续光路整形的设计便利性。
上述实施方式能够用于对更多的探测光束进行合束，从而提升发射系统提供激光光束的功率密度和均匀性。显然，本申请提供的方案还能够对3个探测光束、5个探测光束、6个探测光束或者更多的探测光束进行合束，鉴于不便进行穷举，这里不再一一赘述。
在第一方面的另一种可能的实施方式中，上述第一折射边还包括第三入射面和第三出射面，第二折射边还包括第四入射面和第四出射面。其中，上述第三入射面和第三出射面沿第五方向相对设置，所述第四入射面和第四出射面沿第六方向相对设置，所述第五方向、所述第六方向和所述传播方向互不相同。
在上述实施方式中，第三入射面和第三出射面沿第五方向相对设置，第四入射面和第四出射面沿第六方向相对设置，等同于，第五方向垂直于第三入射面和第三出射面，第六方向垂直于第四入射面和第四出射面。第五方向或第六方向与光束传播方向不同，能够让第三探测光束和第四探测光束分别倾斜射入第三入射面和第四入射面，从而确保第一折射边和第二折射边分别对第三探测光束和第四探测光束具有一定的折射能力。结合第三探测光束和第四探测光束的传播方向相同以及第五方向与第六方向互不相同，能够使得第一折射边对第三探测光束的折射方向不同于第二折射边对第四探测光束的折射方向，避免折射方向相同引起不能合束的情况。
在第一方面的另一种可能的实施方式中，上述第三入射面与第三出射面平行，第四入射面与第四出射面平行。
在上述实施方式中，第三入射面与第三出射面平行，第四入射面与第四出射面平行，能够让第三探测光束和第四探测光束在V型折射棱镜上具有相同的入射角和出射角，从而使经过V型折射棱镜前后的第三探测光束或第四探测光束具有相同的入射角和出射角，进而让经过V型折射棱镜前后的第三探测光束或第四探测光束具有相同的传播方向，有利于后续光路整形的设计便利性。
在第一方面的另一种可能的实施方式中，第三入射面或者第三出射面与传播方向的夹角范围在0°到90°之间，第四入射面或者第四出射面与传播方向的夹角范围在0°到90°之间。
在上述实施方式中，以光束传播方向为竖直向上为例，将第三入射面、第四入射面与光束传播方向夹角范围确定为0°到90°之间，能够确保V型折射棱镜放置方式为正V，从而让V型折射棱镜对第三探测光束和第四探测光束进行对向的偏移，进而达到减少第三探测光束和第四探测光束间距的效果。
可选地，还可以通过设计多个光学元件的放置方式，让多个光学元件的空气间隙形成倒V的形状，并作用于第三探测光束和第四探测光束的折射，同样能够达到减少第三探测光束和第四探测光束间距的效果。
可选地，第三入射面与光束传播方向的夹角小于第一入射面与光束传播方向的夹角，使得V型折射棱镜对第三探测光束的折射程度大于对第一探测光束的折射程度，让经过V型折射棱镜后的第一探测光束与第三探测光束的间距减少。
可选地，第四入射面与光束传播方向的夹角小于第二入射面与光束传播方向的夹角，使得V型折射棱镜对第四探测光束的折射程度大于对第二探测光束的折射程度，让经过V型折射棱镜后的第二探测光束与第四探测光束的间距减少。
在第一方面的另一种可能的实施方式中，上述第三探测光束依次经过第三入射面和第三出射面，并被第三入射面和第三出射面折射。上述第四探测光束依次经过第四入射面和第四出射面，并被所述第四入射面和第四出射面折射。
上述实施方式中，第三入射面和第四入射面可以理解为探测光束从介质A进入介质B的界面，且在该界面上发生了折射(即折射角大于0°小于90°)。第三出射面和第四出射面可以理解为探测光束从介质B进入介质A的界面，且在该界面上发生了折射(即折射角大于0°小于90°)。关于介质A和介质B折射率的大小关系本申请不做限定，例如，介质A大于介质B的折射率或者介质A小于介质B的折射率。
可选地，第三探测光束或第四探测光束经过V型折射棱镜的过程中还可能垂直穿过其它界面。
在第一方面的另一种可能的实施方式中，上述第五方向与光束传播方向的夹角大于第二方向与光束传播方向的夹角，和/或，第六方向与光束传播方向的夹角大于第三方向与光束传播方向的夹角。
上述实施方式中，第二方向、第三方向、第五方向和第六方向与光束传播方向的夹角分别等于，第一探测光束在第一入射面的入射角、第二探测光束在第二入射面的入射角、第三探测光束在第三入射面的入射面角及第四探测光束在第四入射面的入射角。当第五方向与光束传播方向的夹角大于第二方向与光束传播方向的夹角的情况下，V型折射棱镜对第三探测光束的折射程度大于V型折射棱镜对第一探测光束的折射程度，使得经过V型折射棱镜后的第三探测光束与第一探测光束的间距小于上述第二间距。当第六方向与光束传播方向的夹角大于第三方向与光束传播方向的夹角的情况下，V型折射棱镜对第四探测光束的折射程度大于V型折射棱镜对第二探测光束的折射程度，使得经过V型折射棱镜后的第四探测光束与第二探测光束的间距小于上述第三间距。进而实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。
可以理解，上述实施方式中V型折射棱镜能够减少第一探测光束与第二探测光束的间距。因此，即使经过V型折射棱镜后的第五探测光束与第一探测光束的间距等于上述第二间距，和/或，经过V型折射棱镜后的第六探测光束与第二探测光束的间距等于上述第三间距，仍然能够实现降低发射系统发光区整体线宽和提升排布密度的效果。
在第一方面的另一种可能的实施方式中，上述第三入射面与第三出射面之间材料的折射率大于上述第一入射面与第一出射面之间材料的折射率和/或上述第四入射面与第四出射面之间材料的折射率大于上述第二入射面与第二出射面之间材料的折射率。
上述实施方式中，通过让第三入射面与第三出射面之间材料的折射率大于上述第一入射面与第一出射面之间材料的折射率，使得V型折射棱镜对第三探测光束的折射程度大于对第一探测光束的折射程度，从而让经过V型折射棱镜后的第三探测光束与第一探测光束的间距小于上述第二间距。通过让第四入射面与第四出射面之间材料的折射率大于上述第二入射面与第二出射面之间材料的折射率，使得V型折射棱镜对第四探测光束的折射程度大于对第二探测光束的折射程度，从而让经过V型折射棱镜后的第四探测光束与第二探测光束的间距小于上述第三间距。进而实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。
可选地，上述第三入射面与第三出射面的间距，大于或者等于第一入射面与第一出射面的间距。上述第四入射面与第四出射面的间距，大于或者等于第二入射面与第二出射面的间距。
在第一方面的另一种可能的实施方式中，上述第三入射面与第三出射面在第五方向的间隔大于上述第一入射面与第一出射面在所述第二方向的间隔，和/或上述第四入射面与第四出射面在第六方向的间隔大于上述第二入射面与第二出射面在所述第三方向的间隔。
上述实施方式中，通过让第三入射面与第三出射面在第五方向的间隔大于上述第一入射面与第一出射面在所述第二方向的间隔，使得V型折射棱镜对第三探测光束的折射程度大于对第一探测光束的折射程度，从而让经过V型折射棱镜后的第三探测光束与第一探测光束的间距小于上述第二间距。通过让第四入射面与第四出射面在第六方向的间隔大于上述第二入射面与第二出射面在所述第三方向的间隔，从而让经过V型折射棱镜后的第四探测光束与第二探测光束的间距小于上述第三间距。进而实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。
可选地，在上述实施方式中，第五方向与第二方向相同，第六方向与第三方向相同。
在第一方面的另一种可能的实施方式中，上述第一光发射模块发射的第一探测光束、第二光发射模块发射的第二探测光束、第三光发射模块发射的第三探测光束和第四光发射模块发射的第四探测光束相互平行。经过上述V型折射棱镜后的第一探测光束、经过V型折射棱镜后的第二探测光束、经过V型折射棱镜后的第三探测光束和经过V型折射棱镜后的第四探测光束相互平行。
在上述实施方式中，经过V型折射棱镜前或后的第一探测光束、第二探测光束、第三探测光束和第四探测光束之间具有相同的传播方向，有利于后续光路整形的设计便利性。
在第一方面的另一种可能的实施方式中，光学模组的材料包括石英玻璃、硼硅玻璃和蓝宝石玻璃中的一项或多项。
在第一方面的另一种可能的实施方式中，发射系统提供的激光光束应用于线扫的扫描架构。
第二方面，本申请提供一种激光雷达，包括第一方面所描述的发射系统，用于发射探测光束。可选的，激光雷达还包括探测系统。探测系统用于接收经过物体反射的探测光束，以得到物空间中的目标的相关信息。其中，目标的相关信息包括目标的距离、位置、角度、坐标、反射率、反射强度、颜色、或速度等中的一项或者多项。
第三方面，本申请提供一种终端，包括第一方面任一项所描述的发射系统，或包括第二方面任一项所描述的激光雷达。可选地，终端包括车辆、机器人、无人机、或船舶等智能终端或交通工具。
本申请第二方面、第三方面的部分方案的有益效果，可以参考第一方面的技术方案的有益效果。
附图说明
下面将对实施例描述中所需要使用的附图作简单地介绍。
图1是本申请实施例提供的一种激光器的结构示意图；
图2是本申请实施例提供的另一种激光器的结构示意图；
图3是本申请实施例提供的另一种激光器的结构示意图；
图4是本申请实施例提供的一种激光发射系统的示意图；
图5是本申请实施例提供的另一种激光发射系统的示意图；
图6是本申请实施例提供的另一种激光发射系统的示意图；
图7A是本申请实施例提供的一种接收端的光斑示意图；
图7B是本申请实施例提供的一种测量间距的示意图；
图7C是本申请实施例提供的另一种测量间距的示意图；
图8A是本申请实施例提供的一种V型折射棱镜的结构示意图；
图8B是图8A所示V型折射棱镜的主视图；
图8C是本申请实施例提供的另一种V型折射棱镜的主视图；
图8D是本申请实施例提供的一种发射系统的结构示意图；
图8E是图8D所示发射系统的光路示意图；
图9A是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图9B是图9A所示发射系统的光路示意图；
图9C是本申请实施例提供的另一种V型折射棱镜的光路示意图；
图10A是本申请实施例提供的一种接收端的光斑示意图；
图10B是本申请实施例提供的另一种接收端的光斑示意图；
图10C是本申请实施例提供的另一种接收端的光斑示意图；
图10D是本申请实施例提供的另一种接收端的光斑示意图；
图11A是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图11B是图11A所示V型折射棱镜的主视图；
图11C是本申请实施例提供的另一种V型折射棱镜的主视图；
图11D是本申请实施例提供的另一种发射系统的结构示意图；
图11E是图11D所示发射系统的光路示意图；
图12A是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图12B是图12A所示V型折射棱镜的主视图；
图12C是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图12D是图12C所示V型折射棱镜的主视图；
图12E是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图12F是图12E所示V型折射棱镜的主视图；
图12G是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图12H是图12G所示V型折射棱镜的主视图；
图12I是本申请实施例提供的另一种发射系统的结构示意图；
图12J是图12C对应的发射系统的光路示意图；
图12K是图12I所示发射系统的光路示意图；
图13A是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图13B是本申请实施例提供的另一种发射系统的光路示意图；
图14是本申请实施例提供的另一种接收端的光斑示意图；
图15A是本申请实施例提供的另一种V型折射棱镜的结构示意图；
图15B是图15A对应的发射系统的光路示意图。
具体实施方式
激光发射器(又称激光器或者激光芯片)是指能发射激光的装置。请参阅图1，图1中(a)所示的激光器10包括多个发光单元11。发光单元11的结构如图1中(b)所示，每个发光单元11包括发光孔12，激光光束从发光孔12中射出，激光光束横截面的面积小于或等于发光孔12的面积相同。由于发光孔的外部需要进行包裹，使得发光孔12的面积通常小于发光单元11的面积，导致发光孔面积占比较低。另外，为了保证发光单元11之间电路上隔离，发光单元11之间存在间隔M1，使得发光孔的面积占比更加低。上述情况都导致了激光器10发射激光光束功率密度较低。
