An infrared emission module and module for wide-angle time-of-flight optical ranging

Abstract

The invention discloses an infrared emitting module for wide-angle time-of-flight optical ranging, comprising a base, a substrate, a vertical cavity surface emitting laser (VCSEL) chip and a wide-angle beam expanding lens system, wherein the wide-angle beam expanding lens system is composed of at least one lens, wherein at least one lens in the wide-angle beam expanding lens system is a concave lens with a concave middle portion, wherein one of the curved surface profiles of the concave lens is concave in the middle portion and gradually extends outward in an arc-shaped slope shape and is located on the other side of the corresponding surface of the light-emitting surface of the vertical cavity surface emitting laser (VCSEL) chip, wherein the wide-angle beam expanding lens system has a light beam expansion full angle between 60° and 150°, wherein the invention has a simple structure, realizes uniform light distribution at a large angle, expands the light beam angle to between 60° and 150°, and greatly improves the optical efficiency, and furthermore, the invention provides an infrared emitting module for wide-angle time-of-flight optical ranging, wherein a 3D image with a large field of view can be obtained through a wide-angle receiver component.

Description

Technical Field

[0001] The present invention relates to the technical field of time-of-flight TOF sensing, and in particular to an infrared emission module and a module thereof for wide-angle time-of-flight optical ranging. Background Art

[0002] Time of flight sensing technology (English name: Time of Fly, referred to as: TOF) is an important image sensing technology at present. It continuously sends light pulses to the target, then uses the sensor to receive the light returned from the object, and obtains the distance of the target object by detecting the round-trip flight time of these emitted and received light pulses. TOF sensing technology has promoted the application of 3D cameras in the new generation of mobile devices, and will promote the rapid growth of the 3D image sensing application market in the next few years. Time of flight sensing technology uses infrared light source to directly measure the depth and amplitude information in each pixel, emits modulated infrared light to the entire scene, and captures the reflected light of the object through the TOF imager. By calculating the difference between the emitted light pulse and the received light pulse, or the phase difference and amplitude value of the optical signal, highly reliable distance information and a 3D image of the complete scene can be obtained.

[0003] Time-of-flight sensing technology has a wide range of applications in many fields, such as proximity sensors for smartphones, face recognition, gesture recognition, vehicle-mounted approach warning sensors, Lidar, ground proximity radar for drones, large flower proximity radar for indoor drones, AT depth sensors for robots, wall cleaning and obstacle avoidance sensors for robot vacuum cleaners, smart shelves, etc.

[0004] Early TOF sensors were basically single-light source, and their light source was an infrared laser diode with a wavelength of 940nm or 850nm. Its disadvantages are relatively low power and usually a small detection angle, generally 20 to 30 degrees. In recent years, with the maturity of VCSEL vertical cavity surface emitting laser array technology and the further improvement of emission power, the illumination light source of TOF sensors has gradually evolved into a VCSEL array light source, further increasing the detection distance and the detection angle. For example, the TOF technology with patent number US20150229912A1 published by Microsoft Corporation in 2015.

[0005] The emitting component in the patent uses a diffuser (diffuser 421) for uniform illumination and beam expansion, which diffuses the infrared laser with a small angle emitted by the VCSEL vertical cavity surface emitting laser array to form a relatively uniform emission light with a large angle, and irradiates it onto the object to be measured. However, since the infrared light is emitted in a disorderly manner after passing through the diffuser, the loss is relatively large, and the transmittance is generally low, generally only reaching 60%-70%, resulting in a relatively low radiation irradiated to the object to be measured.

[0006] In addition, the receiver component of the patent detects the 3D depth information of the object being measured through a convex lens 424, a bandpass filter BPF, and a depth image sensor. Since the field of view of a single convex lens is generally small, it can generally only form a relatively clear 3D image within 40 degrees. Therefore, the sensor module of this type described in patent US20150229912A1 has the problem of small field of view and low optical efficiency.

[0007] The current and future new generation of smartphones generally use three or more cameras, one of which is a TOF 3D camera, which is used together with the other two visible light cameras. Since one of the development trends of smartphone cameras is wide-angle and fisheye lenses, the field of view of the camera exceeds 90°, and some fisheye cameras even shoot a field of view of more than 140°. For this development trend of smartphones, the existing TOF 3D cameras with a smaller field of view can no longer meet the demand because they do not match the shooting range of other wide-angle visible light cameras. It is urgent to develop TOF 3D cameras with a larger field of view. Summary of the invention

[0008] The purpose of the present invention is to overcome the above-mentioned defects in the prior art and provide an infrared transmitting module for wide-angle time-of-flight optical ranging, which has a simple structure and can achieve uniform light distribution at a large angle, and expand the light beam angle to between 60° and 150°, thereby greatly improving the optical efficiency. In addition, the present invention also provides an infrared transmitting module for wide-angle time-of-flight optical ranging, which can obtain a 3D image with a large field of view through a wide-angle receiver component.

[0009] To achieve the above-mentioned purpose, the present invention provides an infrared emission module for wide-angle time-of-flight optical ranging, comprising a base, the base being equipped with a substrate, a vertical cavity surface emitting laser (VCSEL) chip mounted on the substrate, and a wide-angle beam expanding lens system mounted inside the base and expanding the angle of a light beam emitted by the vertical cavity surface emitting laser (VCSEL) chip. The wide-angle beam expanding lens system is composed of at least one lens, at least one lens in the wide-angle beam expanding lens system is a concave lens with a concave middle, one of the curved surface profiles of the concave lens is concave in the middle and gradually extends outward in an arc-shaped slope and is located on the other side of the corresponding surface of the light-emitting surface of the vertical cavity surface emitting laser (VCSEL) chip, and the full angle of light beam expansion of the wide-angle beam expanding lens system is between 60° and 150°.

[0010] Preferably, the maximum light expansion angle at the edge of the concave lens is greater than 1.25 times the angle of the light beam incident on the lens.

[0011] Preferably, the vertical cavity surface emitting laser VCSEL chip is a multi-chip VCSEL array laser emitting tube or a single-chip laser emitting tube, and the wavelength of light emitted by the vertical cavity surface emitting laser VCSEL chip is between 700nm and 5000nm or in the visible light band.

[0012] Preferably, the bottom conductive electrode of the vertical cavity surface emitting laser (VCSEL) chip is bonded and connected to the conductive electrode on the substrate through conductive glue, and the surface conductive electrode of the vertical cavity surface emitting laser (VCSEL) chip is welded and connected to another conductive electrode on the substrate through a conductive lead. When the vertical cavity surface emitting laser (VCSEL) chip is working and lit, it is powered by the two conductive electrodes on the substrate.

[0013] Preferably, the lens of the wide-angle beam expander lens system is made of an optically transparent resin material component, an optically transparent silicone material component, a glass material component or a photosensitive shadowless adhesive material component;

[0014] The optical refractive index of the lens material of the wide-angle beam expanding lens system is between 1.30 and 1.75 in the 940nm band.

[0015] Preferably, the base is a component made of polyphthalamide (PPA) material or polyimide resin (PI) material, and one of the lenses of the wide-angle beam expander lens system and the base are integrally formed of two materials, or the lens of the wide-angle beam expander lens system and the base are fixedly connected by adhesive.

[0016] Preferably, one of the lenses of the wide-angle beam expanding lens system is an integral structure with the base made of the same material, the lens material is transparent liquid silicone or high-temperature resistant transparent resin, the glass transition temperature of the high-temperature resistant transparent resin is between 200-300°C, and the optical refractive index is between 1.30-1.75 in the 940nm band.

[0017] Preferably, the lens surface of the wide-angle beam expanding lens system is coated with an optical anti-reflection film or a band-pass filter optical film that is transparent to the near-infrared band, or the lens material is doped with a dye material that is transparent to the infrared band.

[0018] Preferably, the vertical cavity surface emitting laser (VCSEL) chip is formed by arranging a plurality of point-shaped surface emitting vertical cavity lasers in a staggered arrangement, a hexagonal arrangement, a quadrilateral arrangement or a random scattered arrangement.

[0019] Preferably, the vertical cavity surface emitting laser (VCSEL) chip has a full angle of emission of between 15° and 90°.

[0020] Preferably, the wide-angle beam expander lens system is a first wide-angle beam expander lens system composed of two concave lenses, the first wide-angle beam expander lens system includes a first lens, a second lens installed above the first lens, the first lens has a first concave surface of the first lens and a second concave surface of the first lens, the second lens has a first concave surface of the second lens and a second concave surface of the second lens, the second concave surface of the second lens is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope.

[0021] Preferably, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip undergoes a first expansion through a first lens, and the maximum beam angle after the first expansion is 2βmax, and the range is 30°≤2βmax≤75°. The light beam is expanded for a second time through a second lens, and the full beam angle of the output light beam after the second expansion is 2θmax, and the range is 60°≤2θmax≤150°.

[0022] Preferably, the first concave surface of the first lens is a spherical surface, and the light CC II The angle between the light ray CC and the optical axis OZ is γ. II After passing through the first concave surface of the first lens, the refracted light C II C III The angle between the light and the optical axis OZ remains unchanged, which is γ. After the light is refracted again by the second concave surface of the first lens, the outgoing light C III C IV The light distribution angle is β, and the edge light E II E III After being refracted by the second concave surface of the first lens, the outgoing light E III E IV The light distribution angle is the maximum light distribution angle βmax of the first lens, the maximum light distribution angle βmax of the first lens is 15°, and the second concave surface of the first lens satisfies the light distribution condition:

[0023] Preferably, the second concave edge light E of the second lens IV E V After being refracted by the second concave surface of the first concave lens, the angle between the outgoing light and the optical axis OZ is θ max , any other ray C IV C V After being refracted by the second concave surface of the second lens, the angle between the outgoing light and OZ is θ, and the second concave surface of the second lens satisfies the light distribution condition:

[0024] Preferably, the wide-angle beam expanding lens system is a second wide-angle beam expanding lens system composed of two concave lenses and one surface of which is a Fresnel lens, a second silicone is installed between the second wide-angle beam expanding lens system and the vertical cavity surface emitting laser VCSEL chip, the second wide-angle beam expanding lens system includes a third lens, a fourth lens installed above the third lens, the third lens has a first concave surface of the third lens and a second concave surface of the third lens, the fourth lens has a first concave surface of the fourth lens and a second concave surface of the fourth lens, the second concave surface of the fourth lens is segmented and the inclined surface of each small segment is flattened on the same plane to form a sawtooth Fresnel surface, and the second concave surface of the third lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

[0025] Preferably, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip undergoes a first expansion through a third lens, and the maximum beam angle after the first expansion is 2βmax, and the range is 30°≤2βmax≤75°. The light beam is then expanded for a second time through a fourth lens, and the full beam angle of the output light beam after the second expansion is 2θmax, and the range is 60°≤2θmax≤150°.

