Laser system and laser measurement method

Abstract

The present application discloses a laser system and a laser measurement method. The laser system includes: a main body component, which generates a scanning control signal and a transmission signal, and emits multiple groups of transmission light according to the transmission signal; at least one probe component, which is separated from the main body component and is photoelectrically connected to the main body component; the probe component is configured to sequentially irradiate multiple groups of transmission light to at least one target object in the target scene according to the scanning control signal, and convert at least one group of reflected light reflected by at least one target object into an output signal; the type of the output signal is an optical signal or an electrical signal; the main body component is configured to determine at least one of the distance of the target object, the reflectivity of the target object and the contour of the target object according to the transmission signal and / or the output signal. During installation, the present application only needs to install the probe component on the application object or application position, without installing the entire laser system on the application object or application position, thereby expanding the scope of application of the laser system.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of radar technology, and in particular to a laser system and a laser measurement method. Background Art

[0002] Radar is an electronic device that uses electromagnetic waves to detect target objects. Radar emits electromagnetic waves to the target object and receives its echo. After processing, it can obtain information such as the distance, direction, and altitude from the target object to the electromagnetic wave emission point. Radar that uses laser as its working beam is called lidar.

[0003] As technology integrates into life, many small items in daily life, such as blind glasses, AR glasses, or the junction of car doors and rearview mirrors, need to be equipped with radars. However, the radars in related technologies are large in size and cannot be installed on small objects.

[0004] Application Contents

[0005] The laser system provided according to the first aspect of the present application comprises:

[0006] A main body component generates a scanning control signal and an emission signal, and emits a plurality of groups of emission lights according to the emission signal; wherein the emission signal includes time information indicating the emission start time of each group of the emission lights; and

[0007] At least one probe assembly is separately provided from the main assembly and is photoelectrically connected to the main assembly;

[0008] The probe assembly is configured to sequentially irradiate the plurality of groups of emitted light to at least one target object in the target scene according to the scanning control signal, and convert at least one group of reflected light reflected by at least one of the target objects into an output signal; wherein the type of the output signal is an optical signal or an electrical signal;

[0009] The main body assembly is configured to determine at least one of a distance to the target object, a reflectivity of the target object, and a profile of the target object based on the transmission signal and / or the output signal.

[0010] The laser measurement method provided according to the second aspect of the present application includes:

[0011] Generate a scanning control signal and an emission signal through the main component and emit multiple groups of emission lights according to the emission signal; wherein the emission signal includes time information indicating the emission start time of each group of the emission lights;

[0012] The probe assembly sequentially irradiates the plurality of groups of emitted lights to at least one target object in a target scene according to the scanning control signal, and converts at least one group of reflected lights reflected by at least one target object into an output signal; wherein the type of the output signal is an optical signal or an electrical signal;

[0013] At least one of the distance of the target object, the reflectivity of the target object and the outline of the target object is determined by the main body component according to the transmission signal and / or the output signal.

[0014] The laser system and laser measurement method provided in the embodiment of the present application, by separating the probe assembly and the main body assembly, and connecting the probe assembly and the main body assembly optically, when installing the laser system, only the probe assembly needs to be installed on the application object or application position, without installing the entire laser system on the application object or application position, thereby expanding the application range of the laser system. In addition, since the emission of the target object and the reception of the reflected light of the target object are both completed by the probe assembly, and the probe assembly is installed on the application object or application position, it can be ensured that the detection range of the entire laser system is not affected.

[0015] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, purposes and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments made with reference to the following drawings. The drawings are used to better understand the present solution and do not constitute a limitation of the present application. In the drawings:

[0017] Figure 1 is one of the block diagrams of a laser system according to the present application;

[0018] Figure 2 is a second block diagram of a laser system according to the present application;

[0019] Figure 3 is a block diagram of a laser system according to the present application;

[0020] Figure 4 is a fourth block diagram of a laser system according to the present application;

[0021] Figure 5 is one of the schematic diagrams of the optical scanning assembly according to the present application;

[0022] Figure 6 is a second schematic diagram of the optical scanning assembly according to the present application;

[0023] Figure 7 is a third schematic diagram of the optical scanning assembly according to the present application;

[0024] Figure 8 is a schematic diagram of the working principle of the probe assembly according to the present application;

[0025] Fig. 9 is a schematic diagram of the working principle of the photoelectric conversion component according to the present application;

[0026] Fig.10 is one of the flow charts of the laser measurement method according to the present application;

[0027] Fig.11 This is the second flow chart of the laser measurement method according to the present application.