一些探测装置还可能使用多列发光单元11，甚至使用多个激光器10。此时，多列发光单元11之间存在间隔，而多个激光器10之间也存在间隔，使得激光光束的功率密度被进一步降低。
下面先介绍几种可能的发射端的光源方案。
一些方案中，激光器10包括多个发光单元11，多个发光单元11以多列的形式排列，多列发光单元11的排布可采用非交错排列(如图2所示)、或交错排列(如图3所示)等排列方式。请参阅图2，激光器10包括两列发光单元11，以图2中(b)的视角为例，两列发光单元11非交错排列，两列发光单元的发光孔12在竖直方向上不交错。请参阅图3，以图3中(b)的视角为例，图3所示的两列发光单元11的发光孔在竖直方向上交错排列。结合图2和图3，在激光器10包括多列发光单元11的情况下，多列发光单元11之间存在间隔M2，使得激光器10发射的激光光束功率密度低。
可以理解的是，当激光器10中包括更多列(例如，3列、4列或者更多列)发光单元11的情况下，同样存在上述图2或图3所示的问题。
一些方案中，探测装置采用包括多个激光器10的发射系统，如图4到图6所示，发射系统400均包括两个激光器10，无论激光器10中发光单元的排布方式如何，激光器10之间均存在间隔M3。例如，上述两个激光器10可以均包括一列发光单元11(如图1所示)，通过将两个激光器10在竖直方向上进行不同的排布，可以让两个激光器10中包括的发光单元11呈现出非错位排布(如图4所示)和错位排布(如图5所示)等排列方式。上述两个激光器10还可以均包括两列发光单元11，该两列发光单元11可以是非错位排布(未示出)，也可以是错位排布(如图6所示)。
发光单元11之间的间隔或激光器10之间的间隔，除了影响激光光束的功率密度外，还可能导致激光光束的均匀性差。请参阅图7A，图7A中(a)所示的激光器10包括3列沿水平方向交错排列的发光单元11，图7A中(b)和(c)所示的接收端20用于接收图7A中(a)所示激光器10发射的激光光束并分别形成低分辨率的像素和高分辨率的像素，相应的，图7A中(a)所示的像素1和像素2均可以覆盖多个光斑，而图7A中(c)所示的像素3和像素4覆盖的光斑数量依次为0和1。显然，在接收端分辨率较高的情况下，像素不能够均匀地接收光斑，导致探测精度低或探测误差大等问题。
有鉴于此，本申请提供了一种发射系统、雷达及终端，能够在不改变发光单元间距或激光器间距的情况下，提升激光发射系统发射激光光束的功率密度和均匀性。
在具体介绍本申请提供的实施方案之前，先做一些简要的说明。
1)本申请对激光器的类型不做限定。例如，激光器的类型可以是固体激光器(Solid state laser)、半导体激光器(Semiconductor laser)、气体激光器(Gas laser)、化学激光器(Chemical Laser)、自由电子激光器(Free electron laser)或光纤激光器(Fiber laser)等。具体的如，垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)、光子晶体表面发射激光器(photonic crystal surface emitting semiconductor lasers，PCSEL)、边发射激光器(edge emitting laser，EEL)、激光二极管(laser diode，LD)、分布式反馈激光二极管(distributed feedback LD，DFB-LD)、光栅耦合采样反射激光二极管(Grating coupled sampling reflection LD，GCSR-LD)、或者微光机电系统激光二极管(micro opto electro mechanical system LD，MOEMS-LD)等。同样的，本申请对激光器的形状、功率以及发光单元的数量等均不做限定。
2)可以理解的是，上述图1-图6示出的圆柱形发光单元11为示例性的，不应将圆柱形发光单元11作为本申请的限定。发光单元11的形状还可以是立方体或者椎体等，本申请对此不做限定。
3)可以理解的是，上述图1-图6示出的圆形发光孔12为示例性的，不应将圆形发光孔12作为本申请的限定。发光孔12的形状还可以是矩形或三角形等，本申请对此不做限定。
4)同一个激光器10或同一个激光发射系统400中多个发光单元11发射的激光光束方向相同，当然，由于激光光束的发散性和制造工艺等因素的影响，在实际实现的时候可能会存在一定的误差。为了便于描述，下文中以理想状态为例进行相关的描述。另外，本申请中，“角度”不是指绝对的角度，可以允许有一定工程上的误差。“均匀”不是指绝对的均匀，可以允许有一定工程上的误差。“垂直”不是指绝对的垂直，可以允许有一定工程上的误差。“平行”不是指绝对的平行，可以允许有一定工程上的误差。
5)本申请提到的“间隔”、“间距”或“距离”等，均是将发光孔中心点作为参考点计算得到的间距，例如，两个发光单元的间距是指两个发光单元上发光孔中心点的间距。再例如，两列发光单元的间距(通常默认该两列发光单元相互平行，且发光孔中心点的连接线也相互平行)，可以通过分别连接两列发光单元中发光孔的中心点得到一组平行线，并将该平行线的间距作为两列发光单元的间距。如图7B所示，激光器10包括三列发光单元，第一列发光单元和第三列发光单元的间距，可以通过第一列发光孔的连线与第三列发光孔的连线计算得到。需要说明的是，上述两列发光单元可以是相邻的两列发光单元，还可以是不相邻的两列发光单元。再例如，可以将分别位于两个激光器的相邻列发光单元的间距视为两个激光器的间距(两个激光器中包括的多列发光单元均相互平行)。如图7C所示，第一列发光单元和第二列发光单元分别位于两个激光器10中，且第一列发光单元与第二列发光单元为相邻的两列发光单元，则第一列发光单元与第二列发光单元的间距可以视为两个激光器10的间距。
6)本申请对发光单元或者激光器之间是否存在间隔，以及间隔的大小不做限定。其中，发光单元或者激光器之间存在间隔，可能是为了满足发光单元对散热需求。
7)上述对图1到图6介绍的过程中，多处用到“俯视图”的描述。可以理解的是，三视图通常取决于观察者与物体的相对位置，以及物体的摆放位置。因此，在特定条件下，上述图1到图6中所述的“俯视图”也可以称为主视图或者左视图。
8)在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
下面先介绍本申请实施例提供的光学模组。该光学模组可作为合束模组，例如，减少两束平行光的间距或者将两束平行光合并为一束光。当然，该光学模组还可以用于减少更多的光束之间的间距，下文中进行介绍。可选地，本申请实施例提供的光学模组也可以作为分束模组，用于增加两束平行光的间距。
本申请提供的光学模组可包括V型折射棱镜800、V型折射棱镜900、V型折射棱镜1100、V型折射棱镜1200、V型折射棱镜1300或者V型折射棱镜1500。其中，V型折射棱镜800或者V型折射棱镜900用于对两条探测光束进行合束，V型折射棱镜1100、V型折射棱镜1200、V型折射棱镜1300或者V型折射棱镜1500用于对四条探测光束进行合束。在对每个V型折射棱镜介绍的过程中，会依次介绍V型折射棱镜的结构、基于V型折射棱镜组成的发射系统和发射系统的光路等，进一步的还会通过展示接收端的光斑说明V型折射棱镜对探测光束的影响。
可选地，光学模组还可以包括用于光路整形的光学元件，例如，光学发射镜、二维微机电系统(micro-electro-mechanical system，MEMS)振镜、准直镜、分束器或扩散片等中的一项或多项。
下面介绍本申请实施例提供的一种光学模组。
请参阅图8A和图8B，光学模组包括如图8A和图8B所示的V型折射棱镜800，V型折射棱镜800包括第一出射面81、第一入射面82、第三表面83、第四表面84、第五表面85、第二出射面86、第二入射面87和第八表面88。其中，第一出射面81与第一入射面82相互平行，第二出射面86与第二入射面87相互平行，第一出射面81与光束传播方向(图8B中所示的竖直向上的方向)的夹角为α1，第二出射面86与光束传播方向的夹角为α2。α1和α2的取值范围为(0°，90°)，例如，α1等于45°，α2等于45°。α1和α2的大小关系本申请不做限定，例如α1等于α2。第一出射面81与第一入射面82的间距L1和第二出射面86与第二入射面87的间距L2均大于0，L1和L2的关系本申请也不做限定，例如L1等于L2。
可选地，本申请中光束传播方向是指探测光束未被折射的传播方向，如果未做特殊说明可以将当前图示的竖直向上的方向作为光束传播方向(或简称为“传播方向”)。例如，可以将图8B中所示的竖直向上的方向作为光束的传播方向。
可选地，本申请中出射面(入射面)与光束传播方向夹角，如果未做特殊说明通常以附图的标注为准。例如，图8B中的夹角α1为光束传播方向与第一出射面81沿斜向上方向形成的夹角，图8B中的夹角为α2为光束传播方向与第二出射面86沿斜向上方向形成的夹角。
本申请对V型折射棱镜800中其它平面的相对位置关系不做限定，例如，第三表面83、第四表面84或第五表面85可以与第一出射面81或者第一入射面82相互垂直。再例如，第四表面84、第五表面85或第八表面88可以与第二出射面86或者第二入射面87相互垂直。
可选地，V型折射棱镜800的两边包括第一折射边和第二折射边，其中，第一折射边包括第一出射面81和第一入射面82，第二折射边包括第二出射面86和第二入射面87。第一出射面81与第一入射面82沿第二方向相对设置，第二出射面86与第二入射面87沿第三方向相对设置，其中，第二方向与第一出射面81垂直，第三方向与第二出射面86垂直，且第二方向、第三方向和上述光束传播方向(图8B中所示的竖直方向)互不相同。当第二方向或第三方向与光束传播方向不同的情况下，能够让第一探测光束和第二探测光束分别倾斜射入第一出射面81和第一入射面82，从而确保第一折射边和第二折射边分别对第一探测光束和第二探测光束具有一定的折射能力。结合第一探测光束和第二探测光束的传播方向相同以及第二方向与第三方向互不相同，使得第一折射边对第一探测光束的折射方向不同于第二折射边对第二探测光束的折射方向，避免折射方向相同引起不能合束的情况。
可选地，V型折射棱镜800的开口方向与光束传播方向相同。如图8B所示，第一折射边与第二折射边的夹角范围为(0°，180°)对应的中心方向与光束传播方向相同，使得V型折射棱镜800相对于第一光发射模块和第二光发射模块以正V的姿态放置，从而让V型折射棱镜800对第一探测光束和第二探测光束进行对向的偏移，进而达到减少第一探测光束和第二探测光束间距的效果。
可选地，第一折射边与第二折射边的夹角可以是第一出射面与第二出射面的夹角或者第一入射面与第二入射面的夹角。
可选地，在一些设计中，V型折射棱镜800的两条折射边并非沿光束传播方向轴对称，使得V型折射棱镜800的开口方向与光束传播方向呈一定夹角(大于0°且小于90°)，该情况在本申请中仍属于开口方向与光束传播方向相同。
可选地，还可以通过设计多个光学元件的放置方式，让多个光学元件的空气间隙形成倒V的形状(下文中介绍)，并作用于第一探测光束和第二探测光束的折射，同样能够达到减少第一探测光束和第二探测光束间距的效果。
一种可能的设计，V型折射棱镜800包括第一光学元件和第二光学元件。请参阅图8B，在第一入射面82和第二入射面87的相交线处沿光束传播方向(图8B所示虚线89)对V型折射棱镜800进行拆分，得到的两个光学元件可以分别称为第一光学元件和第二光学元件。第一光学元件右侧的表面(图8B虚线处的表面)与第二光学元件左侧的表面(图8B虚线处的表面)可以相互贴合，也可以存在一定的空气间隙，本申请对此不做限定。
可选地，在棱镜结构中，任意两个相贴合的侧面可具有相同的形状和尺寸。比如，请参阅图8A，第一光学元件右侧的表面与第二光学元件左侧的表面具有相同的形状和尺寸。
可选地，在V型折射棱镜800所使用的材料折射率相同的情况下，上述α1、α2、L1和L2满足以下关系，能够确保第一折射边和第二折射边对光束的折射程度相同。