[0026] Preferably, the wide-angle beam expanding lens system is a third wide-angle beam expanding lens system composed of a concave lens and a free-form surface concave lens, the third wide-angle beam expanding lens system includes a fifth lens, a sixth lens installed above the fifth lens, the fifth lens has a first concave surface of the fifth lens and a second concave surface of the fifth lens, the sixth lens has a first concave surface of the sixth lens and a second concave surface of the sixth lens, the second concave surface of the sixth lens is a free-form surface light distribution lens that is asymmetrically distributed in the transverse direction of the X-axis and the longitudinal direction of the Y-axis, the free-form surface light distribution lens has a larger transverse light distribution angle along the X-axis and a relatively thick thickness, a smaller light distribution angle along the longitudinal direction of the Y-axis and a relatively thin thickness, and the second concave surface of the fifth lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

[0027] Preferably, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip undergoes a first expansion through a fifth lens, and the maximum full angle of the light beam after the first expansion is 2βmax, and the range is 30°≤2βmax≤75°. The light beam is expanded for a second time through a sixth lens, and the full angle of the light beam output along the X-axis direction after the second expansion is 2θmax, and the range is 60°≤2θmax≤150°. The full angle of the light beam output along the Y-axis direction is 2θ'max, and the range is 60°≤2θ'max≤150°.

[0028] Preferably, the wide-angle beam expanding lens system is a fourth wide-angle beam expanding lens system composed of two concave lenses at least one of which is set to be partially frosted or the entire surface is frosted. The fourth wide-angle beam expanding lens system includes a seventh lens, an eighth lens installed above the seventh lens, the seventh lens has a first concave surface of the seventh lens and a second concave surface of the seventh lens, the eighth lens has a first concave surface of the eighth lens and a second concave surface of the eighth lens, at least one of the mirror surfaces of the seventh lens and the eighth lens is set to be partially frosted or the entire surface is frosted, and the second concave surface of the eighth lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

[0029] Preferably, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip undergoes a first expansion through the seventh lens, and the maximum beam angle after the first expansion is 2βmax, and the range is 30°≤2βmax≤75°. The light beam is expanded for a second time through the eighth lens, and the full beam angle of the output light beam after the second expansion is 2θmax, and the range is 60°≤2θmax≤150°.

[0030] Preferably, the wide-angle beam expanding lens system is a fifth wide-angle beam expanding lens system composed of three lenses, the fifth wide-angle beam expanding lens system includes a ninth lens, a tenth lens installed above the ninth lens, and an eleventh lens installed above the tenth lens, the ninth lens is a double-sided concave lens with negative refractive power, the tenth lens is a concave-convex lens, the tenth lens has a first concave surface of the tenth lens and a second convex surface of the tenth lens, and has refractive power, the eleventh lens is a concave lens, the eleventh lens has a first concave surface of the eleventh lens and a second concave surface of the eleventh lens, and has negative refractive power, the second concave surface of the eleventh lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip is expanded by the fifth wide-angle beam expanding lens system, and the full angle of the beam angle of the output light beam after expansion is 2θmax, and the 60°≤2θmax≤150°.

[0031] Preferably, the wide-angle beam expander lens system is a sixth wide-angle beam expander lens system composed of four lenses, the sixth wide-angle beam expander lens system includes a twelfth lens, a thirteenth lens installed above the twelfth lens, a fourteenth lens installed above the thirteenth lens, and a fifteenth lens installed above the fourteenth lens, the twelfth lens is a double-sided concave lens with negative refractive power, the thirteenth lens is a meniscus lens, the thirteenth lens has a first concave surface of the thirteenth lens and a second convex surface of the thirteenth lens, and has refractive power, the fourteenth lens is a meniscus lens, and the The fourteenth lens has a first concave surface of the fourteenth lens and a second convex surface of the fourteenth lens, and has refractive power. The fifteenth lens is a concave lens. The fifteenth lens has a first concave surface of the fourteenth lens and a second convex surface of the fifteenth lens, and has negative refractive power. The second concave surface of the fifteenth lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope. The light beam emitted by the vertical cavity surface emitting laser VCSEL chip is expanded by a sixth wide-angle expansion lens system, and the full angle of the beam angle of the output light beam after expansion is 2θmax, and the 60°≤2θmax≤150°.

[0032] Preferably, the wide-angle beam expanding lens system is a seventh wide-angle beam expanding lens system composed of a piece of lens, the seventh wide-angle beam expanding lens system includes a sixteenth lens, the sixteenth lens is a double concave lens with negative refractive power, the sixteenth lens has a first concave surface of the sixteenth lens and a second concave surface of the sixteenth lens, the second concave surface of the sixteenth lens is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip is expanded by the seventh wide-angle beam expanding lens system, and the full angle of the beam angle of the output light beam after expansion is 2θmax, and the 60°≤2θmax≤150°.

[0033] Preferably, the lens surface of the wide-angle beam expander lens system is a mirror surface, or a scale surface or a microstructure texture surface having a light mixing effect.

[0034] The present invention also provides an infrared transmitting module for wide-angle time-of-flight optical ranging, including an infrared transmitting module for wide-angle time-of-flight optical ranging, a wide-angle receiver assembly is installed on one side of the base, the wide-angle receiver assembly includes an optical imaging system, a time-of-flight imager for receiving light signals installed below the optical imaging system, and the time-of-flight imager outputs image information after processing.

[0035] Preferably, the time-of-flight imager is mounted on a substrate or on another separate substrate.

[0036] Preferably, the optical imaging system is a first optical imaging system composed of two optical lenses, the first optical imaging system includes a first wide-angle concave lens, a first spacer, a first aperture stop, a second spacer and a first convex lens arranged in sequence from the object side to the image side, the first wide-angle concave lens is made of a low refractive index, high dispersion coefficient material, and its refractive index nd is less than 1.58, and its Abbe coefficient vd is greater than 50; the first convex lens is made of a high refractive index, low dispersion coefficient material, and its refractive index nd is greater than 1.6, and its Abbe coefficient vd is less than 30; the receiving angle of the first optical imaging system is 2ψmax.

[0037] Preferably, the optical imaging system is a second optical imaging system composed of three optical lenses, the second optical imaging system includes a second wide-angle concave lens, a third spacer, a second aperture stop, a second convex lens and a semi-meniscus lens arranged in sequence from the object side to the image side, the second wide-angle concave lens is made of a high refractive index, low dispersion coefficient material, and its refractive index nd>1.6, and Abbe coefficient vd<30; the second convex lens is made of a low refractive index, high dispersion coefficient material, and its refractive index nd<1.58, and Abbe coefficient vd>50; the semi-meniscus lens is made of a high refractive index, low dispersion coefficient material, and its refractive index nd>1.6, and Abbe coefficient vd<30; the receiving angle of the second optical imaging system is 2ψmax.

[0038] Preferably, one of the surfaces of one of the lenses of the first optical imaging system and the second optical imaging system is coated with an infrared bandpass filter film that passes infrared and blocks visible light, or a separate lower lens is used as an infrared bandpass filter that passes infrared and blocks visible light, or an infrared bandpass filter film that passes infrared and blocks visible light is coated on the module protective glass.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention is provided with a base, the base is provided with a substrate, a vertical cavity surface emitting laser (VCSEL) chip provided on the substrate, and a wide-angle beam expanding lens system provided inside the base and expanding the angle of a light beam emitted by the vertical cavity surface emitting laser (VCSEL) chip. The wide-angle beam expanding lens system is composed of at least one lens, at least one lens in the wide-angle beam expanding lens system is a concave lens with a concave middle, one of the curved surface profiles of the concave lens is concave in the middle and gradually extends outward in an arc-shaped slope and is located on the other side of the corresponding surface of the light-emitting surface of the vertical cavity surface emitting laser (VCSEL) chip, and the wide-angle beam expanding lens system has a full angle of light beam expansion of 60° to 150°. The present invention provides an infrared emitting module for wide-angle time-of-flight optical ranging, which has a simple structure, realizes uniform light distribution at a large angle, expands the angle of the light beam to between 60° and 150°, and greatly improves the optical efficiency. In addition, the present invention also provides an infrared emitting module for wide-angle time-of-flight optical ranging, and a 3D image with a large field of view can be obtained through a wide-angle receiver component. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a schematic diagram of the TOF sensor technology of patent US20150229912A1;

[0043] Figure 2 is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to Embodiment 1 of the present invention;

[0044] Figure 3 This is a schematic diagram of the transmission and receiving structure of a wide-angle time-of-flight sensor module according to the first embodiment of the present invention;

[0045] Figure 4 This is an arrangement diagram of a vertical cavity surface emitting laser VCSEL chip of an infrared emission module for wide-angle time-of-flight optical ranging according to Embodiment 1 of the present invention;

[0046] Figure 5 This is a schematic diagram of the optical path of a first wide-angle beam expander lens system of an infrared transmitting module for wide-angle time-of-flight optical ranging according to Embodiment 1 of the present invention;

[0047] Figure 6It is a relationship diagram between the light distribution angle and the emission angle of an infrared emission module for wide-angle time-of-flight optical ranging according to the first embodiment of the present invention;

[0048] Figure 7 This is a simulation diagram of a vertical cavity surface emitting laser VCSEL chip of an infrared emission module for wide-angle time-of-flight optical ranging provided by the first embodiment of the present invention at a distance of 0.6 meters;

[0049] Figure 8 It is a computer simulation diagram of a first wide-angle beam expander lens system of an infrared emission module for wide-angle time-of-flight optical ranging according to Embodiment 1 of the present invention;