[0028] Reference numerals:

[0029] 100, main body component; 110, light emitting component; 120, scanning control component;

[0030] 130, photoelectric conversion component; 131, photoelectric conversion unit; 140, electric amplification module;

[0031] 150, processor; 200, probe assembly; 210, light receiving assembly;

[0032] 211, receiving lens; 220, optical scanning component; 221, MEMS galvanometer;

[0033] 222, light guide; 223, light collimating mirror; 224, rotating mirror; 230, driving member;

[0034] 300, flexible cable; 310, wire; 320, optical fiber; 400, target scene;

[0035] 500. target object; 600. specific conical surface; 700. support member. DETAILED DESCRIPTION

[0036] In the description of the embodiments of the present application, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0037] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, which may be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0038] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] like Figures 1 to 8 As shown, an embodiment of the present application provides a laser system, which includes a main component 100 and at least one probe component 200 that is separately arranged from the main component 100. The probe component 200 is photoelectrically connected to the main component 100. The main component 100 generates a scanning control signal and a transmission signal, and emits multiple groups of emission lights according to the transmission signal. The emission signal includes time information indicating the emission start time of each group of the emission lights; the probe component 200 is configured to sequentially irradiate the multiple groups of emission lights to at least one target object 500 in the target scene 400 according to the scanning control signal, and convert at least one group of reflected lights reflected by at least one target object 500 into an output signal, and the type of the output signal is an optical signal or an electrical signal; the main component 100 is configured to determine at least one of the distance of the target object 500, the reflectivity of the target object 500, and the contour of the target object 500 according to the transmission signal and / or the output signal.

[0041] Since the probe assembly 200 and the main assembly 100 are separately arranged in the embodiment of the present application, and the two are optically connected, the probe assembly 200 and the main assembly 100 can be separately fixed and installed. Compared with the entire laser system, the volume of the probe assembly 200 is very small, and the probe assembly 200 can be installed on a small application object or application position. Taking the application object as blind glasses as an example, the probe assembly 200 can be fixed on the frame of the blind glasses, and the main assembly 100 is clamped on the user's waist or placed in the user's clothes pocket. Taking the application object as a rearview mirror of a car as an example, the probe assembly 200 can be fixed on the rearview mirror of the car, and the main assembly 100 is fixed on the ceiling of the car. Thus, when the laser system is running, the main component 100 generates a scanning control signal and a transmitting signal, and the main component 100 transmits the emitted light emitted according to the transmitting signal to the probe component 200. The probe component 200 emits the emitted light to at least one target object 500 in the target scene 400 according to the scanning control signal. After the emitted light is reflected by at least one target object 500, at least one group of reflected light is received by the probe component 200 and converted into an output signal, which is transmitted to the main component 100. The main component 100 can determine at least one of the distance to the target object 500, the reflectivity of the target object 500, and the contour of the target object 500 according to the output signal and / or the transmitting signal. It can be seen that in the embodiment of the present application, by separating the probe component 200 and the main component 100, and making the probe component 200 and the main component 100 optically connected, when installing the laser system, it is only necessary to install the probe component 200 on the application object or application position, without installing the entire laser system on the application object or application position, thereby expanding the scope of application of the laser system. In addition, since the emission of light to the target object 500 and the reception of reflected light from the target object 500 are both completed by the probe assembly 200, and the probe assembly 200 is installed on the application object or application location, it can be ensured that the detection range of the entire laser system is not affected.

[0042] It should be noted that the main assembly 100 and the probe assembly 200 can be photoelectrically connected through a flexible cable 300, and the flexible cable 300 can conduct both current and light beams. For example, the flexible cable 300 includes an optical fiber 320 and a wire 310. Since the length of the flexible cable 300 directly determines the maximum distance between the probe assembly 200 and the main assembly 100, a flexible cable 300 of a corresponding length can be selected according to the need for resolution distance during actual application. Of course, the main assembly 100 and the probe assembly 200 can also achieve photoelectric connection by transmitting electrical signals and optical signals through space with the help of other optical elements and wireless communication elements.