其中，n为V型折射棱镜800所使用材料的折射率与空气折射率的比值。例如，所使用材料的折射率为1.5，空气的折射率为1.0003，则n约等于1.49955。
可选地，V型折射棱镜800所使用材料包括石英玻璃、硼硅玻璃或蓝宝石玻璃等中的一项或多项。
可选地，V型折射棱镜800中第一折射边和第二折射边分别对第一探测光束和第二探测光束的折射能力也可以不同，确保经过V型折射棱镜800后的第一探测光束和第二探测光束的间距小于上述第一间距即可。
另一种可能的设计，V型折射棱镜800在第一平面的截面沿光束传播方向(图8B所示竖直方向)轴对称，第一平面为第一方向(图8B所示水平方向)与光束传播方向形成的平面。例如，V型折射棱镜800在第一平面的界面如图8B所示，该截面沿竖直方向轴对称。通过让第一平面与V型折射棱镜800的截面沿光束传播方向轴对称，能够让第一探测光束与第二探测光束经过V型折射棱镜800的过程中具有相同的光路，一方面能够确保V型折射棱镜800两边对第一探测光束和第二探测光束的折射程度相同，另一方面可以让第一探测光束和第二探测光束在V型折射棱镜800中的光程相同，避免出现像散引起的干扰。
可选地，为了减少不必要的干扰可以将部分表面涂黑，例如，可以将第三表面83、第四表面84、第五表面85和第八表面88中的一个或多个表面涂黑。可以理解的，涂黑可以选择任意的黑色材料，比如油墨、水性漆、油漆或墨水等。
可选地，V型折射棱镜800在满足上述限制条件的情况下，还可以包括更多或者更少的表面，本申请对此不做限定。如图8C所示，V型折射棱镜800还包括第九表面801，通过设置第九表面801有利于放置上述V型折射棱镜800。
可以理解，本申请中所示的V型折射棱镜不限定于标准的V型，例如，可以是类似于V型或者是基于V型的变形，具体可以参考本申请中对应实施例的描述。
下面对包括图8A、图8B或图8C所示的V型折射棱镜800的发射系统进行介绍。
请参阅图8D，发射系统包括V型折射棱镜800、第一光发射模块810和第二光发射模块820。其中，第一光发射模块810或第二光发射模块820例如是上述图1至图3任一项所示的激光器10，第一光发射模块810与第二光发射模块820在第一方向上存在第一间隔(如图8D所示的d1)，第一光发射模块810和第二光发射模块820分别用于发射第一探测光束和第二探测光束，V型折射棱镜800设置于第一探测光束和第二探测光束的传播方向。需要说明的是，图8D中第一光发射模块810和第二光发射模块820发射三条探测光束为示例性地，不应将此作为本申请的限定。
可选地，第一光发射模块810或第二光发射模块820中包括的多个发光单元11沿第四方向(如图8D所示的发光单元的列方向)排列，第四方向与上述第一方向不同。示例性地，第四方向与上述第一方向呈指定的夹角，例如，第四方向垂直于上述第一方向。
可选地，第一光发射模块810和第二光发射模块820之间的多个发光单元11沿第四方向错位排布，该第四方向与上述光束传播方向垂直，且与上述第一方向不同。因此，在第四方向上第一光发射模块810中的发光单元11与第二光发射模块820中的发光单元11不在同一位置。结合第四方向与光束传播方向垂直，且与第一方向不同，使得合束后的第一探测光束和第二探测光束的光斑仍然错位排布，从而让合束后的第一探测光束和第二探测光束的光斑具有更好的均匀性。
可选地，在第四方向上，第一光发射模块810和第二光发射模块820包括的多个发光单元11还可以是非错位排布。在该情况下，第一探测光束和第二探测光束受到V型折射棱镜800的影响，其间距同样会减少，也同样有助于让合束后的第一探测光束和第二探测光束的光斑具有更好的均匀性。
需要说明的是，上述第一光发射模块810和第二光发射模块820均包括多个发光单元11沿第四方向(非)错位排布，同样适用于下文中提到的第一光发射模块810和第二光发射模块820，为了减少描述的累赘，在下文中不再一一描述。可选地，下文中提到的第三光发射模块830和第四光发射模块840也同样遵守上述排布方式。
下面对图8D所示的发射系统的光路图进行介绍。
在一种可能的实施方式中，V型折射棱镜800的两边分别用于对第一探测光束和第二探测光束进行折射。为了清晰的展示V型折射棱镜800对第一探测光束和第二探测光束折射的过程，接下来以结合附图8E对第一探测光束和第二探测光束的光路进行示例性的介绍。
如图8E所示，第一光发射模块810发射的第一探测光束和第二光发射模块820发射的第二探测光束，分别倾斜射入第一入射面82和第二入射面87，以及分别从第一出射面81和第二出射面86射出。在第一方向上(图8E中水平方向)，经过V型折射棱镜800前的第一探测光束和第二探测光束的间隔为d1，经过V型折射棱镜800后的第一探测光束和第二探测光束的间隔为d2，且d1小于d2，实现降低发射系统发光区整体线宽和提升排布密度的效果，等效于提升发射系统提供激光光束的功率密度和均匀性。此外，图8D所示发射系统没有改变第一光发射模块810与第二光发射模块820的实际间距，避免了减少实际间距引起的散热问题，进而能够让发射系统全功率的发射激光光束。由于，第一探测光束或第二探测光束在V型折射棱镜上的入射角和折射角相等，使得第一探测光束或第二探测光束在经过V型折射棱镜前后具有相同的传播方向，有利于后续光路整形的设计便利性。
可选地，图8E所示的光路还可以是两个发光单元11发射的光束对应的光路。
继续参阅图8E，第一探测光束或第二探测光束在V型折射棱镜800上的入射角和折射角相等。例如，第一探测光束在V型折射棱镜800上的入射角和出射角均为(90°-α1)，第二探测光束在V型折射棱镜800上的入射角和出射角均为(90°-α2)。使得第一探测光束或第二探测光束在经过V型折射棱镜800前后具有相同的传播方向，有利于后续光路整形的设计便利性。
可选地，第一光发射模块810对应的虚像810’和第二光发射模块820对应的虚像820’在传播方向(图8E所示的竖直方向)上的位置相同。示例性地，可以通过调整第一光发射模块810和第二光发射模块820在传播方向上的位置，使虚像810’和虚像820’在传播方向上的位置相同，从而减少像散的干扰。
下面继续介绍本申请实施例提供的另一种光学模组。
请参阅图9A，光学模组包括图9A所示的V型折射棱镜900，该V型折射棱镜900用于对第一探测光束和第二探测光束进行合束。与前面的图8A相比，区别点在于V型折射棱镜900的开口方向与光束传播方向相反。如图9A所示的V型折射棱镜900包括棱镜A1、棱镜A2和棱镜A3。为了便于描述，以图9A的视角为例，将棱镜A1和棱镜A2图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示上方的一面成称为第一侧面，将棱镜A1图示左方的一面称为第二侧面，将棱镜A1图示右下方的一面称为第一入射面，将棱镜A2图示右方的一面称为第二侧面，将棱镜A2图示左下方的一面称为第二入射面。同样以图9A的视角为例，将棱镜A3图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左上方的一面称为第一出射面，图示右上方的一面称为第二出射面，图示下方的一面称为第一侧面。
结合图9A和图9B，V型折射棱镜900中包括的各个面之间存在以下关系：棱镜A1的第一侧面、棱镜A2的第一侧面和棱镜A3的第一侧面之间相互平行，且均与光束传播方向(图9B中所示的竖直方向)相互垂直。棱镜A1的第一入射面和棱镜A3的第一出射面，与光束传播方向的夹角为α3，棱镜A2的第二入射面和棱镜A3的第二出射面，与光束传播方向的夹角为α4。α3和α4的取值范围为(0°，90°)，例如，α3等于45°，α4等于45°。α3和α4的关系本申请不做限定，例如α3等于α4。关于V型折射棱镜900中包括的其它面的放置位置，本申请对此不做限定，例如，V型折射棱镜900中包括的第一主面和第二主面与光束传播方向平行或呈指定夹角(例如，20°)。再例如，棱镜A1的第三侧面和棱镜A2的第三侧面与光束传播方向平行或呈指定的夹角(例如，30°)。棱镜A1的第一入射面与棱镜A3的第一出射面的间距L3和棱镜A2的第二入射面与棱镜A3的第二出射面的间距L4均大于0，关于L3和L4的关系本申请也不做限定，例如L3等于L4。
可选地，V型折射棱镜900的两边包括第一折射边和第二折射边，关于第一折射边和第二折射边的相关描述以及可能的有益效果，可以参考上述V型折射棱镜800的相关描述，这里不再赘述。
可选地，V型折射棱镜900的开口方向与光束传播方向相反。如图9B所示，第一折射边与第二折射边的夹角范围为(0°，180°)对应的中心方向与光束传播方向相反，使得V型折射棱镜900相对于第一光发射模块和第二光发射模块以倒V的姿态放置，然而两条折射边包括的介质均为空气，使得探测光束的入射角小于出射角，从而让V型折射棱镜900对第一探测光束和第二探测光束进行对向的偏移，进而达到减少第一探测光束和第二探测光束间距的效果。例如，请参阅图9B，第一探测光束在第一出射面的入射角为(90°-α3)，由于空气的折射率小于棱镜A3所使用材料的折射率，使得第一探测光束在第一出射面的折射角大于(90°-α3)，从而让第一探测光束向图9B中靠近第二探测光束的方向偏移。同样的原理，V型折射棱镜900也会让第二探测光束向图9B中靠近第一探测光束的方向偏移。
可选地，在一些设计中，V型折射棱镜900的两条折射边并非沿光束传播方向轴对称，使得V型折射棱镜900的开口方向与光束传播方向呈一定夹角(大于0°且小于90°)，该情况在本申请中仍属于开口方向与光束传播方向相反。
一种可能的设计，棱镜A3是由两个棱镜拼接而成的，该两个棱镜分别包括第一出射面和第二出射面。关于上述两个棱镜的具体设计本申请不做限定，例如，上述两个棱镜是图9A所示棱镜A3沿顶角垂直向下拆分得到的。
可选地，在V型折射棱镜900所使用的材料折射率相同的情况下，上述α3、α4、L3和L4满足以下关系，能够确保第一折射边和第二折射边对光束的折射程度相同。
其中，n为V型折射棱镜900所使用材料的折射率与空气折射率的比值。例如，所使用材料的折射率为1.5，空气的折射率为1.0003，则n约等于1.49955。
可选地，V型折射棱镜900所使用材料包括石英玻璃、硼硅玻璃和蓝宝石玻璃中的一项或多项。
可选地，V型折射棱镜900中第一折射边和第二折射边分别对第一探测光束和第二探测光束的折射能力也可以不同，具体可以参考上述V型折射棱镜800的相关描述，这里不再赘述。
另一种可能的设计，V型折射棱镜900在第一平面的截面沿光束传播方向(图9B所示竖直方向)轴对称，第一平面为第一方向(图9B所示水平方向)与光束传播方向形成的平面。例如，V型折射棱镜900在第一平面的界面如图9B所示，该截面沿竖直方向轴对称。关于上述设计方案的有益效果可以参考前述V型折射棱镜800的相关描述，这里不再赘述。
可选地，为了减少不必要的干扰可以将部分表面涂黑，例如，可以将棱镜A1的第一主面、第二主面和第二侧面，棱镜A2的第一主面、第二主面和第二侧面中的一个或多个表面涂黑。可以理解的，涂黑可以选择任意的黑色材料，比如油墨、水性漆、油漆或墨水等。
可选地，V型折射棱镜900在满足上述限制条件的情况下，还可以包括更多或者更少的表面，本申请对此不做限定。如图9C所示，以图9C的视角为例，棱镜A1还包括第三侧面(图示棱镜A1的右侧)，棱镜A2还包括第三侧面(图示棱镜A2的左侧)。
下面对包括图9A所示的V型折射棱镜900的发射系统进行介绍。
请继续参阅图9B，发射系统包括V型折射棱镜900、第一光发射模块810和第二光发射模块820。关于第一光发射模块810和第二光发射模块820的介绍，可以参考上述图8D中对应的描述。第一光发射模块810与第二光发射模块820在第一方向(图9B所示的水平方向)上存在第一间隔(如图9B所示的d1)，V型折射棱镜900设置于第一探测光束和第二探测光束的传播方向。
下面对图9B或图9C所示的发射系统的光路图进行介绍。
在一种可能的实施方式中，V型折射棱镜900的两边分别用于对第一探测光束和第二探测光束进行折射。为了清晰的展示V型折射棱镜900对第一探测光束和第二探测光束折射的过程，接下来以结合附图9B对第一探测光束和第二探测光束的光路进行示例性的介绍。