[0050] Fig. 9 The radiance distribution diagram of a first wide-angle beam expander lens system of an infrared transmitting module for wide-angle time-of-flight optical ranging provided in Example 1 of the present invention at a distance of 0.6 meters;

[0051] Fig.10 It is a far-field angle distribution diagram of the light intensity of a first wide-angle beam expander lens system of an infrared transmitting module for wide-angle time-of-flight optical ranging provided by embodiment 1 of the present invention;

[0052] Fig.11 It is a light path diagram of a first optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging according to embodiment 1 of the present invention;

[0053] Fig.12 It is a modulation transfer function (MTF) curve of a first optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging provided in Example 1 of the present invention;

[0054] Fig.13 It is a point arrangement diagram of a first optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging according to embodiment 1 of the present invention;

[0055] Fig.14 The present invention provides a first embodiment of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging, and a field curvature and distortion of a first optical imaging system;

[0056] Fig.15 is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to a second embodiment of the present invention;

[0057] Fig.16 This is a schematic diagram of the transmission and receiving structure of an infrared transmission module for wide-angle time-of-flight optical ranging according to the second embodiment of the present invention;

[0058] Fig.17 It is a three-view drawing of the second concave surface of the sixth lens of an infrared transmitting module for wide-angle time-of-flight optical ranging provided by the third embodiment of the present invention;

[0059] Fig.18 It is a transverse cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to a third embodiment of the present invention;

[0060] Fig.19 It is a longitudinal cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to a third embodiment of the present invention;

[0061] Fig. 20 This is a schematic diagram of the lateral emission and receiving structure of an infrared emission module for wide-angle time-of-flight optical ranging according to the third embodiment of the present invention;

[0062] Fig.21 It is a schematic diagram of the longitudinal transmission and receiving structure of an infrared transmission module for wide-angle time-of-flight optical ranging according to the third embodiment of the present invention;

[0063] Fig. 22 is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to a fourth embodiment of the present invention;

[0064] Fig.23 This is a schematic diagram of the transmission and receiving structure of an infrared transmission module for wide-angle time-of-flight optical ranging according to the fourth embodiment of the present invention;

[0065] Fig.24 It is a light path diagram of a second optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging according to a fourth embodiment of the present invention;

[0066] Fig.25 It is a modulation transfer function (MTF) curve of a second optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging provided by the fourth embodiment of the present invention;

[0067] Fig.26 It is a point arrangement diagram of a second optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging according to a fourth embodiment of the present invention;

[0068] Fig. 27 The present invention provides a fourth embodiment of a field curvature and distortion of a second optical imaging system of a wide-angle receiver assembly of an infrared transmitting module for wide-angle time-of-flight optical ranging;

[0069] Fig.28is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to Embodiment 5 of the present invention;

[0070] Fig.29 is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to a sixth embodiment of the present invention;

[0071] Fig.30 It is a schematic diagram of the optical path of the seventh wide-angle beam expander lens system of an infrared transmitting module for wide-angle time-of-flight optical ranging according to the sixth embodiment of the present invention;

[0072] Fig.31 This is a relationship diagram between the light distribution angle and the emission angle of the seventh wide-angle beam expander lens system of an infrared emission module for wide-angle time-of-flight optical ranging provided by the sixth embodiment of the present invention;

[0073] Fig.32 It is a far-field angle distribution diagram of the light intensity of the seventh wide-angle beam expander lens system of an infrared emission module for wide-angle time-of-flight optical ranging provided by Example 6 of the present invention;

[0074] Fig.33 is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to Embodiment 7 provided by the present invention;

[0075] Fig.34 It is a cross-sectional view of an infrared emission module for wide-angle time-of-flight optical ranging according to Embodiment 8 provided by the present invention.

[0076] Included in the figure are:

[0077] 10-base, 1-substrate, 2-vertical cavity surface emitting laser VCSEL chip, 6-wide-angle beam expanding lens system, 9-conductive lead, 61-first wide-angle beam expanding lens system, 611-first lens, 612-second lens, 6111-first concave surface of first lens, 6112-second concave surface of first lens, 6121-first concave surface of second lens, 6122-second concave surface of second lens, 62-second wide-angle beam expanding lens system, 621-third lens, 622-fourth lens, 6211-first concave surface of third lens, 6212-second concave surface of third lens, 6221-first concave surface of fourth lens, 622 2-the second concave surface of the fourth lens, 63-the third wide-angle beam expander lens system, 631-the fifth lens, 632-the sixth lens, 6311-the first concave surface of the fifth lens, 6312-the second concave surface of the fifth lens, 6321-the first concave surface of the sixth lens, 6322-the second concave surface of the sixth lens, 64-the fourth wide-angle beam expander lens system, 641-the seventh lens, 642-the eighth lens, 6411-the first concave surface of the seventh lens, 6412-the second concave surface of the seventh lens, 6421-the first concave surface of the eighth lens, 6422-the second concave surface of the eighth lens, 65-the fifth wide-angle beam expander lens system, 651-the ninth lens, 652- The tenth lens, 653-the eleventh lens, 6521-the first concave surface of the tenth lens, 6522-the second convex surface of the tenth lens, 6531-the first concave surface of the eleventh lens, 6532-the second concave surface of the eleventh lens, 66-the sixth wide-angle beam expander lens system, 661-the twelfth lens, 662-the thirteenth lens, 663-the fourteenth lens, 664-the fifteenth lens, 6621-the first concave surface of the thirteenth lens, 6622-the second convex surface of the thirteenth lens, 6631-the first concave surface of the fourteenth lens, 6632-the second convex surface of the fourteenth lens, 6641-the first concave surface of the fifteenth lens, 6642-the fifteenth lens Two concave surfaces, 67-seventh wide-angle beam expander lens system, 671-sixteenth lens, 6711-first concave surface of the sixteenth lens, 6712-second concave surface of the sixteenth lens, 4-wide-angle receiver assembly, 7-optical imaging system, 8-time-of-flight imager, 71-first optical imaging system, 711-first wide-angle concave lens, 712-first spacer, 713-first aperture stop, 714-second spacer, 715-first convex lens, 72-second optical imaging system, 721-second wide-angle concave lens, 722-third spacer, 723-second aperture stop, 724-second convex lens, 725-semi-meniscus lens. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in this embodiment of the present invention to clearly and completely describe the technical solution in this embodiment of the present invention. Obviously, the described embodiment is one embodiment of the present invention, not all embodiments of the present invention. Based on this embodiment of the present invention, all other embodiments of the present invention obtained by ordinary technicians in this field without creative work are within the scope of the present invention.

[0079] Embodiment 1

[0080] Please refer to Figure 2 The first embodiment provides an infrared emission module for wide-angle time-of-flight optical ranging, comprising a base 10, the base 10 is provided with a substrate 1, a vertical cavity surface emitting laser VCSEL chip 2 mounted on the substrate 1, and a wide-angle beam expanding lens system 6 installed inside the base 10 and expanding the angle of a light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2. The wide-angle beam expanding lens system 6 is composed of at least one lens, at least one lens in the wide-angle beam expanding lens system 6 is a concave lens with a concave middle portion, one of the curved surface profiles of the concave lens is concave in the middle portion and gradually extends outward in an arc-shaped slope and is located on the other side of the corresponding surface of the light emitting surface of the vertical cavity surface emitting laser VCSEL chip 2, the full angle of light beam expansion of the wide-angle beam expanding lens system 6 is between 60° and 150°, and the maximum light expansion angle at the edge of the concave lens is greater than 1.25 times the angle of the light beam incident on the lens.

[0081] Please refer to Figure 3 The bottom conductive electrode of the vertical cavity surface emitting laser VCSEL chip 2 is bonded and connected to the conductive electrode on the substrate 1 through a conductive glue, and the surface conductive electrode of the vertical cavity surface emitting laser VCSEL chip 2 is welded and connected to another conductive electrode on the substrate 1 through a conductive lead 9. When the vertical cavity surface emitting laser VCSEL chip 2 is working and lighting up, it is powered by the two conductive electrodes on the substrate 1.

[0082] Please refer to Figure 3 , the lens of the wide-angle beam expanding lens system 6 is an optically transparent resin material component, an optically transparent silicone material component, a glass material component or a photosensitive shadowless adhesive material component;

[0083] The optical refractive index of the lens material of the wide-angle beam expander lens system 6 is between 1.30 and 1.75 in the 940 nm band.

[0084] Please refer to Figure 3The base 10 is a component made of polyphthalamide PPA material or polyimide resin PI material. One of the lenses of the wide-angle beam expander lens system 6 and the base 10 are formed as a double-material one-piece or the lens of the wide-angle beam expander lens system 6 is fixedly connected to the base 10 by adhesive.

[0085] Please refer to Figure 3 One of the lenses of the wide-angle beam expander lens system 6 and the base 10 are an integral structure made of the same material. The lens material is transparent liquid silicone or high-temperature resistant transparent resin. The glass transition temperature of the high-temperature resistant transparent resin is between 200-300°C, and the optical refractive index is between 1.30-1.75 in the 940nm band.

[0086] Please refer to Figure 3 The lens surface of the wide-angle beam expanding lens system 6 is coated with an optical anti-reflection film or a band-pass filter optical film that is transparent to the near-infrared band, or the lens material is doped with a dye material that is transparent to the infrared band.

[0087] Please refer to Figure 3 The lens surface of the wide-angle beam expander lens system 6 is a mirror surface or a scale surface or a microstructure texture surface with a light mixing effect.

[0088] Please refer to Figure 4 The vertical cavity surface emitting laser VCSEL chip 2 is a multi-chip VCSEL array laser emitting tube or a single-chip laser emitting tube, and the wavelength of the light emitted by the vertical cavity surface emitting laser VCSEL chip 2 is between 700nm and 5000nm or in the visible light band.

[0089] Please refer to Figure 4 The vertical cavity surface emitting laser VCSEL chip 2 is composed of a plurality of point-shaped surface emitting vertical cavity lasers arranged in a staggered arrangement, a hexagonal arrangement, a quadrilateral arrangement or a random scattered arrangement.

[0090] Please refer to Table 1. The vertical cavity surface emitting laser VCSEL array 5 has a length L of 972 μm, a width W of 680 μm, an effective emission surface length A of 479 μm, an effective emission surface width B of 575 μm, a lateral spacing Px of emission points of 52 μm, a longitudinal spacing Py of emission points of 30.5 μm, an emission point diameter φ of 11 μm, a number of emission points of 361, and a full emission angle of 24°×18°.

[0091] Table 1: Parameters of vertical cavity surface emitting laser VCSEL array 5

[0092] VCSEL length: L 972μm VCSEL width: W 680μm Effective emitting surface length A: 479μm Effective emission width B: 575μm Transverse spacing of emission points Px: 52μm The longitudinal spacing of the emission points is Py: 30.5μm Emission point diameter: φ 11μm Number of launch points: 361 Emission angle full angle: 24°×18°

[0093] Please refer to Figure 2The wide-angle beam expander lens system 6 is a first wide-angle beam expander lens system 61 composed of two concave lenses. The first wide-angle beam expander lens system 61 includes a first lens 611 and a second lens 612 installed above the first lens 611. The first lens 611 has a first lens first concave surface 6111 and a first lens second concave surface 6112. The second lens 612 has a second lens first concave surface 6121 and a second lens second concave surface 6122. The second lens second concave surface 6122 is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope. In this embodiment, the first lens second concave surface 6112 is also a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope. In this embodiment, the first wide-angle beam expander lens system 61 has two of the above curved surfaces.

[0094] Please refer to Figure 3 The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded for the first time by the first lens 611, and the maximum beam angle after the first expansion is 2βmax, and the above 30°≤2βmax≤75°. The light beam is expanded for the second time by the second lens 612, and the full angle of the beam angle of the output light beam after the second expansion is 2θmax, and the above 60°≤2θmax≤150°.

[0095] Please refer to Figure 5 The first concave surface 6111 of the first lens is a spherical surface. The vertical cavity surface emitting laser VCSEL chip 2 emits any point, and the light CC II The angle between the light ray CC and the optical axis OZ is γ. II After passing through the first concave surface 6111 of the first lens, the refracted light C II C III The angle between the light and the optical axis OZ remains unchanged, which is γ. After the light is refracted again by the second concave surface 6112 of the first lens, the outgoing light C III C IV The light distribution angle is β, and the edge light E II E III After being refracted by the second concave surface 6112 of the first lens, the outgoing light E III E IV The light distribution angle is the maximum light distribution angle βmax of the first lens 611. The maximum light distribution angle βmax of the first lens 611 is 15°. The second concave surface 6112 of the first lens satisfies the light distribution condition:

[0096] Please refer to Figure 5 , the edge light E of the second concave surface 6122 of the second lens IV E VAfter being refracted by the second concave surface 6122 of the second lens, the angle between the outgoing light and the optical axis OZ is θ max , any other ray G IV C V After being refracted by the second concave surface 6122 of the second lens, the angle between the outgoing light and OZ is θ, and the second concave surface 6122 of the second lens satisfies the light distribution condition:

[0097] Specifically, Figure 5 As shown, O is the center point of the vertical cavity surface emitting laser VCSEL chip 2, E is an emission point located at the edge of the vertical cavity surface emitting laser VCSEL chip 2, and the angle between its maximum emission angle and the optical axis OZ is γmax. In the first specific implementation scheme of this embodiment, the maximum emission angle of the emission point (emission light EE II The angle γmax with the optical axis OZ is 9°, which is the half angle of divergence in the direction of the short axis of the beam. II It is extended in the reverse direction and intersects below the optical axis OZ at point 0′, which is set as the equivalent light-emitting point of the first wide-angle beam expander lens system 61 .

[0098] In the infrared emission module for wide-angle time-of-flight optical ranging described in the first embodiment, the first concave surface 6111 of the first lens is a spherical surface, and its curvature radius R is centered at point 0′, so the light EE II After passing through the first concave surface 6111 of the first lens, the refracted light E II E III The angle with the optical axis OZ remains unchanged, which is γmax. In a specific implementation scheme of the first embodiment, the curvature radius of the first concave surface 6111 of the first lens is preferably R=1.7621435 mm.

[0099] The light distribution mode of the second concave surface 6112 of the first lens is to distribute light according to the following tangent condition. Wig C is any emission point in the effective area of ​​the vertical cavity surface emitting laser VCSEL chip 2, and the light CC II The angle between the light ray CC and the optical axis OZ is γ. II After passing through the first concave surface 6111 of the first lens, the refracted light C II C III The angle between the light and the optical axis OZ remains unchanged, which is γ. After the light is refracted again by the second concave surface 6112 of the first lens, the outgoing light C III C IV The light distribution angle is β. The edge light E II E III After being refracted by the second concave surface 6112 of the first lens, the outgoing light E III E IVThe light distribution angle is the maximum light distribution angle βmax of the first lens 611, and the maximum light distribution angle βmax of the first lens 611 is 15°. In the first embodiment of this embodiment, it is preferred that after the light emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded for the first time by the first lens 611, the light distribution angle β of any one of its emitted light rays satisfies the following tangent condition:

[0100]

[0101] The surface profile of the second concave surface 6112 of the first lens 611 is calculated point by point by numerical calculation using the above formula 2.

[0102] The second lens 612 has a first concave surface 6121 of the second lens. In the first embodiment of the present invention, the tangent line at each point is preferably perpendicular to the direction of the incident light at that point. Then, after being refracted by the first concave surface 6121 of the second lens, all the refracted light travels along the original direction, that is, E IV E V With E III E IV The propagation direction is consistent, and the angle between it and the optical axis OZ is βmax, C IV C V With C III C IV The first concave surface 6121 of the second lens can be aligned with each incident light ray C III C IV It is calculated by connecting the tangent directions of .

[0103] The light distribution mode of the second concave surface 6122 of the second lens 612 is to distribute light according to the following tangent condition. IV E V After being refracted by the second concave surface 6122 of the second lens, the angle between the outgoing light and the optical axis OZ is θ max . Any other light C IV C V After being refracted by the second concave surface 6122 of the second lens, the angle between the outgoing light and OZ is θ. In the first embodiment of this embodiment, it is preferred that after the light emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded for the second time by the second lens 612, the light distribution angle θ of any outgoing light satisfies the following tangent condition:

[0104]

[0105] The surface profile of the second lens second concave surface 6122 of the second lens 612 is calculated point by point by numerical calculation method according to the above formula 3.

[0106] The relationship between the first light distribution angle β after the first lens 611 and the second light distribution angle θ after the second lens 612 and the emission angle γ of the vertical cavity surface emitting laser VCSEL chip 2 is shown in Table 2. Figure 6 As shown. After the light emitted from the vertical cavity surface emitting laser VCSEL chip 2 passes through the first lens 611 for the first light distribution, its maximum light distribution angle is 30°≤2βmax≤75°, and then passes through the second light distribution of the second lens 612, and finally the maximum light distribution angle of the output light beam is 60°≤2θmax≤150°.

[0107] In the infrared emission module for wide-angle time-of-flight optical ranging described in the first embodiment, the beam angle of the output light beam of the light emitted from the vertical cavity surface emitting laser VCSEL chip 2 after the first light distribution by the first lens 611 and the beam angle of the output light beam after the second light distribution by the second lens 612 are increased by two times.

[0108] Table 1 shows the relationship between the light distribution angle β of the first light distribution through the first lens 611 and the light distribution angle θ of the second light distribution through the second lens 612 and the emission angle γ of the vertical cavity surface emitting laser VCSEL chip 2:

[0109]

[0110]

[0111] In the infrared emission module for wide-angle time-of-flight optical ranging described in the first embodiment, the vertical cavity surface emitting laser VCSEL chip 2 has a light spot simulation diagram of 0.6 meters away as shown in FIG. Figure 7 As shown, it is an elliptical light spot, the beam angle in the X direction is 24°, and the beam angle in the Y direction is 18°.

[0112] The computer simulation of an infrared emission module for wide-angle time-of-flight optical ranging described in the first embodiment is as follows: Figure 8 The radiance distribution at a distance of 0.6 meters is as follows Fig. 9 As shown. Since the vertical cavity surface emitting laser VCSEL chip 2 itself emits an elliptical Gaussian beam, after the light is expanded twice by the first lens 611 and the second lens 612, its irradiation spot at a distance of 0.6 meters is close to a square spot, and the coverage range is close to 2 meters. The far-field angular distribution (light distribution curve) of its light intensity is shown in Fig.10As shown, the simulation results show that the beam angle width at the half position of the peak light intensity is 154.1553505207763000°×146.1346931901400100°, and the illumination angle can meet the detection range of the wide-angle receiver component 4.

[0113] like Figure 3 As shown, the present invention also provides an infrared transmitting module for wide-angle time-of-flight optical ranging, including the above-mentioned infrared transmitting module for wide-angle time-of-flight optical ranging, a wide-angle receiver component 4 is installed on one side of the base 10, and the wide-angle receiver component 4 includes an optical imaging system 7, and a time-of-flight imager 8 for receiving light signals installed below the optical imaging system 7, and the time-of-flight imager 8 outputs image information after processing.

[0114] like Figure 3 As shown, the time-of-flight imager 8 is mounted on the substrate 1 or on another separate substrate.

[0115] like Fig.10 As shown, the wide-angle receiving component 4 includes an imaging optical system 7, and the optical imaging system 7 is a first optical imaging system 71 composed of two optical lenses. The first optical imaging system 71 includes a first wide-angle concave lens 711, a first spacer 712, a first L-diameter aperture 713, a second spacer 714 and a first convex lens 715 arranged in sequence from the object side to the image side. The first wide-angle concave lens 711 is a low-refractive index, high-dispersion coefficient material, and its refractive index nd is less than 1.58, and its Abbe coefficient vd is greater than 50. The first convex lens 715 is a high-refractive index, low-dispersion coefficient material, and its refractive index nd is greater than 1.6, and its Abbe coefficient vd is less than 30. The receiving angle of the first optical imaging system 71 is 2ψmax. The receiving angle 2ψmax of the first optical imaging system (71) is ≥90°. The optical path diagram is shown in Fig.11 The field of view angle is greater than 90°, and in the first embodiment, the full field of view angle of the first optical imaging system 71 is preferably 120°.