如图9B所示，第一光发射模块810发射的第一探测光束和第二光发射模块820发射的第二探测光束垂直射入棱镜A3的第一侧面(第一探测光束和第二探测光束的传播方向不变)，然后分别被棱镜A3的第一出射面和第二出射面折射。由于棱镜A3的第一出射面与棱镜A1的第一入射面相互平行，使得经过棱镜A3的第一探测光束会倾斜射入棱镜A1的第一入射面并发生折射，且折射后的第一探测光束仍然沿竖直方向从棱镜A1的第一侧面射出。同样的原理，第二探测光束也会倾斜射入棱镜A2的第二入射面并发生折射，且折射后的第人探测光束仍然沿竖直方向从棱镜A2的第一侧面射出。结合上述描述以及图9B所示内容可以知道，在第一方向上(图9B所示水平方向)，经过V型折射棱镜900前的第一探测光束和第二探测光束的间隔为d1，经过V型折射棱镜900后的第一探测光束和第二探测光束的间隔为d2，且d1小于d2。关于上述所示发射系统的有益效果可以参考前述图8D所示发射系统的相关描述，这里不再赘述。
如图9B所示，在发射折射情况下，第一探测光束和第二探测光束位于空气中，因此，V型折射棱镜对第一探测光束和第二探测光束的折射程度分别取决于棱镜A1与棱镜A3之间空气间隙的厚度和棱镜A2与棱镜A3之间空气间隙的厚度。很显然，空气对探测光束具有更高的透射率，因此V型折射棱镜900还能够减少探测光束在合束过程中的损耗。
可选地，图9B所示的光路还可以是两个发光单元11发射的光束对应的光路。
继续参阅图9B，第一探测光束或第二探测光束在V型折射棱镜900上的入射角和折射角相等。例如，第一探测光束在V型折射棱镜900上的入射角和出射角均为(90°-α3)，第二探测光束在V型折射棱镜900上的入射角和出射角均为(90°-α4)。使得第一探测光束或第二探测光束在经过V型折射棱镜900前后具有相同的传播方向，有利于后续光路整形的设计便利性。
关于图9C所示发射系统的光路图，可以参考图9B所示的光路图，这里不再赘述。
可选地，第一光发射模块810对应的虚像810’和第二光发射模块820对应的虚像820’在传播方向(图8E所示的竖直方向)上的位置相同。示例性地，可以通过调整第一光发射模块810和第二光发射模块820在传播方向上的位置，使虚像810’和虚像820’在传播方向上的位置相同，从而减少像散的干扰。
上述内容依次介绍了V型折射棱镜800和V型折射棱镜900，本申请还示出了第一探测光束和第二探测光束在接收端上光斑的相对位置，用于示例性地说明V型折射棱镜800或V型折射棱镜900对第一探测光束和第二探测光束的影响。
请参阅图10A和图10B，图10A和图10B用于展示第一光发射模块810和第二光发射模块820为上述图1所示的激光器10的情况下，第一探测光束和第二探测光束在接收端上光斑的相对位置。具体地，图10A用于展示发光单元11在第一方向上非错位排布的情况，图10B用于展示发光单元11在第一方向上错位排布的情况。相应的，第一探测光束和第二探测光束在接收端上的光斑也会在第一方向上分别呈现出非错位排布(如图10A中的(b)或(c)所示)和错位排布(如图10B中的(b)或(c)所示)。其中，光斑101可以是第一探测光束在接收端20上形成的光斑，光斑102可以是第二探测光束在接收端20上形成的光斑。
请参阅图10C和图10D，图10C和图10D分别用于展示第一光发射模块810和第二光发射模块820为上述图2和图3所示的激光器10的情况下，第一探测光束和第二探测光束在接收端上光斑的相对位置。在第一方向上，上述图2所示的激光器10中包括的两列发光单元11为非交错排列，上述图3所示的激光器10中包括的两列发光单元11为交错排列，使得光斑101与光斑102分别在图10C和图10D所示接收端20的排列方式为非交错排列和交错排列。
继续参见图10A，第一探测光束和第二探测光束未经过V型折射棱镜800(900)的情况下，光斑101和光斑102在接收端20上的间距为d1(如图10A中的(a)所示)。第一探测光束和第二探测光束经过V型折射棱镜800(900)的情况下，光斑101和光斑102在接收端20上的间距为d2(如图10A中的(b)或(c)所示)，或者光斑101与光斑102为相互重叠(如图10A中的(c)所示)。
依次参见图10B、图10C和图10D，图10B、图10C和图10D中的(a)、(b)和(c)所展示的内容，分别与图10A中的(a)、(b)和(c)所展示的内容相似，为了减少内容的累赘，这里不再一一描述。
如上述图10A到图10D所示，在第一探测光束和第二探测光束经过V型折射棱镜800(900)的情况下，光斑101和光斑102具有更小的间距，实现降低发光区整体线宽的效果，使得第一探测光束和第二探测光束组成的探测光束具有更高的功率密度和更好的均匀性，其中，高功率密度的激光光束能够提升探测器的测远性能和探测器的小型化设计，高均匀性的激光光束能够应用于高分辨率的探测器中，从而拓展激光光束的应用范围。此外，申请提供的方案未改变光发射模块的实际间距，避免了减少实际间距引起的散热问题，进而能够让发射系统全功率的发射激光光束。
上述内容示出的V型折射棱镜800和V型折射棱镜900能够对第一光发射模块810和第二光发射模块820发射的探测光束进行合束，从而提升探测光束的功率密度和均匀性。本申请示出的光学模组还能够用于对更多光发射模块所提供的探测光束进行合束，例如，本申请示出的光学模组还能够用于对3个、4个或者5个光发射模块所提供的探测光束进行合束。接下来以光学模组用于对4个光发射模块所提供的探测光束进行合束为例，示例性地介绍光学模组(包括V型折射棱镜1100、V型折射棱镜1200、V型折射棱镜1300或V型折射棱镜1500)用于对更多光发射模块所提供的探测光束进行合束的情况。
下面继续介绍本申请实施例提供的另一种光学模组。
请参阅图11A和图11B，光学模组包括如图11A和图11B所示的V型折射棱镜1100，V型折射棱镜1100包括棱镜P1、棱镜P2、棱镜P3和棱镜P4。为了便于描述，以图11A的视角为例，将棱镜P1和棱镜P4图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左上方的一面称为第一侧面，图示右上方的一面称为第二侧面，图示右下方的一面称为第三侧面，图示左下方的一面称为第四侧面。将棱镜P2和棱镜P3图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左方的一面称为第一侧面，图示上方的一面称为第二侧面，图示右方的一面称为第三侧面，图示下方的一面称为第四侧面。其中，棱镜P1的第二侧面又称为第三出射面，棱镜P1的第四侧面又称为第三入射面，棱镜P2的第二侧面又称为第一出射面，棱镜P2的第四侧面又称为第一入射面，棱镜P3的第二侧面又称为第二出射面，棱镜P3的第四侧面又称为第二入射面，棱镜P4的第一侧面又称为第四出射面，棱镜P4的第三侧面又称为第四入射面。其中，棱镜P1的第三侧面与棱镜P2的第一侧面相贴合，棱镜P2的第三侧面与棱镜P3的第一侧面相贴合，棱镜P3的第三侧面与棱镜P4的第四侧面相贴合。
可选地，在棱镜结构中，任意两个相贴合的侧面可具有相同的形状和尺寸。比如，请参阅图11A，棱镜P1的第三侧面与棱镜P2的第一侧面具有相同的形状和尺寸，棱镜P2的第三侧面与棱镜P3的第一侧面具有相同的形状和尺寸。
可选地，棱镜P1、棱镜P2、棱镜P3与棱镜P4之间也可以存在一定的空气间隙。
结合图11A和图11B，V型折射棱镜1100中包括的各个面之间存在以下关系：第一入射面与第一出射面平行，第二入射面与第二出射面平行，第三入射面与第三出射面平行，第四入射面与第四出射面平行。第一出射面、第二出射面、第三出射面、第四出射面与光束传播方向(图11B所示的竖直方向)的夹角依次为α5、α6、α7和α8，其中，α5、α6、α7和α8的取值范围为(0°，90°)，且α5小于α7、α6小于α8，例如，α5＝α6＝30°，α7＝α8＝45°。关于α5和α6、α7和α8之间的关系本申请不做限定，例如α5等于α6、α7等于α8。第一入射面与第一出射面的间距L5，第二入射面与第二出射面的间距L6，第三入射面与第三出射面的间距L7以及第四入射面与第四出射面的间距L8均大于0。可选地，L5＝L6＝L7＝L8。
本申请对V型折射棱镜1100中其它平面的相对位置关系不做限定，例如，棱镜P1的第一主面、棱镜P1的第二主面、棱镜P1的第一侧面或棱镜P1的第三侧面可以与第三出射面或者第三入射面相互垂直。再例如，棱镜P2的第一主面、棱镜P2的第二主面、棱镜P2的第一侧面或棱镜P2的第三侧面可以与第一出射面或者第一入射面相互垂直。
可选地，V型折射棱镜1100的两边包括第一折射边和第二折射边，其中，第一折射边包括第一入射面、第一出射面、第三入射面和第三出射面，第二折射边包括第二入射面、第二出射面、第四入射面和第四出射面。第一入射面与第一出射面沿第二方向相对设置，第二入射面与第二出射面沿第三方向相对设置，第三入射面与第三出射面沿第五方向相对设置，第四入射面与第四出射面沿第六方向相对设置，其中，第二方向与第一入射面相互垂直，第三方向与第二入射面相互垂直，第五方向与第三入射面相互垂直，第六方向与第四入射面相互垂直，且第二方向、第三方向、第五方向、第六方向和上述光束的传播方向互不相同。第二方向、第三方向和上述光束的传播方向互不相同的有益效果可以参考上述V型折射棱镜800的相关描述，这里不再赘述。当第五方向或第六方向与光束传播方向不同，能够让第三探测光束和第四探测光束分别倾斜射入第三入射面和第四入射面，从而确保第一折射边和第二折射边分别对第三探测光束和第四探测光束具有一定的折射能力。结合第三探测光束和第四探测光束的传播方向相同以及第五方向与第六方向互不相同，能够使得第一折射边对第三探测光束的折射方向不同于第二折射边对第四探测光束的折射方向，避免折射方向相同引起不能合束的情况。第五方向与第二方向不同能够让第一折射边对第一探测光束和第三探测光束的折射程度不同，第六方向与第三方向不同能够让第二折射边对第二探测光束和第四探测光束的折射程度不同。
可选地，V型折射棱镜1100的开口方向与光束传播方向相同。如图11B所示，第一折射边与第二折射边的夹角范围为(0°，180°)对应的中心方向与光束传播方向相同，使得V型折射棱镜1100相对于第一光发射模块和第二光发射模块以正V的姿态放置，从而让V型折射棱镜1100对第一探测光束和第二探测光束进行对向的偏移，以及对第三探测光束和第四探测光束进行对向的偏移，进而达到减少第一探测光束和第二探测光束间距，以及减少第三探测光束和第四探测光束间距的效果。
可选地，第一折射边与第二折射边的夹角范围可以是第一出射面与第二出射面的夹角或者第一入射面与第二入射面的夹角，还可以是第三出射面与第四出射面的夹角或者第三入射面与第四入射面的夹角。
可选地，在一些设计中，V型折射棱镜1100的两条折射边并非沿光束传播方向轴对称，使得V型折射棱镜1100的开口方向与光束传播方向呈一定夹角(大于0°且小于90°)，该情况在本申请中仍属于开口方向与光束传播方向相同。
可选地，在V型折射棱镜1100所使用的材料折射率相同的情况下，上述α5、α6、α7、α8、L5、L6、L7和L8满足以下关系，能够确保第一折射边和第二折射边对光束的折射程度相同，例如，第一折射边和第二折射边分别对第一探测光束和第二探测光束的折射程度相同，和/或第一折射边和第二折射边分别对第三探测光束和第四探测光束的折射程度相同。
其中，n为V型折射棱镜1100所使用材料的折射率与空气折射率的比值。例如，所使用材料的折射率为1.5，空气的折射率为1.0003，则n约等于1.49955。
可选地，V型折射棱镜1100所使用材料包括石英玻璃、硼硅玻璃和蓝宝石玻璃中的一项或多项。
可选地，V型折射棱镜1100中第一折射边和第二折射边分别对第一探测光束和第二探测光束的折射能力也可以不同，确保经过V型折射棱镜1100后的第一探测光束和第二探测光束的间距小于上述第一间距即可。V型折射棱镜1100中第一折射边和第二折射边分别对第三探测光束和第四探测光束的折射能力也可以不同，确保经过V型折射棱镜1100后的第三探测光束和第一探测光束的间距小于上述第二间距，第四探测光束和第二探测光束的间距小于上述第四间距即可。
示例性地，由于α5小于α7、α6小于α8，使得棱镜P1对光束的偏移程度大于棱镜P2对光束的偏移程度，以及棱镜P4对光束的偏移程度大于棱镜P3对光束的偏移程度。其中，棱镜P1对光束的偏移程度满足关系棱镜P2对光束的偏移程度满足关系 棱镜P3对光束的偏移程度满足关系棱镜P4对光束的偏移程度满足关系