[0116] The modulation transfer function (MTF) curve of the first optical imaging system 71 of the wide-angle receiving assembly 4 described in the first embodiment is as follows: Fig.12 As shown, the resolution of the central field of view of 80 line pairs can reach above 0.8, and the resolution of the edge field of view can also reach above 0.5.

[0117] The first optical imaging system 71 of the wide-angle receiving assembly 4 of the first embodiment has a point arrangement diagram as shown in FIG. Fig.13 As shown, the RMS value of the spot diagram for each field of view is approximately 2-3 μm.

[0118] The field curvature and distortion diagram of the first optical imaging system 71 of the wide-angle receiving assembly 4 described in the first embodiment are as follows: Fig.14 As shown, the distortion of the entire field of view is controlled within 2%.

[0119] The first optical imaging system 71 of the wide-angle receiving component 4 described in the first embodiment has optical parameters as shown in Table 3. The first wide-angle concave lens 711 is a concave lens made of a low refractive index and high dispersion coefficient material, with a refractive index nd<1.58 and an Abbe coefficient vd>50. The first convex lens 715 is a convex lens made of a high refractive index and low dispersion coefficient material, with a refractive index nd>1.6 and an Abbe coefficient vd<30.

[0120] In the first optical imaging system 71 of the wide-angle receiving assembly 4 described in the first embodiment, the first wide-angle concave lens 711 and the first convex lens 715 are both aspherical surfaces, and their aspherical coefficients are shown in Table 4.

[0121] Table 2 Optical parameters of the first optical imaging system 71 of the wide-angle receiving assembly 4 described in the first embodiment

[0122]

[0123]

[0124] Table 3 shows the aspheric coefficients of each surface of the first optical imaging system 71 of the wide-angle receiving assembly 4 described in the first embodiment:

[0125]

[0126] One of the surfaces of one of the lenses of the first optical imaging system 71 is coated with an infrared bandpass filter film that allows infrared light to pass and blocks visible light, or a separate flat lens is used as an infrared bandpass filter that allows infrared light to pass and blocks visible light, or an infrared bandpass filter film that allows infrared light to pass and blocks visible light is coated on the module protective glass.

[0127] Embodiment 2

[0128] The difference between the second embodiment and the first embodiment is that the structure of the wide-angle beam expander lens system 6 is changed, the function and effect are the same as those of the first embodiment, and the other structural features remain unchanged.

[0129] Please refer to Fig.15The wide-angle beam expander lens system 6 is a second wide-angle beam expander lens system 62 composed of two concave lenses and one surface of which is a Fresnel lens. The second wide-angle beam expander lens system 62 includes a third lens 621 and a fourth lens 622 installed above the third lens 621. The third lens 621 has a third lens first concave surface 6211 and a third lens second concave surface 6212. The fourth lens 622 has a fourth lens first concave surface 6221 and a fourth lens second concave surface 6222. The fourth lens second concave surface 6222 is segmented and the inclined surface of each small segment is flattened on the same plane to form a sawtooth Fresnel surface. The third lens second concave surface 6212 is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

[0130] Please refer to Fig.16 The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded for the first time by the third lens 621, and the maximum beam angle after the first expansion is 2βmax, and the above 30°≤2βmax≤75°. The light beam is expanded for the second time by the fourth lens 622, and the full angle of the beam angle of the output light beam after the second expansion is 2θmax, and the above 60°≤2θmax≤150°.

[0131] Embodiment 3

[0132] The difference between the third embodiment and the first embodiment is that the structure of the wide-angle beam expander lens system 6 is changed, the function and effect are the same as those of the first embodiment, and the other structural features remain unchanged.

[0133] Please refer to Fig.17 and 18 The wide-angle beam expanding lens system 6 is a third wide-angle beam expanding lens system 63 composed of a concave lens and a free-form surface concave lens. The third wide-angle beam expanding lens system 63 includes a fifth lens 631 and a sixth lens 632 installed above the fifth lens 631. The fifth lens 631 has a fifth lens first concave surface 6311 and a fifth lens second concave surface 6312. The sixth lens 632 has a sixth lens first concave surface 6321 and a sixth lens second concave surface 6322. The sixth lens second concave surface 6322 is a free-form surface light distribution lens that is asymmetrically distributed in the transverse direction of the X axis and the longitudinal direction of the Y axis. The free-form surface light distribution lens has a larger light distribution angle along the transverse direction of the X axis and a relatively thick thickness, and a smaller light distribution angle along the longitudinal direction of the Y axis and a relatively thin thickness. The fifth lens second concave surface 6312 is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

[0134] Please refer to Fig.19The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded for the first time by the fifth lens 631, and the maximum full angle of the light beam after the first expansion is 2βmax, and the said 30°≤2βmax≤75°. The light beam is expanded for the second time by the sixth lens 632, and the full angle of the light beam output along the X-axis direction after the second expansion is 2θmax, and the said 60°≤2θmax≤150°. The full angle of the light beam output along the Y-axis direction is 2θ'max, and the said 60°≤2θ'max≤150°.

[0135] Specifically, the fifth lens 631 has a fifth lens first concave surface 6311 and a fifth lens second concave surface 6312. The fifth lens 631 performs a first beam expansion on the light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2. The maximum beam angle after beam expansion is 30°≤2βmax≤75°.

[0136] The sixth lens 632 has a first concave surface 6321 and a second concave surface 6322 of the sixth lens. The first concave surface 6321 of the sixth lens is a symmetrical aspheric surface, and the second concave surface 6322 of the sixth lens is an asymmetrical free-form surface in the XY direction. The sixth lens 632 performs a second expansion on the light beam incident from the fifth lens 631. The expanded light finally irradiates the object to be measured with a full angle of 60°≤2θmax≤150° in the X transverse direction and a full angle of 60°≤2θ′max≤150° in the Y longitudinal direction. The full angles of the X transverse and Y longitudinal beams can reach 160°.

[0137] The infrared transmitting module for wide-angle time-of-flight optical ranging described in the third embodiment transmits and receives along the X-lateral direction. Fig. 20 In the X transverse direction, the emission angle of the third wide-angle beam expander lens system 63 is 2θmax, and the receiving angle of the wide-angle receiving component 4 is 2ψmax.

[0138] The infrared transmitting module for wide-angle time-of-flight optical ranging described in the third embodiment transmits and receives along the Y longitudinal direction as shown in FIG. Fig.21 As shown, in the Y longitudinal direction, the emission angle of the third wide-angle beam expanding lens system 63 is 2θ′max, and the receiving angle of the wide-angle receiving component 4 is 2ψ′max.

[0139] For time-of-flight imagers with different aspect ratios, such as an aspect ratio of 2:1 or 16:9, etc., free-form surface lenses with different light distribution angles can be designed according to the actual field of view angles in the X horizontal and Y longitudinal directions. In this specific implementation scheme, the light distribution angle of the sixth lens 632 in the X horizontal direction is preferably 150°, and the light distribution angle in the Y longitudinal direction is preferably 150°.

[0140] Embodiment 4

[0141] The difference between the fourth embodiment and the first embodiment is that the structure of the optical imaging system 7 is changed, the structure, function and effect of the wide-angle beam expanding lens system 6 are the same as those of the first embodiment, the optical imaging system 7 of the wide-angle receiving component 4 has a better receiving effect, and other structural features remain unchanged.

[0142] The optical imaging system 7 is a second optical imaging system 72 composed of three optical lenses, and its optical path structure is: it splits the first convex lens 715 behind the first aperture diaphragm 713 in the specific implementation scheme of the first embodiment into two, a positive lens and a negative lens, which can better correct spherical aberration and off-axis aberration.

[0143] Please refer to Fig. 22 and 23 The second optical imaging system 72 includes a second wide-angle concave lens 721, a third spacer 722, a second aperture stop 723, a second convex lens 724 and a semi-meniscus lens 725, which are arranged in sequence from the object side to the image side. The second wide-angle concave lens 721 is made of a high refractive index and low dispersion coefficient material, and its refractive index nd is greater than 1.6 and its Abbe coefficient vd is less than 30. The second convex lens 724 is made of a low refractive index and high dispersion coefficient material, and its refractive index nd is less than 1.58 and its Abbe coefficient vd is greater than 50. The semi-meniscus lens 725 is made of a high refractive index and low dispersion coefficient material, and its refractive index nd is greater than 1.6 and its Abbe coefficient vd is less than 30. The receiving angle of the second optical imaging system 72 is 2ψmax.

[0144] One of the surfaces of one of the lenses of the second optical imaging system 72 is coated with an infrared bandpass filter film that allows infrared light to pass and blocks visible light, or a separate flat lens is used as an infrared bandpass filter that allows infrared light to pass and blocks visible light, or an infrared bandpass filter film that allows infrared light to pass and blocks visible light is coated on the module protective glass.

[0145] The optical imaging system 7 is a second optical imaging system 72 composed of three optical lenses, and its optical path diagram is as follows: Fig.24 The field of view of the optical imaging system 7 is greater than 90°, and in the specific implementation scheme of the fourth embodiment, the full field of view of the second optical imaging system 72 is preferably 120°.

[0146] The modulation transfer function (MTF) curve of the second optical imaging system 72 of the wide-angle receiving assembly 4 described in the fourth specific implementation scheme of this embodiment is as follows: Fig.25 As shown, the total resolution in the central field of view of 80 line pairs can reach above 0.82. Due to the use of an additional lens, its modulation transfer function is much higher than that of the first optical imaging system 71 of the wide-angle receiving assembly 4 described in the first specific embodiment.

[0147] The second optical imaging system 72 of the wide-angle receiving assembly 4 described in the fourth specific implementation scheme of this embodiment has a point arrangement diagram as shown below: Fig.26 As shown, the RMS value of the spot diagram of each field of view is basically partially distributed within 2 μm, and the RMS value of the spot diagram at the best position is less than 1 μm.

[0148] The field curvature and distortion diagram of the second optical imaging system 72 of the wide-angle receiving assembly 4 described in the specific implementation scheme of the fourth embodiment are as follows: Fig. 27 As shown, the distortion of the entire field of view is controlled within 1%.