另一种可能的设计，V型折射棱镜1100在第一平面的截面沿光束传播方向(图11B所示竖直方向)轴对称，第一平面为第一方向(图11B所示水平方向)与光束传播方向形成的平面。例如，V型折射棱镜1100在第一平面的界面如图11B所示，该截面沿竖直方向轴对称。通过让第一平面与V型折射棱镜1100的截面沿光束传播方向轴对称，能够让第一探测光束(第三探测光束)与第二探测光束(第四探测光束)经过V型折射棱镜1100的过程中具有相同的光路，一方面能够确保V型折射棱镜1100两边对第一探测光束(第三探测光束)和第二探测光束(第四探测光束)的折射程度相同，另一方面可以让第一探测光束(第三探测光束)和第二探测光束(第四探测光束)在V型折射棱镜1100中的光程相同，避免出现像散引起的干扰。
可选地，为了减少不必要的干扰可以将部分表面涂黑，例如，可以将棱镜P1的第一主面、第二主面、第一侧面和第三侧面，棱镜P2的第一主面、第二主面、第一侧面和第三侧面，棱镜P3的第一主面、第二主面、第一侧面和第三侧面，棱镜P4的第一主面、第二主面、第二侧面和第四侧面中的一个或多个表面涂黑。可以理解的，涂黑可以选择任意的黑色材料，比如油墨、水性漆、油漆或墨水等。
可选地，V型折射棱镜1100在满足上述限制条件的情况下，还可以包括更多或者更少的表面，本申请对此不做限定。如图11C所示，以图11C的视角为例，棱镜P2还包括第五侧面1101，棱镜P3还包括第五侧面1102，通过设置棱镜P2的第五侧面1101和棱镜P3的第五侧面1102有利于放置上述V型折射棱镜1100。
可以理解，本申请中所示的V型折射棱镜不限定于标准的V型，例如，可以是类似于V型或者是基于V型的变形，具体可以参考本申请中对应实施例的描述。
需要说明的是，本申请对V型折射棱镜1100的铸造工艺不做限定，例如，可以通过一体铸造工艺，使得V型折射棱镜1100由一个光学元件组成。再例如，可以通过一体铸造工艺，使得棱镜P1和棱镜P2合并为一个光学元件，棱镜P3和棱镜P4合并为一个光学元件。
下面对包括图11A、图11B或图11C所示的V型折射棱镜1100的发射系统进行介绍。
请参阅图11D，发射系统包括V型折射棱镜1100、第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840。其中，第一光发射模块810、第二光发射模块820、第三光发射模块830或第四光发射模块840例如是上述图1至图3任一项所示的激光器10，第一光发射模块810与第二光发射模块820在第一方向(图11D所示的水平方向)上存在第一间隔(如图11D所示的d1)，第三光发射模块830与第一光发射模块810在第一方向上存在第二间隔(如图11D所示的d3)，第四光发射模块840与第二光发射模块820在第一方向上存在第三间隔(如图11D所示的d5)。在第一方向上，第三光发射模块830、第一光发射模块810、第二光发射模块820和第四光发射模块840从左到右依次排列，并依次用于发射第三探测光束、第一探测光束、第二探测光束和第四探测光束，V型折射棱镜1100设置于第一探测光束和第二探测光束的光束传播方向。其中，第一探测光束、第二探测光束、第三探测光束和第四探测光束的光束传播方向相同。需要说明的是，图11D中第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840发射三条探测光束为示例性地，不应将此作为本申请的限定。
可选地，第一光发射模块810、第二光发射模块820、第三光发射模块830或第四光发射模块840中包括的多个发光单元11沿第四方向(如图11D所示的发光单元的列方向)排列，第四方向与上述第一方向不同。示例性地，第四方向与上述第一方向呈指定的夹角，例如，第四方向垂直于上述第一方向。
可选地，第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840之间的多个发光单元11沿第四方向错位排布，该第四方向与上述光束传播方向垂直，且与上述第一方向不同。因此，在第四方向上第一光发射模块810中的发光单元11、第二光发射模块820中的发光单元11、第三光发射模块830中的发光单元11和第四光发射模块840中的发光单元11的部分或者全部不在同一位置。结合第四方向与光束传播方向垂直，且与第一方向不同，使得合束后的第一探测光束到第四探测光束的光斑仍然错位排布，从而让合束后的第一探测光束到第四探测光束的光斑具有更好的均匀性。
可选地，在第四方向上，第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840包括的多个发光单元11还可以是非错位排布。在该情况下，第一探测光束到第四探测光束受到V型折射棱镜800的影响，其间距同样会减少，也同样有助于让合束后的第一探测光束到第四探测光束的光斑具有更好的均匀性。
可以理解，本申请中第一探测光束到第四探测光束是指第一探测光束、第二探测光束、第三探测光束和第四探测光束，该表示方法在下文中同样适用。
下面对图11D所示的发射系统的光路图进行介绍。
在一种可能的实施方式中，V型折射棱镜1100的两边分别用于对第一探测光束和第二探测光束进行折射，V型折射棱镜1100的两边分别还用于对第三探测光束和第四探测光束进行折射。为了清晰的展示V型折射棱镜1100对第一探测光束和第二探测光束折射的过程，接下来以结合附图11E对第一探测光束到第四探测光束的光路进行示例性的介绍。
请参阅图11E，图11E为本申请实施例提供的一种光路示意图。图11E所示的光路从左到右依次属于第三光发射模块830、第一光发射模块810、第二光发射模块820和第四光发射模块840中发光单元11发射的光束。如图11E所示，第三探测光束、第一探测光束、第二探测光束和第四探测光束依次倾斜射入第三入射面、第一入射面、第二入射面和第四入射面，以及依次从第三出射面、第一出射面、第二出射面和第四出射面射出。在第一方向上(图11E中水平方向)，经过V型折射棱镜1100前的第一探测光束与第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d1、d3和d5，经过V型折射棱镜1100后的第一探测光束和第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d2、d4和d6，且d1小于d2，d3小于d4，d5小于d6。
需要说明，本申请中光束A、光束B、光束C和光束D依次射入(射出)第一平面、第二平面、第三平面和第四平面是指光束A输入(射出)第一平面、光束B输入(射出)第二平面、光束C输入(射出)第三平面以及光束D输入(射出)第四平面，而对于光束A、光束B、光束C和光束D射入(射出)平面的时间顺序不做限定。例如，第三探测光束、第一探测光束、第二探测光束和第四探测光束依次倾斜射入第三入射面、第一入射面、第二入射面和第四入射面是指，第三探测光束倾斜射入第三入射面，第一探测光束倾斜射入第一入射面，第二探测光束倾斜射入第二入射面，第四探测光束倾斜射入第四入射面，而对第三探测光束、第一探测光束、第二探测光束和第四探测光束射入入射面的时间不做限定。此外，本申请中其它描述中的“依次”也仅做前后对应，而不构成时间顺序上的限定。
如图11E所示，第一探测光束、第二探测光束、第三探测光束或第四探测光束在V型折射棱镜1100上的入射角和折射角相等。例如，第一探测光束在V型折射棱镜1100上的入射角和出射角均为(90°-α5)，第二探测光束在V型折射棱镜1100上的入射角和出射角均为(90°-α6)，第三探测光束在V型折射棱镜1100上的入射角和出射角均为(90°-α7)，第四探测光束在V型折射棱镜1100上的入射角和出射角均为(90°-α8)。使得第一探测光束到第四探测光束在经过V型折射棱镜1100前后具有相同的传播方向，有利于后续光路整形的设计便利性。
可选地，第一光发射模块810对应的虚像810’、第二光发射模块820对应的虚像820’、第三光发射模块830对应的虚像830’和第四光发射模块840对应的虚像840’在传播方向(图11E所示的竖直方向)上的位置相同。示例性地，可以通过调整第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840中的一个或多个在传播方向上的位置，使虚像810’、虚像820’、虚像830’和虚像840’在传播方向上的位置相同，从而减少像散的干扰。
上述V型折射棱镜1100通过设置α7大于α5、α8大于α6以及L5＝L6＝L7＝L8，使得棱镜P1对第三探测光束的折射程度大于棱镜P2对第一探测光束的折射程度，棱镜P4对第四探测光束的折射程度大于棱镜P3对第二探测光束的折射程度，能够让d4小于d3、d6小于d5，从而让探测器发射探测光束的功率密度增加以及具有更好的均匀性。
下面继续介绍本申请实施例提供的另一种光学模组。
本申请还提供另一种V型折射棱镜1200，在确保第一探测光束到第四探测光束以相同角度射入V型折射棱镜1200的情况下，通过增加第三探测光束和第四探测光束在V型折射棱镜1200中的传输距离，使得V型折射棱镜1200对第三探测光束和第四探测光束具有更大的折射程度，从而让d4小于d3、d6小于d5，进而让探测器发射探测光束的功率密度增加以及具有更好的均匀性。
请参阅图12A和图12B、图12C和图12D、图12E和图12F、或者图12G和图12H，V型折射棱镜1200包括棱镜P1、棱镜P2、棱镜P3和棱镜P4。为了便于描述，以图12A的视角为例，将棱镜P1和棱镜P4图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左上方的一面称为第一侧面，图示右上方的一面称为第二侧面，图示右下方的一面称为第三侧面，图示左下方的一面称为第四侧面。将棱镜P2和棱镜P3图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左方的一面称为第一侧面，图示上方的一面称为第二侧面，图示右方的一面称为第三侧面，图示下方的一面称为第四侧面。其中，棱镜P1的第二侧面又称为第三出射面，棱镜P1的第四侧面又称为第三入射面，棱镜P2的第二侧面又称为第一出射面，棱镜P2的第四侧面又称为第一入射面，棱镜P3的第二侧面又称为第二出射面，棱镜P3的第四侧面又称为第二入射面，棱镜P4的第一侧面又称为第四出射面，棱镜P4的第三侧面又称为第四入射面。
结合图12A和图12B、图12C和图12D、图12E和图12F、或者图12G和图12H，V型折射棱镜1200中包括的各个面之间存在以下关系：第一入射面、第一出射面、第三入射面和第三出射面之间相互平行，第二入射面、第二出射面、第四入射面和第四出射面之间相互平行。第一出射面、第二出射面、第三出射面、第四出射面与光束传播方向(图12B所示的竖直方向)的夹角依次为α9、α10、α9和α10，其中，α9和α10的取值范围为(0°，90°)，例如，α9＝45°，α10＝45°。关于α9和α10之间的关系本申请不做限定，例如α9等于α10。第一入射面与第一出射面的间距L9，第二入射面与第二出射面的间距L10，第三入射面与第三出射面的间距L11以及第四入射面与第四出射面的间距L12均大于0。本申请对V型折射棱镜1200中其它平面的相对位置关系不做限定，例如，棱镜P1的第一主面、棱镜P1的第二主面、棱镜P1的第一侧面或棱镜P1的第三侧面可以与第三出射面或者第三入射面相互垂直。再例如，棱镜P2的第一主面、棱镜P2的第二主面、棱镜P2的第一侧面或棱镜P2的第三侧面可以与第一出射面或者第一入射面相互垂直。
关于L9、L10、L11和L12之间大小关系，需要结合具体的附图进行分别介绍。如图12A和图12B或者图12C和图12D所示，L9、L10、L11和L12之间大小关系本申请不做限定，例如，L9等于L10，L11等于L12。如图12E和图12F或者图12G和图12H所示，L9小于L11，L10小于L12。