[0149] The second optical imaging system 72 of the wide-angle receiving component 4 described in the specific implementation scheme of the fourth embodiment has optical parameters including the type of curved surface, radius of curvature, thickness, refractive index, Abbe coefficient, net aperture, and cone coefficient as shown in Table 5. The second wide-angle concave lens 721 is a concave lens, which is a material with a high refractive index and a low dispersion coefficient, and its refractive index nd>1.6, and its Abbe coefficient vd<30. The second convex lens 724 is a convex lens, which is a material with a low refractive index and a high dispersion coefficient, and its refractive index nd<1.58, and its Abbe coefficient vd>50. The semi-meniscus lens 725 is a semi-meniscus lens, which is a material with a high refractive index and a low dispersion coefficient, and its refractive index nd>1.6, and its Abbe coefficient vd<30.

[0150] In the second optical imaging system 72 of the wide-angle receiving assembly 4 described in the specific implementation scheme of the fourth embodiment of the present invention, the second wide-angle concave lens 721, the second convex lens 724 and the semi-meniscus lens 725 are all aspherical surfaces, and their aspherical coefficients are shown in Table 6.

[0151] Table 4 Optical parameters of the second optical imaging system 72 of the wide-angle receiving assembly 4 described in the specific implementation scheme of the fourth embodiment

[0152] surface type Radius of curvature thickness Refractive index nd Abbe coefficient vd Net diameter Cone coefficient Physical surface standard unlimited 600 1477.756 0 7211 even aspherical surface 0.803986 0.23 1.661319 20.374576 1.041205 0 7212 even aspherical surface -0.31755 0.295349 0.460024 -6.307674 723(Aperture) standard unlimited 0.02 0.329464 0 7241 even aspherical surface 0.675875 0.395694 1.544919 55.929938 0.452339 2.844554 7242 even aspherical surface -0.40198 0.02 0.568379 -6.246033 7251 even aspherical surface -0.96726 0.294 1.661319 20.374576 0.572334 0 7252 even aspherical surface -0.6514 0.550757 0.747947 0 8 (Image plane) standard unlimited 0.823459 0

[0153] Table 5: Aspheric coefficients of each surface of the second optical imaging system 72 of the wide-angle receiving assembly 4 in the specific implementation scheme of the fourth embodiment

[0154]

[0155]

[0156] Embodiment 5

[0157] The difference between the fifth embodiment and the first embodiment is that the structure of the wide-angle beam expanding lens system 6 is changed. The wide-angle beam expanding lens system 6 is a fourth optical beam expanding system 64 composed of two concave lenses at least one of which is partially frosted or fully frosted. The optical imaging system 7 of the wide-angle receiving component 4 is the same as that of the first embodiment, and other structural features remain unchanged.

[0158] Please refer to Fig.28 The wide-angle beam expanding lens system 6 is a fourth wide-angle beam expanding lens system 64 composed of two concave lenses, at least one of which is set to be partially frosted or the entire surface is frosted. The fourth wide-angle beam expanding lens system 64 includes a seventh lens 641, and an eighth lens 642 installed above the seventh lens 641. The seventh lens 641 has a seventh lens first concave surface 6411 and a seventh lens second concave surface 6412. The eighth lens 642 has an eighth lens first concave surface 6421 and an eighth lens second concave surface 6422. At least one of the mirror surfaces of the seventh lens 641 and the eighth lens 642 is set to be partially frosted or the entire surface is frosted. The second concave surface 6422 of the eighth lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

[0159] Please refer to Fig.28 The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded for the first time by the seventh lens 641, and the maximum beam angle after the first expansion is 2βmax, and the above 30°≤2βmax≤75°. The light beam is expanded for the second time by the eighth lens 642, and the full angle of the beam angle of the output light beam after the second expansion is 2θmax, and the above 60°≤2θmax≤150°.

[0160] Specifically, for some vertical cavity surface emitting laser VCSEL chips 2 with large output power, their output beams are not necessarily single-mode laser beams, but multi-mode laser beams, and their output light spots are distributed in a Bessel-shaped ring, with a bright spot in the middle of the light spot and many apertures around it. In this case, using two completely transparent concave lenses for light distribution cannot evenly distribute the irradiated light spot. Instead, one of the surfaces of the two concave lenses needs to be frosted and atomized to eliminate the bright spot in the middle of the irradiated light spot.

[0161] Please refer to Fig.28The seventh lens 641 has a seventh lens first concave surface 6411 and a seventh lens second concave surface 6412. The fourth wide-angle beam expansion lens system 64 performs a first beam expansion on the multi-mode laser beam emitted by the vertical cavity surface emitting laser VCSEL chip 2, and the maximum beam angle after beam expansion is greater than 30°. Since the multi-mode laser beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 has an output light spot in a Bessel-shaped annular distribution, there is a bright spot in the middle of the light spot and many apertures around it. For this situation, in this embodiment 5, a middle part of the seventh lens first concave surface 6411 of the seventh lens 641 is subjected to frosting and atomization treatment, which is used to eliminate the bright spot in the middle of the irradiated light spot.

[0162] Please refer to Fig.28 The eighth lens 642 has an eighth lens first concave surface 6421 and an eighth lens second concave surface 6422, which expands the light incident from the seventh lens 641 for a second time. The expanded light is finally output at a beam angle greater than 60° to illuminate the object to be measured, and the maximum beam full angle can reach 150°.

[0163] Embodiment 6

[0164] The difference between the sixth embodiment and the first embodiment is that the structure of the wide-angle beam expander lens system 6 is changed. The wide-angle beam expander lens system 6 is a seventh wide-angle beam expander lens system 67 composed of a piece of lens. The optical imaging system 7 of the wide-angle receiving component 4 is the same as that of the first embodiment.

[0165] The difference between the seventh wide-angle collimator lens system 67 and the first wide-angle collimator lens system 61 is that the sixteenth lens 671 of the seventh wide-angle collimator lens system 67 assumes the refractive power of the first lens 611 and the second lens 612, that is, the focal length of the sixteenth lens 671 is equivalent to the combined focal length of the first lens 611 and the second lens 612, and the two mirror surfaces of the sixteenth lens are more concave.

[0166] Please refer to Fig.29 The wide-angle beam expanding lens system 6 is a seventh wide-angle beam expanding lens system 67 composed of a piece of lens. The seventh wide-angle beam expanding lens system 67 includes a sixteenth lens 671. The sixteenth lens 671 is a double concave lens with negative refractive power. The sixteenth lens 671 has a first concave surface 6711 of the sixteenth lens and a second concave surface 6712 of the sixteenth lens. The second concave surface 6712 of the sixteenth lens is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope. The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded by the seventh wide-angle beam expanding lens system 67. The full angle of the beam angle of the output light beam after expansion is 2θmax, and the 60°≤2θmax≤150°.

[0167] For the light distribution method of this embodiment, please refer to Fig.30 The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 undergoes the first beam expansion through the first concave surface 6711 of the sixteenth lens. The maximum beam angle after the first beam expansion is 2βmax, and the 2βmax is ≥30°. The light beam is expanded for the second time through the second concave surface 6712 of the sixteenth lens. The full angle of the beam of the output light beam after the second beam expansion is 2θmax, and the 2θmax is ≥60°. The maximum beam angle can reach 150°.

[0168] Please refer to Fig.31 The first concave surface 6711 of the sixteenth lens is aspherical, and the vertical cavity surface emitting laser VCSEL chip 2 emits any point, and the light CC II The angle between the light ray CC and the optical axis OZ is γ. II After passing through the first concave surface 6711 of the sixteenth lens, the refracted light C II C III The light distribution angle is β, and the edge light EE II After being refracted by the first concave surface 6711 of the sixteenth lens, the refracted light E II E III The light distribution angle is the maximum light distribution angle βmax of the first concave surface 6711 of the sixteenth lens, the maximum light distribution angle βmax of the first concave surface 6711 of the sixteenth lens is ≥15°, and the surface profile of the first concave surface 6711 of the sixteenth lens is It is calculated point by point by numerical calculation method.

[0169] Please refer to Fig.31 , the edge light E of the second concave surface 6712 of the sixteenth lens III E IV After being refracted by the second concave surface 6712 of the sixteenth lens, the angle between the outgoing light and the optical axis OZ is θ max , any other ray C III C IV After being refracted by the second concave surface 6712 of the sixteenth lens, the angle between the outgoing light and OZ is θ. The surface profile of the second concave surface 6712 of the sixteenth lens is: It is calculated point by point by numerical calculation method.

[0170] The maximum light distribution angle β of the first light distribution after the first concave surface 6711 of the sixteenth lens and the second light distribution angle θ of the second light distribution after the second concave surface 6712 of the sixteenth lens are βmax≥15° and the full angle 2βmax≥30°. After the second light distribution after the second concave surface 6712 of the sixteenth lens, the maximum light distribution angle θmax of the output light beam is 30° and the full angle 2θmax≥60°. The maximum full angle of the light beam can reach 150°.

[0171] Specifically, Fig.31 As shown, O is the center point of the vertical cavity surface emitting laser VCSEL chip 2, E is an emission point located at the edge of the vertical cavity surface emitting laser VCSEL chip 2, and the angle between its maximum emission angle and the optical axis OZ is γmax. The specific implementation scheme of this embodiment preferably has the maximum emission angle of the emission point (emission light EE II The angle γmax with the optical axis OZ is 9°, which is the half angle of divergence in the direction of the short axis of the beam. II It is extended in the reverse direction and intersects below the optical axis OZ at point O′, which is set as the equivalent light-emitting point of the seventh wide-angle beam expander lens system 67 .

[0172] like Fig.32 As shown, the far-field angular distribution diagram of the light intensity of the seventh wide-angle beam expander lens system 67.

[0173] The use of a single lens to achieve a large-angle light distribution effect as described in this embodiment has the advantages of low mold manufacturing cost and lens production cost. The disadvantage is that since the upper and lower surfaces are relatively concave, higher requirements are placed on processing accuracy and assembly accuracy, and the lens is relatively sensitive to surface errors and assembly errors, and it is easy to produce stray light and a zero-order diffraction bright spot in the center of the light spot.

[0174] Embodiment 7

[0175] The difference between the seventh embodiment and the first embodiment is that the structure of the wide-angle beam expander lens system 6 is changed. The wide-angle beam expander lens system 6 is a fifth wide-angle beam expander lens system 65 composed of three lenses. The optical imaging system 7 of the wide-angle receiving component 4 is the same as that of the first embodiment.