关于棱镜P1、棱镜P2、棱镜P3和棱镜P4的位置关系，同样需要结合具体的附图进行分别介绍。如图12A和图12B所示，棱镜P1的第四侧面部分贴合于棱镜P2的第二侧面，棱镜P4的第三侧面部分贴合于棱镜P3的第二侧面，棱镜P2的第三侧面与棱镜P3的第一侧面相贴合。例如，棱镜P1的第四侧面的最左边与棱镜P2的第二侧面的最左边相交，棱镜P4的第三侧面的最右边与棱镜P3的第二侧面的最右边相交。如图12C和图12D所示，棱镜P1的第四侧面与棱镜P2的第二侧面之间存在空气间隙，棱镜P4的第三侧面与棱镜P3的第二侧面之间存在空气间隙，棱镜P2的第三侧面与棱镜P3的第一侧面相贴合。如图12E和图12F或者图12G和图12H所示，棱镜P2的第一侧面部分贴合于棱镜P1的第三侧面，棱镜P3的第三侧面部分贴合于棱镜P4的第四侧面，棱镜P2的第三侧面与棱镜P3的第一侧面相贴合。例如，棱镜P2的第一侧面的底边与棱镜P1的第三侧面的底边相交(如图12E所示)，棱镜P3的第三侧面的底边与棱镜P4的第四侧面的底边相交(如图12E所示)。再例如，棱镜P1的第三侧面的底边和顶边均与棱镜P2的第一侧面相交(如图12G所示)，棱镜P3的第三侧面的底边和顶边均与棱镜P4的第四侧面的相交(如图12G所示)。
可选地，在棱镜结构中，侧面A部分贴合于侧面B，表示侧面B大于侧面A。比如，请参阅图12A，棱镜P1的第四侧面小于棱镜P2的第二侧面，棱镜P4的第三侧面小于棱镜P3的第二侧面。
可选地，V型折射棱镜1200的两边包括第一折射边和第二折射边，关于第一折射边和第二折射边的介绍，可以参考上述V型折射棱镜1100的相关描述，这里不再赘述。此外，第二方向、第三方向和上述光束的传播方向互不相同，以及第二方向与第五方向平行，第三方向与第六方向平行，使得第五方向、第六方向和上述光束的传播方向也互不相同。关于上述实施方式的有益效果，可以参考前述V型折射棱镜1100对应的描述，这里不再赘述。
可选地，V型折射棱镜1200的开口方向与光束传播方向相同。关于此内容的具体介绍，可以参考上述V型折射棱镜1100的相关内容，这里不再赘述。
可选地，在V型折射棱镜1200所使用的材料折射率相同的情况下，上述α9、α10、L9、L10、L11和L12满足以下关系，能够确保第一折射边和第二折射边对光束的偏移程度相同。
其中，n为V型折射棱镜1200所使用材料的折射率与空气折射率的比值。例如，所使用材料的折射率为1.5，空气的折射率为1.0003，则n约等于1.49955。
可选地，V型折射棱镜1200所使用材料包括石英玻璃、硼硅玻璃和蓝宝石玻璃中的一项或多项。
可选地，V型折射棱镜1200中第一折射边和第二折射边分别对第一探测光束(第三探测光束)和第二探测光束(第四探测光束)的折射能力也可以不同，具体可以参考上述V型折射棱镜1100的相关描述，这里不再赘述。
另一种可能的设计，V型折射棱镜1200在第一平面的截面沿光束传播方向(图12B所示竖直方向)轴对称，第一平面为第一方向(图12B所示水平方向)与光束传播方向形成的平面。例如，V型折射棱镜1200在第一平面的界面如图12B所示，该截面沿竖直方向轴对称。关于上述设计方案的有益效果，可以参考前述V型折射棱镜1100的相关描述，这里不再赘述。
可选地，为了减少不必要的干扰可以将部分表面涂黑，例如，可以将棱镜P1的第一主面、第二主面、第一侧面和第三侧面，棱镜P2的第一主面、第二主面、第一侧面和第三侧面，棱镜P3的第一主面、第二主面、第一侧面和第三侧面，棱镜P4的第一主面、第二主面、第二侧面和第四侧面中的一个或多个表面涂黑。可以理解的，涂黑可以选择任意的黑色材料，比如油墨、水性漆、油漆或墨水等。
可选地，V型折射棱镜1200在满足上述限制条件的情况下，还可以包括更多或者更少的表面，本申请对此不做限定。具体示例可以参考上述图8C或图11C的相关描述，这里不再赘述。
需要说明的是，本申请对V型折射棱镜1200的铸造工艺不做限定，例如，可以通过一体铸造工艺，使得如图12E或图12G所示的V型折射棱镜1200由一个光学元件组成。再例如，可以通过一体铸造工艺，使得棱镜P2和棱镜P3合并为一个光学元件。
下面对包括图12A到图12H中任一项所示的V型折射棱镜1200的发射系统进行介绍。
请参阅图12I，发射系统包括V型折射棱镜1200(图12E所示)、第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840。关于第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840的介绍可以参考上述图11D中对应的描述，这里不再赘述。V型折射棱镜1200设置于第一探测光束的光束传播方向，第一探测光束、第二探测光束、第三探测光束和第四探测光束的传播方向相同，例如，均为如图12I所示的竖直方向。需要说明的是，上述发射系统中的V型折射棱镜1200还可以是图12A、图12C或者图12G所示的V型折射棱镜1200，为了描述的简洁性，这里不再一一举例描述。
下面对图12I所示的发射系统的光路图进行介绍。
在一种可能的实施方式中，V型折射棱镜1200的两边分别用于对第一探测光束和第二探测光束进行折射，V型折射棱镜1200的两边分别还用于对第三探测光束和第四探测光束进行折射。为了清晰的展示V型折射棱镜1200对第一探测光束和第二探测光束折射的过程，接下来以结合附图12J或图12K对第一探测光束到第四探测光束的光路进行示例性的介绍。
请参阅图12J，图12J为本申请实施例提供的一种光路示意图。图12J所示的光路从左到右依次属于第三光发射模块830、第一光发射模块810、第二光发射模块820和第四光发射模块840中发光单元11发射的光束。如图12J所示，第一探测光束和第三探测光束倾斜射入第一入射面的不同位置以及在第一出射面的不同位置倾斜射出，第二探测光束和第四探测光束倾斜射入第二入射面的不同位置以及在第二出射面的不同位置倾斜射出，此外，第三探测光束会再次倾斜射入第三入射面并从第三出射面倾斜射出，第四探测光束会再次倾斜射入第四入射面并从第四出射面倾斜射出。在第一方向上(图12J中水平方向)，经过V型折射棱镜1200前的第一探测光束与第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d1、d3和d5，经过V型折射棱镜1200后的第一探测光束和第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d2、d4和d6，且d1小于d2，d3小于d4，d5小于d6。可以理解，图12J所示的光路用于介绍发射系统包括图12C所示V型折射棱镜的情况下，探测光束的光路。
请参阅图12K，图12K为本申请实施例提供的一种光路示意图。图12K所示的光路从左到右依次属于第三光发射模块830、第一光发射模块810、第二光发射模块820和第四光发射模块840中发光单元11发射的光束。如图12K所示，第三探测光束、第一探测光束、第二探测光束和第四探测光束依次倾斜射入第三入射面、第一入射面、第二入射面和第四入射面，以及依次从第三出射面、第一出射面、第二出射面和第四出射面射出。在第一方向上(图12K中水平方向)，经过V型折射棱镜1200前的第一探测光束与第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d1、d3和d5，经过V型折射棱镜1200后的第一探测光束和第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d2、d4和d6，且d1小于d2，d3小于d4，d5小于d6。可以理解，图12K所示的光路用于介绍发射系统包括图12A、图12E或者图12G所示V型折射棱镜的情况下，探测光束的光路。
如图12J或图12K所示，第一探测光束、第二探测光束、第三探测光束或第四探测光束在V型折射棱镜1200上的入射角和折射角相等。例如，第一探测光束在V型折射棱镜1200上的入射角和出射角均为(90°-α9)，第二探测光束在V型折射棱镜1200上的入射角和出射角均为(90°-α10)，第三探测光束在V型折射棱镜1200上的入射角和出射角均为(90°-α9)，第四探测光束在V型折射棱镜1200上的入射角和出射角均为(90°-α10)。使得第一探测光束到第四探测光束在经过V型折射棱镜1200前后具有相同的传播方向，有利于后续光路整形的设计便利性。
可选地，第一光发射模块810对应的虚像810’、第二光发射模块820对应的虚像820’、第三光发射模块830对应的虚像830’和第四光发射模块840对应的虚像840’在传播方向(图12E所示的竖直方向)上的位置相同。示例性地，可以通过调整第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840中的一个或多个在传播方向上的位置，使虚像810’、虚像820’、虚像830’和虚像840’在传播方向上的位置相同，从而减少像散的干扰。
下面继续介绍本申请实施例提供的另一种光学模组。
请参阅图13A，V型折射棱镜1300包括棱镜B1、棱镜B2、棱镜B3、棱镜B4、棱镜C1、棱镜C2、棱镜C3和棱镜C4。为了便于描述，以图13A的视角为例，将棱镜B1、棱镜C3或者棱镜C4图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示上方的一面成称为第一侧面，图示右方的一面成称为第二侧面，图示下方的一面成称为第三侧面，将棱镜B2或棱镜B3图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左方的一面成称为第一侧面，图示上方的一面成称为第二侧面，图示右方的一面成称为第三侧面，图示下方的一面成称为第四侧面，将棱镜B4、棱镜C1或者棱镜C2图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左方的一面成称为第一侧面，图示上方的一面成称为第二侧面，图示下方的一面成称为第三侧面。此外，还可以将棱镜B1的第一侧面称为第三出射面，将棱镜B2的第二侧面称为第一出射面，将棱镜B3的第二侧面称为第二出射面，将棱镜B4的第二侧面称为第四出射面，将棱镜C1、棱镜C2、棱镜C3和棱镜C4的第三侧面依次称为第三入射面、第一入射面、第二入射面和第四入射面。
结合图13A和图13B，V型折射棱镜1300中包括的各个面之间存在以下关系：棱镜B1的第三侧面、棱镜B2的第四侧面、棱镜B3的第四侧面、棱镜B4的第三侧面、棱镜C1的第二侧面、棱镜C2的第二侧面、棱镜C3的第一侧面、棱镜C4的第一侧面之间相互平行，且均与光束传播方向(图13B中所示的竖直方向)相互垂直。第一入射面与第一出射面平行，第二入射面与第二出射面平行，第三入射面与第三出射面平行，第四入射面与第四出射面平行。第一出射面、第二出射面、第三出射面、第四出射面与光束传播方向(图11B所示的竖直方向)的夹角依次为α11、α12、α13和α14，其中，α11、α12、α13和α14的取值范围为(0°，90°)，且α11小于α13、α12小于α14，例如，α11＝α12＝30°，α13＝α14＝45°。关于α11和α12、α13和α14之间的关系本申请不做限定，例如α11等于α12、α13等于α14。第一入射面与第一出射面的间距L13，第二入射面与第二出射面的间距L14，第三入射面与第三出射面的间距L15以及第四入射面与第四出射面的间距L16均大于0。可选地，L13＝L14＝L15＝L16。关于V型折射棱镜1300中包括的其它面的放置位置，本申请对此不做限定，例如，V型折射棱镜1300中包括的第一主面和第二主面与光束传播方向平行或呈指定夹角(例如，20°)。再例如，棱镜B1的第二侧面和棱镜B2的第一侧面与光束传播方向平行或呈指定的夹角(例如，30°)。
可选地，V型折射棱镜1300的两边包括第一折射边和第二折射边，关于第一折射边和第二折射边的介绍以及可能的有益效果，可以参考上述V型折射棱镜1200的相关描述，这里不再赘述。
可选地，V型折射棱镜1300的开口方向与光束传播方向不同。如图13B所示，第一折射边与第二折射边的夹角范围为(0°，180°)对应的中心方向与光束传播方向不同，使得V型折射棱镜1300相对于第一光发射模块到第四光发射模块以倒V的姿态放置，从而让V型折射棱镜1300对第一探测光束和第二探测光束进行对向的偏移，以及对第三探测光束和第四探测光束进行对向的偏移，进而达到减少第一探测光束和第二探测光束间距，以及减少第三探测光束和第四探测光束间距的效果。实现原理可以参考上述图9B的相关描述，这里不再赘述。
可选地，关于第一折射边与第二折射边夹角的计算，以及开放方向的描述可以参考上述图11B的相关内容，这里不再赘述。