[0176] Please refer to Fig.33The wide-angle beam expander lens system 6 is a fifth wide-angle beam expander lens system 65 composed of three lenses. The fifth wide-angle beam expander lens system 65 includes a ninth lens 651, a tenth lens 652 installed above the ninth lens 651, and an eleventh lens 653 installed above the tenth lens 652. The ninth lens 651 is a double-sided concave lens with negative refractive power. The tenth lens 652 is a concave-convex lens. The tenth lens 652 has a first concave surface 6521 of the tenth lens and a second convex surface 6522 of the tenth lens, with refractive power. The eleventh lens 653 is a concave lens, and the eleventh lens 653 has a first concave surface 6531 of the eleventh lens and a second concave surface 6532 of the eleventh lens, and has a negative refractive power. The second concave surface 6532 of the eleventh lens is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope. The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded by the fifth wide-angle beam expansion lens system 65, and the full angle of the beam angle of the output light beam after expansion is 2θmax, and the 2θmax is ≥60°, and the maximum full angle of the beam can reach 170°.

[0177] The effect of the three-lens combination is that, in addition to sharing the diopter of the two lenses described in the first embodiment, the addition of one more lens can increase the diopter, thereby increasing the full angle of the beam of light. Another advantage is that each lens can distribute a more even diopter, so that a flatter surface can be used to achieve a large-angle light distribution effect. As the surface becomes flatter, the chances of generating stray light and bright spots in the center area are smaller, and the light intensity distribution in the center and edge areas is more uniform.

[0178] Embodiment 8

[0179] The difference between the eighth embodiment and the first embodiment is that the structure of the wide-angle beam expander lens system 6 is changed. The wide-angle beam expander lens system 6 is a sixth wide-angle beam expander lens system 66 composed of four lenses. The optical imaging system 7 of the wide-angle receiving component 4 is the same as that of the first embodiment.

[0180] Please refer to Fig.34The wide-angle beam expander lens system 6 is a sixth wide-angle beam expander lens system 66 composed of four lenses. The sixth wide-angle beam expander lens system 66 includes a twelfth lens 661, a thirteenth lens 662 installed above the twelfth lens 661, a fourteenth lens 663 installed above the thirteenth lens 662, and a fifteenth lens 664 installed above the fourteenth lens 663. The twelfth lens 661 is a double-sided concave lens with negative refractive power. The thirteenth lens 662 is a meniscus lens. The thirteenth lens 662 has a thirteenth lens first concave surface 6621 and a thirteenth lens second convex surface 6622 with refractive power. The fourteenth lens 663 is a meniscus lens. The fourteenth lens 663 has a fourteenth lens first concave surface 6631 and a fourteenth lens second convex surface 6632, and has refractive power. The fifteenth lens 664 is a concave lens. The fifteenth lens 664 has a fifteenth lens first concave surface 6641 and a fifteenth lens second concave surface 6642, and has negative refractive power. The fifteenth lens second concave surface 6642 is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope. The light beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 is expanded by the sixth wide-angle expansion lens system 66, and the full angle of the beam angle of the output light beam after expansion is 2θmax, and the 2θmax is ≥60°. The maximum full angle of the beam can reach 170°.

[0181] The effect of the four-lens combination is that, in addition to sharing the diopter of the two lenses described in Example 1, the addition of two more lenses can increase the diopter, thereby increasing the full angle of the beam of light. Another advantage is that each lens can distribute a more even diopter, so that a flatter surface can be used to achieve a large-angle light distribution effect. As the surface becomes flatter, the chances of generating stray light and bright spots in the center area are smaller, and the light intensity distribution in the center and edge areas is more uniform.

[0182] According to the light distribution principle of the four-lens combination, the same rod can realize a light distribution combination structure of five lenses or more than five lenses, which will not be described one by one in this patent.

[0183] In summary, the beneficial effects of the present invention are:

[0184] The present invention is provided with a base 10, the base 10 is provided with a substrate 1, a vertical cavity surface emitting laser VCSEL chip 2 is provided on the substrate 1, and a wide-angle beam expanding lens system 6 is provided above the vertical cavity surface emitting laser VCSEL chip 2 and fixedly connected to the base 10 for expanding the angle of a beam emitted by the vertical cavity surface emitting laser VCSEL chip 2 to 60°. The wide-angle beam expanding lens system 6 is composed of at least one lens, at least one lens in the wide-angle beam expanding lens system 6 is a concave lens with a concave middle portion, one of the curved surface profiles of the concave lens is concave in the middle portion and gradually extends outward in an arc-shaped slope and is located at the vertical cavity surface emitting laser chip 2. On the other side of the corresponding surface of the light-emitting surface of the laser VCSEL chip 2, the present invention provides an infrared emission module for wide-angle time-of-flight optical ranging, which has a simple structure and realizes uniform light distribution at a large angle. A single concave lens can actually expand the light beam angle to between 60° and 150°, a combination structure of two lenses can actually expand the light beam angle to a maximum of 160°, and a combination structure of more than three lenses can actually expand the light beam angle to a maximum of 170°, which greatly improves the optical efficiency. In addition, the present invention also provides an infrared emission module for wide-angle time-of-flight optical ranging, and a 3D image with a large field of view can be obtained through a wide-angle receiver component.

Claims

1. An infrared emission module for wide-angle time-of-flight optical ranging, characterized in that: The invention comprises a base (10), wherein the base (10) is provided with a substrate (1), a vertical cavity surface emitting laser (VCSEL) chip (2) provided on the substrate (1), and a wide-angle beam expanding lens system (6) provided inside the base (10) and configured to expand the angle of a light beam emitted by the vertical cavity surface emitting laser (VCSEL) chip (2), wherein the wide-angle beam expanding lens system (6) is composed of at least one lens, wherein at least one lens in the wide-angle beam expanding lens system (6) is a concave lens with a concave middle portion, wherein one of the curved surface profiles of the concave lens is concave in the middle portion and gradually extends outward in an arc-shaped slope and is located on the other side of the corresponding surface of the light emitting surface of the vertical cavity surface emitting laser (VCSEL) chip (2), and the full angle of beam expansion of the wide-angle beam expanding lens system (6) is between 60° and 150°; The maximum light expansion angle at the edge of the concave lens is greater than 1.25 times the angle of the light beam incident on the lens; The vertical cavity surface emitting laser VCSEL chip (2) is a multi-chip VCSEL array laser emitting tube or a single-chip laser emitting tube, and the wavelength of light emitted by the vertical cavity surface emitting laser VCSEL chip (2) is between 700 nm and 5000 nm or in the visible light band; The bottom conductive electrode of the vertical cavity surface emitting laser (VCSEL) chip (2) is bonded and connected to the conductive electrode on the substrate (1) through a conductive adhesive, the surface conductive electrode of the vertical cavity surface emitting laser (VCSEL) chip (2) is welded and connected to another conductive electrode on the substrate (1) through a conductive lead (9), and the vertical cavity surface emitting laser (VCSEL) chip (2) is powered by the two conductive electrodes on the substrate (1) when it is in operation and lit; The lens of the wide-angle beam expanding lens system (6) is an optically transparent resin material component, an optically transparent silicone material component, a glass material component or a photosensitive shadowless adhesive material component; The optical refractive index of the lens material of the wide-angle beam expanding lens system (6) is between 1.30 and 1.75 in the 940 nm wavelength band.

2. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The base (10) is a component made of a polyphthalamide (PPA) material or a polyimide resin (PI) material; one of the lenses of the wide-angle beam expanding lens system (6) and the base (10) are formed as a double-material one-piece structure, or the lens of the wide-angle beam expanding lens system (6) and the base (10) are fixedly connected by adhesive.

3. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 2, characterized in that: One of the lenses of the wide-angle beam expanding lens system (6) and the base (10) are an integral structure made of the same material; the lens material is transparent liquid silicone or high-temperature resistant transparent resin; the high-temperature resistant transparent resin has a glass transition temperature between 200 and 300° C. and an optical refractive index between 1.30 and 1.75 in the 940 nm band.

4. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The lens surface of the wide-angle beam expanding lens system (6) is coated with an optical anti-reflection film or a band-pass filtering optical film that is transparent to the near-infrared band, or a dyeing material that is transparent to the infrared band is doped into the lens material.

5. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The vertical cavity surface emitting laser (VCSEL) chip (2) is formed by arranging a plurality of point-shaped surface emitting vertical cavity lasers, and the arrangement is in a staggered arrangement, a hexagonal arrangement, a quadrilateral arrangement or a random scattered arrangement.

6. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 5, characterized in that: The vertical cavity surface emitting laser (VCSEL) chip (2) has a full emission angle between 15° and 90°.

7. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a first wide-angle beam expanding lens system (61) composed of two concave lenses. The first wide-angle beam expanding lens system (61) comprises a first lens (611) and a second lens (612) arranged above the first lens (611). The first lens (611) has a first lens first concave surface (6111) and a first lens second concave surface (6112). The second lens (612) has a second lens first concave surface (6121) and a second lens second concave surface (6122). The second lens second concave surface (6122) is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope.

8. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 7, characterized in that: The light beam emitted by the vertical cavity surface emitting laser VCSEL chip (2) undergoes a first beam expansion through a first lens (611), and the maximum beam angle after the first beam expansion is 2βmax, where 30°≤2βmax≤75°. The light beam is then expanded for a second time through a second lens (612), and the maximum beam angle of the output light beam after the second beam expansion is 2θmax, where 60°≤2θmax≤150°.

9. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 8, characterized in that: The first concave surface (6111) of the first lens is a spherical surface or an aspherical surface. The vertical cavity surface emitting laser VCSEL chip (2) emits light CC at any emitting point. II The angle between the light ray CC and the optical axis OZ is γ. II After passing through the first concave surface (6111) of the first lens, the refracted light C II C III The angle between the light and the optical axis OZ remains unchanged, which is γ. After the light is refracted again by the second concave surface (6112) of the first lens, the outgoing light C III C IV The light distribution angle is β, and the edge light E II E III After being refracted by the second concave surface (6112) of the first lens, the outgoing light E III E IV The light distribution angle is the maximum light distribution angle βmax of the first lens (611), the maximum light distribution angle βmax of the first lens (611) is 15°, and the second concave surface (6112) of the first lens satisfies the light distribution condition:

10. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 9, characterized in that: The edge ray E of the second concave surface (6122) of the second lens IV E V After being refracted by the second concave surface (6122) of the second lens, the angle between the outgoing light and the optical axis OZ is θ max , any other ray C IV C V After being refracted by the second concave surface (6122) of the second lens, the angle between the outgoing light and OZ is θ, and the second concave surface (6122) of the second lens satisfies the light distribution condition:

11. The infrared transmitting module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a second wide-angle beam expanding lens system (62) composed of two concave lenses and one side of which is a Fresnel lens. A second silicone rubber (12) is installed between the second wide-angle beam expanding lens system (62) and the vertical cavity surface emitting laser VCSEL chip (2). The second wide-angle beam expanding lens system (62) includes a third lens (621), a fourth lens (622) installed above the third lens (621), and the third lens (621 ) has a first concave surface (6211) of a third lens and a second concave surface (6212) of a third lens, the fourth lens (622) has a first concave surface (6221) of a fourth lens and a second concave surface (6222) of a fourth lens, the second concave surface (6222) of the fourth lens is segmented and the inclined surface of each small segment is flattened on the same plane to form a sawtooth Fresnel surface, and the second concave surface (6212) of the third lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

12. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 11, characterized in that: The light beam emitted by the vertical cavity surface emitting laser VCSEL chip (2) undergoes a first beam expansion through a third lens (621), and the maximum beam angle after the first beam expansion is 2βmax, and the range is 30°≤2βmax≤75°. The light beam is then expanded for a second time through a fourth lens (622), and the maximum beam angle of the output light beam after the second beam expansion is 2θmax, and the range is 60°≤2θmax≤150°.

13. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a third wide-angle beam expanding lens system (63) composed of a concave lens and a free-form surface concave lens. The third wide-angle beam expanding lens system (63) comprises a fifth lens (631) and a sixth lens (632) arranged above the fifth lens (631). The fifth lens (631) has a fifth lens first concave surface (6311) and a fifth lens second concave surface (6312). The sixth lens (632) has a sixth lens first concave surface (6321) and a sixth lens second concave surface (6322). The sixth lens second concave surface (6322) is a free-form surface light distribution lens that is asymmetrically distributed in the X-axis transverse direction and the Y-axis longitudinal direction. The free-form surface light distribution lens has a light distribution angle that increases in the X-axis transverse direction and decreases in the Y-axis longitudinal direction. The fifth lens second concave surface (6312) is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope shape.

14. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 13, characterized in that: The light beam emitted by the vertical cavity surface emitting laser VCSEL chip (2) undergoes a first beam expansion through a fifth lens (631), and the maximum beam angle after the first beam expansion is 2βmax, and the angle is 30°≤2βmax≤75°. The light beam is then expanded for a second time through a sixth lens (632), and the beam angle output along the X-axis direction after the second beam expansion is 2θmax, and the angle is 60°≤2θmax≤150°. The beam angle output along the Y-axis direction is 2θmax. ， max, 60°≤2θ ， max≤150°.

15. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a fourth wide-angle beam expanding lens system (64) composed of two concave lenses, at least one of which is a partially frosted or fully frosted surface. The fourth wide-angle beam expanding lens system (64) comprises a seventh lens (641), and an eighth lens (642) arranged above the seventh lens (641). The seventh lens (641) has a seventh lens first concave surface (6411) and a seventh lens second concave surface (6412). The eighth lens (642) has an eighth lens first concave surface (6421) and an eighth lens second concave surface (6422). At least one of the mirror surfaces of the seventh lens (641) and the eighth lens (642) is a partially frosted or fully frosted surface. The eighth lens second concave surface (6422) is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope.

16. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 15, characterized in that: The light beam emitted by the vertical cavity surface emitting laser VCSEL chip (2) undergoes a first beam expansion through a seventh lens (641), and the maximum beam angle after the first beam expansion is 2βmax, and the range is 30°≤2βmax≤75°. The light beam is then expanded for a second time through an eighth lens (642), and the maximum beam angle of the output light beam after the second beam expansion is 2θmax, and the range is 60°≤2θmax≤150°.

17. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a fifth wide-angle beam expanding lens system (65) composed of three lenses. The fifth wide-angle beam expanding lens system (65) comprises a ninth lens (651), a tenth lens (652) installed above the ninth lens (651), and an eleventh lens (653) installed above the tenth lens (652). The ninth lens (651) is a biconcave lens with negative refractive power. The tenth lens (652) is a concave-convex lens. The tenth lens (652) has a first concave surface (6521) of the tenth lens and a second convex surface (6522) of the tenth lens. ), having a refractive power, the eleventh lens (653) is a concave lens, the eleventh lens (653) has an eleventh lens first concave surface (6531) and an eleventh lens second concave surface (6532), having a negative refractive power, the eleventh lens second concave surface (6532) is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope shape, the light beam emitted by the vertical cavity surface emitting laser VCSEL chip (2) is expanded by the fifth wide-angle beam expansion lens system (65), and the full angle of the beam angle of the output light beam after the expansion is 2θmax, and the 60°≤2θmax≤150°.

18. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a sixth wide-angle beam expanding lens system (66) composed of four lenses. The sixth wide-angle beam expanding lens system (66) comprises a twelfth lens (661), a thirteenth lens (662) installed above the twelfth lens (661), a fourteenth lens (663) installed above the thirteenth lens (662), and a fifteenth lens (664) installed above the fourteenth lens (663). The twelfth lens (661) is a double-sided concave lens with negative refractive power. The thirteenth lens (662) is a concave-convex lens. The thirteenth lens (662) has a first concave surface (6621) and a second convex surface (6622) of the thirteenth lens, and has a refractive power. The fourteenth lens (663) is a double-sided concave lens with negative refractive power. The embodiment of the present invention relates to a concave-convex lens, wherein the fourteenth lens (663) has a first concave surface (6631) of the fourteenth lens and a second convex surface (6632) of the fourteenth lens, and has a refractive power. The fifteenth lens (664) is a concave lens, wherein the fifteenth lens (664) has a first concave surface (6641) of the fifteenth lens and a second concave surface (6642) of the fifteenth lens, and has a negative refractive power. The second concave surface (6642) of the fifteenth lens is a curved surface which is concave in the middle and gradually extends outward in an arc-shaped slope. The light beam emitted by the vertical cavity surface emitting laser (VCSEL) chip (2) is expanded by the sixth wide-angle beam expanding lens system (66), and the full angle of the beam angle of the output light beam after the expansion is 2θmax, and the above 60°≤2θmax≤150°.

19. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The wide-angle beam expanding lens system (6) is a seventh wide-angle beam expanding lens system (67) composed of a single lens. The seventh wide-angle beam expanding lens system (67) comprises a sixteenth lens (671). The sixteenth lens (671) is a double-sided concave lens with negative refractive power. The sixteenth lens (671) comprises a first concave surface (6711) of the sixteenth lens and a second concave surface (6712) of the sixteenth lens. The second concave surface (6712) of the sixteenth lens is a curved surface that is concave in the middle and gradually extends outward in an arc-shaped slope. The light beam emitted by the vertical cavity surface emitting laser (VCSEL) chip (2) is expanded by the seventh wide-angle beam expanding lens system (67). The full angle of the beam angle of the output light beam after expansion is 2θmax, and the angle of 60°≤2θmax≤150°.

20. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 1, characterized in that: The lens surface of the wide-angle beam expanding lens system (6) is a mirror surface, or a scale surface or a microstructure texture surface having a light mixing effect.

21. An infrared emission module for wide-angle time-of-flight optical ranging, characterized in that: An infrared transmitting module for wide-angle time-of-flight optical ranging according to any one of claims 1 to 20, wherein a wide-angle receiver assembly (4) is mounted on one side of the base (10), wherein the wide-angle receiver assembly (4) comprises an optical imaging system (7), and a time-of-flight imager (8) for receiving light signals mounted below the optical imaging system (7), wherein the time-of-flight imager (8) outputs image information after processing.

22. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 21, characterized in that: The time-of-flight imager (8) is mounted on the substrate (1) or on another separate substrate.

23. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 21, characterized in that: The optical imaging system (7) is a first optical imaging system (71) composed of two optical lenses. The first optical imaging system (71) comprises a first wide-angle concave lens (711), a first spacer (712), a first aperture stop (713), a second spacer (714) and a first convex lens (715) which are arranged in sequence from the object side to the image side. The first wide-angle concave lens (711) is made of a low-refractive-index, high-dispersion-coefficient material, whose refractive index nd is less than 1.58 and whose Abbe coefficient vd is greater than 50. The first convex lens (715) is made of a high-refractive-index, low-dispersion-coefficient material, whose refractive index nd is greater than 1.6 and whose Abbe coefficient vd is less than 30. The receiving angle of the first optical imaging system (71) is 2ψmax.

24. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 21, characterized in that: The optical imaging system (7) is a second optical imaging system (72) composed of three optical lenses. The second optical imaging system (72) comprises a second wide-angle concave lens (721), a third spacer (722), a second aperture stop (723), a second convex lens (724) and a semi-meniscus lens (725) which are arranged in sequence from the object side to the image side. The second wide-angle concave lens (721) is made of a high-refractive-index, low-dispersion-coefficient material, whose refractive index nd>1.6 and Abbe coefficient vd<30. The second convex lens (724) is made of a low-refractive-index, high-dispersion-coefficient material, whose refractive index nd<1.58 and Abbe coefficient vd>50. The semi-meniscus lens (725) is made of a high-refractive-index, low-dispersion-coefficient material, whose refractive index nd>1.6 and Abbe coefficient vd<30. The receiving angle of the second optical imaging system (72) is 2ψmax.

25. The infrared emission module for wide-angle time-of-flight optical ranging according to claim 24, characterized in that: One of the surfaces of one of the lenses of the second optical imaging system (72) is coated with an infrared bandpass filter film that allows infrared light to pass but blocks visible light, or a single flat lens is used as an infrared bandpass filter that allows infrared light to pass but blocks visible light, or an infrared bandpass filter film that allows infrared light to pass but blocks visible light is coated on the module protection glass.

Images