可选地，在V型折射棱镜1300所使用的材料折射率相同的情况下，上述α11、α12、α13、α14、L13、L14、L15和L16满足以下关系，能够确保第一折射边和第二折射边对光束的偏移程度相同。
其中，n为V型折射棱镜1300所使用材料的折射率与空气折射率的比值。例如，所使用材料的折射率为1.5，空气的折射率为1.0003，则n约等于1.49955。
可选地，V型折射棱镜1300所使用材料包括石英玻璃、硼硅玻璃和蓝宝石玻璃中的一项或多项。
可选地，V型折射棱镜1300中第一折射边和第二折射边分别对第一探测光束(第三探测光束)和第二探测光束(第四探测光束)的折射能力也可以不同，具体可以参考上述V型折射棱镜1100的相关描述，这里不再赘述。
另一种可能的设计，V型折射棱镜1300在第一平面的截面沿光束传播方向(图13B所示竖直方向)轴对称，第一平面为第一方向(图13B所示水平方向)与光束传播方向形成的平面。例如，V型折射棱镜1300在第一平面的界面如图13B所示，该截面沿竖直方向轴对称。关于上述设计方案的有益效果，可以参考前述V型折射棱镜1100的相关描述，这里不再赘述。
可选地，为了减少不必要的干扰可以将部分表面涂黑，例如，可以将棱镜B1的第一主面、第二主面和第二侧面，棱镜B2的第一主面、第二主面和第一侧面中的一个或多个表面涂黑。可以理解的，涂黑可以选择任意的黑色材料，比如油墨、水性漆、油漆或墨水等。
可选地，V型折射棱镜1300在满足上述限制条件的情况下，还可以包括更多或者更少的表面，本申请对此不做限定。具体示例可以参考上述图8C或图11C的相关描述，这里不再赘述。
需要说明的是，本申请对V型折射棱镜1300的铸造工艺不做限定，例如，可以通过一体铸造工艺，使得如图13A所示的棱镜B1、棱镜B2、棱镜B3和棱镜B4由一个光学元件组成。再例如，可以通过一体铸造工艺，使得棱镜C1、棱镜C2、棱镜C3和棱镜C4由一个光学元件组成。
可以理解，基于V型折射棱镜1300，还可以让第一入射面与第一出射面的间距小于第三入射面与第三出射面的间距，从而让第一折射边对第三探测光束的折射强度大于第一折射边对第一探测光束的折射强度。同样的，还可以让第二入射面与第二出射面的间距小于第四入射面与第四出射面的间距，从而让第二折射边对第四探测光束的折射强度大于第二折射边对第一探测光束的折射强度。进而让第一探测光束到第四探测光束经过V型折射棱镜1300后，具有更高的功率密度和均匀性。结合前述内容的描述，这种实施方式是易于实现和容易想到的，因此该方法同样属于本申请的保护范围。
下面对包括图13A所示的V型折射棱镜1300的发射系统进行介绍。
请参阅图13B(发射系统的主视图，关于该发射系统的立体图可以结合前述描述进行对应的理解，这里不再赘述)，发射系统包括V型折射棱镜1300(图13A所示)、第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840。关于第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840的介绍，可以参考上述图12I的相关描述，这里不再赘述。V型折射棱镜1300设置于第一探测光束、第二探测光束、第三探测光束和第四探测光束的传播方向，该四个探测光束的传播方向相同，例如均为图13B所示的竖直方向。
下面对图13B所示的发射系统的光路图进行介绍。
在一种可能的实施方式中，V型折射棱镜1300的两边分别用于对第一探测光束和第二探测光束进行折射，V型折射棱镜1300的两边分别还用于对第三探测光束和第四探测光束进行折射。为了清晰的展示V型折射棱镜1200对第一探测光束和第二探测光束折射的过程，接下来以结合附图13B对第一探测光束到第四探测光束的光路进行示例性的介绍。
请继续参阅图13B，图13B为本申请实施例提供的一种光路示意图。图13B所示的光路从左到右依次属于第三光发射模块830、第一光发射模块810、第二光发射模块820和第四光发射模块840中发光单元11发射的光束。如图11B所示，第三探测光束、第一探测光束、第二探测光束和第四探测光束依次垂直射入棱镜B1的第三侧面、棱镜B2的第四侧面、棱镜B3的第四侧面和棱镜B4的第三侧面，以及依次从第三出射面、第一出射面、第二出射面和第四出射面倾斜射出并进入到空气中。进一步地，第三探测光束、第一探测光束、第二探测光束和第四探测光束还会依次倾斜射入第三入射面、第一入射面、第二入射面和第四入射面，以及依次从棱镜C1的第二侧面、棱镜C2的第二侧面、棱镜C3的第一侧面和棱镜C4的第一侧面垂直射出到空气中。在第一方向上(图13B中水平方向)，经过V型折射棱镜1300前的第一探测光束与第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d1、d3和d5，经过V型折射棱镜1300后的第一探测光束和第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d2、d4和d6，且d1小于d2，d3小于d4，d5小于d6。
如图13B所示，第一探测光束、第二探测光束、第三探测光束或第四探测光束在V型折射棱镜1300上的入射角和折射角相等。例如，第一探测光束在第一入射面的入射角和第一出射面上的出射角均为(90°-α11)，第二探测光束在第二入射面的入射角和第二出射面上的出射角均为(90°-α12)，第三探测光束在第三入射面的入射角和第三出射面上的出射角均为(90°-α13)，第四探测光束在第四入射面的入射角和第四出射面上的出射角均为(90°-α14)。使得第一探测光束到第四探测光束在经过V型折射棱镜1300前后具有相同的传播方向，有利于后续光路整形的设计便利性。
可选地，第一光发射模块810对应的虚像810’、第二光发射模块820对应的虚像820’、第三光发射模块830对应的虚像830’和第四光发射模块840对应的虚像840’在传播方向(图13B所示的竖直方向)上的位置相同。示例性地，可以通过调整第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840中的一个或多个在传播方向上的位置，使虚像810’、虚像820’、虚像830’和虚像840’在传播方向上的位置相同，从而减少像散的干扰。
上述内容依次介绍了V型折射棱镜1100、V型折射棱镜1200和V型折射棱镜1300，本申请还示出了第一探测光束到第四探测光束在接收端上光斑的相对位置，示例性地展示V型折射棱镜1100、V型折射棱镜1200或V型折射棱镜1300对第一探测光束到第四探测光束的合束作用。
请参阅图14，图14用于展示第一光发射模块810到第四光发射模块840为上述图1所示的激光器10的情况下，第一探测光束到第四探测光束在接收端上光斑的相对位置。如图14所示，接收端20包括的光斑101、光斑102、光斑103和光斑104在第一方向上均呈现非错位排布。其中，光斑101是第一探测光束在接收端20上形成的光斑，光斑102是第二探测光束在接收端20上形成的光斑，光斑103是第三探测光束在接收端20上形成的光斑，光斑104是第四探测光束在接收端20上形成的光斑。
继续参见图14，第一探测光束到第四探测光束未经过V型折射棱镜1100(1200或1300)的情况下，光斑101、光斑102、光斑103和光斑104在接收端20上的间距为d1(如图14中的(a)所示)。在第一探测光束到第四探测光束经过V型折射棱镜1100(1200或1300)的情况下，光斑101、光斑102、光斑103和光斑104在接收端20上的间距为d2(如图14中的(b)或(c)所示)。或者光斑101、光斑102、光斑103和光斑104为相互重叠(如图14中的(c)所示)。
可以理解的是，第一光发射模块810到第四光发射模块840中发光单元11在第一方向上还可以是错位排布的，以及第一光发射模块810、第二光发射模块820、第三光发射模块830和第四光发射模块840还可以是上述图2或图3所示的激光器10。为了减少内容的累赘，这里不再一一描述。
如上述图14所示，在第一探测光束到第四探测光束经过V型折射棱镜1100(1200或1300)的情况下，光斑101、光斑102、光斑103和光斑104相互之间具有更小的间距，实现降低发光区整体线宽的效果，使得第一探测光束到第四探测光束组成的探测光束具有更高的功率密度和更好的均匀性，其中，高功率密度的激光光束能够提升探测器的测远性能和探测器的小型化设计，高均匀性的激光光束能够应用于高分辨率的探测器中，从而拓展激光光束的应用范围。此外，申请提供的方案未改变第一光发射模块810到第四光发射模块840的实际间距，避免了减少实际间距引起的散热问题，进而能够让发射系统全功率的发射激光光束。
下面继续介绍本申请实施例提供的另一种光学模组。
请参阅图15A和图15B，V型折射棱镜1500包括棱镜P1、棱镜P2、棱镜P3和棱镜P4。为了便于描述，以图15A的视角为例，将棱镜P1和棱镜P4图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左上方的一面称为第一侧面，图示右上方的一面称为第二侧面，图示右下方的一面称为第三侧面，图示左下方的一面称为第四侧面。将棱镜P2和棱镜P3图示前方的一面称为第一主面，图示后方的一面称为第二主面，图示左方的一面称为第一侧面，图示上方的一面称为第二侧面，图示右方的一面称为第三侧面，图示下方的一面称为第四侧面。其中，棱镜P1的第二侧面又称为第三出射面，棱镜P1的第四侧面又称为第三入射面，棱镜P2的第二侧面又称为第一出射面，棱镜P2的第四侧面又称为第一入射面，棱镜P3的第二侧面又称为第二出射面，棱镜P3的第四侧面又称为第二入射面，棱镜P4的第一侧面又称为第四出射面，棱镜P4的第三侧面又称为第四入射面。其中，棱镜P1的第三侧面与棱镜P2的第一侧面相贴合，棱镜P2的第三侧面与棱镜P3的第一侧面相贴合，棱镜P3的第三侧面与棱镜P4的第四侧面相贴合。
结合图15A和图15B，V型折射棱镜1500中包括的各个面之间存在以下关系：第一入射面与第一出射面平行，第二入射面与第二出射面平行，第三入射面与第三出射面平行，第四入射面与第四出射面平行。第一出射面、第二出射面、第三出射面、第四出射面与光束传播方向(图15B所示的竖直方向)的夹角依次为α15、α16、α15和α16，其中，α15和α16的取值范围为(0°，90°)，例如，α15＝30°，α16＝30°。关于α15和α16之间的关系本申请不做限定，例如α15等于α16。第一入射面与第一出射面的间距、第二入射面与第二出射面的间距、第三入射面与第三出射面的间距以及第四入射面与第四出射面的间距均为L17，L17大于0。
可选地，棱镜P1、棱镜P2、棱镜P3与棱镜P4之间也可以存在一定的空气间隙。
本申请对V型折射棱镜1500中其它平面的相对位置关系不做限定，例如，棱镜P1的第一主面、棱镜P1的第二主面、棱镜P1的第一侧面或棱镜P1的第三侧面可以与第三出射面或者第三入射面相互垂直。再例如，棱镜P2的第一主面、棱镜P2的第二主面、棱镜P2的第一侧面或棱镜P2的第三侧面可以与第一出射面或者第一入射面相互垂直。
可选地，V型折射棱镜1500的两边包括第一折射边和第二折射边，关于第一折射边和第二折射边的介绍以及可能的有益效果，可以参考上述V型折射棱镜1200的相关描述，这里不再赘述。
棱镜P1所使用材料的折射率n1大于棱镜P2所使用材料的折射率n2，棱镜P4所使用材料的折射率n4大于棱镜P4所使用材料的折射率n3。且目标棱镜对探测光束的折射程度满足以下关系， 其中，L为目标棱镜的厚度，α为目标棱镜与光束传播方向的夹角，N为目标棱镜所使用材料的折射率与空气折射率的比值。结合上述描述，V型折射棱镜1500中的棱镜P1、棱镜P2、棱镜P3和棱镜P4对应的L和α均相同，且棱镜P1所使用材料的折射率n1大于棱镜P2所使用材料的折射率n2，棱镜P4所使用材料的折射率n4大于棱镜P4所使用材料的折射率n3，使得棱镜P1对光束的折射程度大于棱镜P2，棱镜P4对光束的折射程度大于棱镜P3。
下面对包括图15A所示的V型折射棱镜1500的发射系统进行介绍。
请参阅图15B所示的发射系统，关于图15B发射系统的介绍可以参考前述图11D所示发射系统的描述，这里不再赘述。从图15B中可以看出，在第一方向上(图15B中水平方向)，经过V型折射棱镜1500前的第一探测光束与第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d1、d3和d5，经过V型折射棱镜1300后的第一探测光束和第二探测光束的间隔、第一探测光束与第三探测光束的间隔、第二探测光束与第四探测光束的间隔依次为d2、d4和d6，且d1小于d2，d3小于d4，d5小于d6。
关于图15A所示V型折射棱镜1500对第一探测光束到第四探测光束的合束作用的介绍，可以参考上述图14的描述，这里不再赘述。显然，图15A所示的V型折射棱镜1500能够对第一探测光束到第四探测光束进行合束，使得第一探测光束到第四探测光束组成的探测光束具有更高的功率密度和更好的均匀性，其中，高功率密度的激光光束能够提升探测器的测远性能和探测器的小型化设计，高均匀性的激光光束能够应用于高分辨率的探测器中，从而拓展激光光束的应用范围。此外，图15A所示V型折射棱镜1500，无需改变第一光发射模块810到第四光发射模块840的实际间距，避免了减少实际间距引起的散热问题，进而能够让发射系统全功率的发射激光光束。
可选地，关于V型折射棱镜1500其它可能的设计以及对应的有益效果，可以结合前述V型折射棱镜800、V型折射棱镜900、V型折射棱镜1100、V型折射棱镜1200或V型折射棱镜1300的描述，这里不再一一赘述。
在一种可能的实施方式中，前述激光器10包含以下一种或者多种光源：VCSEL、PCSEL、EEL、LD、DFB-LD、GCSR-LD、MOEMS-LD等。
本申请还提供一种激光雷达，激光雷达包括前述的发射系统，用于发射探测光束，例如图8D所示的发射系统、图9B所示的发射系统、图11D所示的发射系统、图12I所示的发射系统、图13B所示的发射系统或图15B所示的发射系统。
可选的，激光雷达还包括探测系统。探测系统用于接收经过物体反射的探测光束，以得到物空间中的目标的相关信息。其中，目标的相关信息包括目标的距离、位置、角度、坐标、反射率、反射强度、颜色、或速度等中的一项或者多项。
本申请实施例还提供一种终端，所述终端包括前述V型折射棱镜800(900、1100、1200、1300或1500)，或者包括前述的发射系统，或者包括前述的激光雷达。
可选地，终端可以为车辆、无人机、机器人等智能终端或运输工具，或者，终端还可以为工业设备。应理解，本申请涉及的终端可以包括车辆、机器人、无人机、船舶、轮船等智能终端或交通工具。其中，该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)等。再如，机器人可以为智能搬运机器人(automated guided vehicle，AGV)、可行走会话机器人、服务机器人等机器人。工业设备例如工业机器人、机械臂等。休闲娱乐设备例如虚拟现实(virtual reality，VR)设备、混合现实(mixed reality，MR)设备、或4D影院座舱等。
可选地，激光雷达可以的安装位置有多种可能的实现，例如安装在车辆的仪表盘的平台上，或者安装在座舱顶部，或者还可以及安装在车辆头部、车辆侧面、或车辆尾部等中的一个或者多个部位。
在本申请的描述中，术语“中心”、“上”、“下”、“垂直”、“水平”、“左”、“右”“内”、“外”、“侧”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。应理解，本申请部分实施例中所提到的Z方向、Y方向、X方向等，是以XYZ直角坐标系作为参考从而便于描述本方案中特征，并不指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作。
本申请实施例中，“示例性地”或者“例如”等词用于表示作例子、例证或说明。本申请中被描述为“示例性地”或者“例如”的任何实施例或设计方案不应被解释为比其他实施例或设计方案更优选或更具优势。确切而言，使用“示例性地”或者“例如”等词旨在以具体方式呈现相关概念。
本申请中实施例提到的“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a、b、或c中的至少一项(个)，可以表示：a、b、c、(a和b)、(a和c)、(b和c)、或(a和b和c)，其中a、b、c可以是单个，也可以是多个。“和/或”，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，其中A、B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。
以及，除非有相反的说明，本申请实施例使用“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。

Claims (24)

  1. 一种发射系统，其特征在于，所述发射系统包括第一光发射模块、第二光发射模块和光学模组，所述第一光发射模块和所述第二光发射模块分别用于发射第一探测光束和第二探测光束；
    在第一方向上，所述第一光发射模块与所述第二光发射模块存在第一间隔，所述光学模组设置于所述第一探测光束和所述第二探测光束的传播方向，所述光学模组包括V型折射棱镜，所述V型折射棱镜的两边分别用于对所述第一探测光束和所述第二探测光束进行折射，所述第一探测光束或所述第二探测光束在所述V型折射棱镜上的入射角和折射角相等；
    经过所述V型折射棱镜后的所述第一探测光束与经过所述V型折射棱镜后的所述第二探测光束的间隔小于所述第一间隔。
  2. 根据权利要求1所述的系统，其特征在于，所述V型折射棱镜在第一平面的截面沿所述传播方向轴对称，所述第一平面为所述第一方向与所述传播方向形成的平面。
  3. 根据权利要求1或2所述的系统，其特征在于，所述V型折射棱镜的两边包括第一折射边和第二折射边；
    所述第一折射边包括第一入射面和第一出射面，所述第一入射面和第一出射面沿第二方向相对设置；
    所述第二折射边包括第二入射面和第二出射面，所述第二入射面和第二出射面沿第三方向相对设置；
    所述第二方向、所述第三方向和所述传播方向互不相同。
  4. 根据权利要求3所述的系统，其特征在于，所述第一入射面与所述第一出射面平行，所述第二入射面与所述第二出射面平行。
  5. 根据权利要求3或4所述的系统，其特征在于，
    所述第一折射边与所述第二折射边形成的开口方向与所述传播方向相同；
    所述第一折射边与所述传播方向的夹角范围在0°到90°之间，和/或，
    所述第二折射边与所述传播方向的夹角范围在0°到90°之间。
  6. 根据权利要求3-5任一项所述的系统，其特征在于，
    所述第一探测光束依次经过所述第一入射面和所述第一出射面，并被所述第一入射面和所述第一出射面折射，
    所述第二探测光束依次经过所述第二入射面和所述第二出射面，并被所述第二入射面和所述第二出射面折射。
  7. 根据权利要求1-6任一项所述的系统，其特征在于，
    所述第一光发射模块发射的所述第一探测光束与所述第二光发射模块发射的所述第二探测光束平行，经过所述V型折射棱镜后的所述第一探测光束与经过所述V型折射棱镜后的所述第二探测光束平行。
  8. 根据权利要求1-7任一项所述的系统，其特征在于，所述第一光发射模块和第二光发射模块为垂直腔面发射激光器VCSEL。
  9. 根据权利要求1-8任一项所述的系统，其特征在于，所述第一光发射模块包括多个第一发光孔，所述第二光发射模块包括多个第二发光孔；所述多个第一发光孔与所述多个第二发光孔沿第四方向错位排布，所述第四方向与所述传播方向垂直，且所述第四方向与所述第一方向不同。
  10. 根据权利要求9所述的系统，其特征在于，所述多个第一发光孔和所述多个第二发光孔，沿所述第四方向以多列的形式排列；多列所述第一发光孔在所述第四方向上交错，多列所述第二发光孔在所述第四方向交错。
  11. 根据权利要求3-6任一项所述的系统，其特征在于，所述发射系统还包括第三光发射模块和第四光发射模块，所述第三光发射模块和所述第四光发射模块分别用于发射第三探测光束和第四探测光束；
    在所述第一方向上，所述第三光发射模块、所述第一光发射模块、所述第二光发射模块与所述第四光发射模块依次排列，所述第三光发射模块与所述第一光发射模块存在第二间隔，所述第二光发射模块与所述第四光发射模块存在第三间隔；
    所述V型折射棱镜的两边分别还用于对所述第三探测光束和所述第四探测光束进行折射，所述第三探测光束或所述第四探测光束在所述V型折射棱镜上的入射角和折射角相等；
    经过所述V型折射棱镜后的所述第三探测光束与经过所述V型折射棱镜后所述第一探测光束的间隔小于所述第二间隔，经过所述V型折射棱镜后的所述第四探测光束与经过所述V型折射棱镜后所述第二探测光束的间隔小于所述第三间隔。
  12. 根据权利要求11所述的系统，其特征在于，
    所述第一折射边还包括第三入射面和第三出射面，所述第三入射面和所述第三出射面沿第五方向相对设置；
    所述第二折射边还包括第四入射面和第四出射面，所述第四入射面和所述第四出射面沿第六方向相对设置；
    所述第五方向、所述第六方向和所述传播方向互不相同。
  13. 根据权利要求12所述的系统，其特征在于，所述第三入射面与所述第三出射面平行，所述第四入射面与所述第四出射面平行。
  14. 根据权利要求12或13所述的系统，其特征在于，
    所述第三探测光束依次经过所述第三入射面和所述第三出射面，并被所述第三入射面和所述第三出射面折射，
    所述第四探测光束依次经过所述第四入射面和所述第四出射面，并被所述第四入射面和所述第四出射面折射。
  15. 根据权利要求12-14任一项所述的系统，其特征在于，
    所述第五方向与所述传播方向的夹角大于所述第二方向与所述传播方向的夹角，或者，
    所述第五方向与所述第二方向平行，所述第三入射面与所述第三出射面在所述第五方向的间隔大于所述第一入射面与所述第一出射面在所述第二方向的间隔。
  16. 根据权利要求12-15任一项所述的系统，其特征在于，所述第三入射面与所述第三出射面之间材料的折射率大于所述第一入射面与所述第一出射面之间材料的折射率。
  17. 根据权利要求12-14任一项所述的系统，其特征在于，
    所述第六方向与所述传播方向的夹角大于所述第三方向与所述传播方向的夹角，或者，
    所述第六方向与所述第三方向平行，所述第四入射面与所述第四出射面在所述第六方向的间隔大于所述第二入射面与所述第二出射面在所述第三方向的间隔。
  18. 根据权利要求12-14或权利要求17任一项所述的系统，其特征在于，所述第四入射面与所述第四出射面之间材料的折射率大于所述第二入射面与所述第二出射面之间材料的折射率。
  19. 根据权利要求11-18任一项所述的系统，其特征在于，所述第一光发射模块发射的所述第一探测光束、所述第二光发射模块发射的所述第二探测光束、所述第三光发射模块发射的所述第三探测光束和所述第四光发射模块发射的所述第四探测光束相互平行；
    经过所述V型折射棱镜后的所述第一探测光束、经过所述V型折射棱镜后的所述第二探测光束、经过所述V型折射棱镜后的所述第三探测光束和经过所述V型折射棱镜后的所述第四探测光束相互平行。
  20. 根据权利要求1-19任一项所述的发射系统，其特征在于，光学模组的材料包括石英玻璃、硼硅玻璃和蓝宝石玻璃中的一项或多项。
  21. 一种探测装置，其特征在于，所述探测装置包括发射系统和接收系统；
    其中，所述发射系统用于发射光束，所述接收系统用于接收被物体反射的所述光束；所述发射系统如权利要求1-20任一项所述的发射系统。
  22. 一种雷达，其特征在于，所述雷达包括权利要求1-20中任一项所述的发射系统，或者，权利要求21所述的探测装置。
  23. 一种终端设备，其特征在于，所述终端设备包括权利要求1-20中任一项所述的发射系统，或者，权利要求21所述的探测装置，或者，权利要求22所述的雷达。
  24. 一种车辆，其特征在于，所述车辆包括权利要求1-20中任一项所述的发射系统，或者，权利要求21所述的探测装置，或者，权利要求22所述的雷达，或者，权利要求23所述的终端设备。
PCT/CN2025/084803 2024-03-29 2025-03-25 一种发射系统、雷达及终端 Pending WO2025201348A1 (zh)

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