[0043] When there are multiple probe assemblies 200 , the multiple probe assemblies 200 can respectively irradiate corresponding emission lights to target objects 500 in different target scenes 400 .

[0044] In addition, the type of the output signal is determined by the specific structure of the probe assembly 200, that is, different types of output signals correspond to probe assemblies 200 of different structural forms, for example:

[0045] Form 1: If the output signal is the first optical signal, then Figure 1 As shown, the probe assembly 200 includes a light receiving assembly 210 and a light scanning assembly 220. The light scanning assembly 220 deflects the emitted light emitted by the main assembly 100 according to the scanning control signal and then irradiates it to at least one target object 500, and / or deflects at least one group of reflected light reflected by at least one target object 500 and then irradiates it to the light receiving assembly 210; the light receiving assembly 210 converts the reflected light into a first light signal.

[0046] In this case, the main body component 100 includes a light emitting component 110, a scanning control component 120, a photoelectric conversion component 130, and a processor 150. The light emitting component 110 generates a transmission signal and emits multiple groups of transmission light according to the transmission signal, the scanning control component 120 generates a scanning control signal, and the photoelectric conversion component 130 converts the first light signal into a first electrical signal. If the output end of the photoelectric conversion component 130 is directly electrically connected to the input end of the processor 150, the processor 150 can directly or indirectly determine at least one of the distance of the target object 500, the reflectivity of the target object 500, and the contour of the target object 500 according to the transmission signal and / or the first electrical signal.

[0047] Of course, considering that the signal strength of the first electrical signal may be weak, in order to improve the accuracy of the measurement, the output end of the photoelectric conversion component 130 can also be electrically connected to the input end of the processor 150 through the electrical amplifier module 140, and the electrical amplifier module 140 amplifies the first electrical signal into a second electrical signal. The electrical amplifier module 140 includes a plurality of amplifiers electrically connected in sequence, and the strength of the electrical signal output by the upper amplifier in two adjacent amplifiers is less than the strength of the electrical signal output by the lower amplifier. For example, the electrical amplifier module 140 includes a first-stage amplifier and a second-stage amplifier; wherein the strength of the electrical signal output by the first-stage amplifier is less than the strength of the electrical signal output by the second-stage amplifier, and the second-stage amplifier amplifies the electrical signal output by the first-stage amplifier. The processor 150 can directly or indirectly determine at least one of the distance of the target object 500, the reflectivity of the target object 500, and the contour of the target object 500 based on the transmission signal and / or the second electrical signal.

[0048] In addition, when the processor 150 determines the distance of the target object 500 based on the time-of-flight method, the main component 100 also includes a comparator and a duration determination module, and the electrical amplification module 140 is electrically connected to the processor 150 through the comparator and the duration determination module in turn. Among them, the number of comparators can be one or more. When the number of comparators is one, the comparator is connected to the duration determination module through any amplifier, for example, the comparator is connected to the output end of the last amplifier; when the number of comparators is multiple, the output ends of the multiple amplifiers are all connected to comparators, and the voltage value of the comparison input of each comparator is different. The comparator is connected to the comparison input, and is used to compare the voltage value of the comparison input with the electrical signal output by the corresponding amplifier to determine the trigger start time, the trigger end time and the pulse width; wherein the trigger start time and the trigger end time are respectively the start time and the end time when the intensity of the electrical signal output by the amplifier is higher than the voltage value of the comparison input, and the pulse width is the difference between the trigger end time and the trigger start time; the duration determination module is set in a one-to-one correspondence with the comparator, and the duration determination module is used to determine the light flight time according to the emission start time and the corresponding trigger start time. Since the trigger start time is affected by the voltage value of the comparison input, and the pulse width corresponding to different comparison input voltage values ​​of the electrical signal output by the trigger amplifier is different, in order to reduce the above-mentioned influence, the processor first corrects the light flight time according to the pulse width, and then determines the distance and / or reflectivity and / or contour of the target object 500 according to the speed of light and the corrected light flight time.

[0049] The comparison input may be a dynamic voltage curve inputted from the outside into the comparator, or a dynamic voltage curve pre-stored in the comparator. In addition, the duration determination module may be, but is not limited to, a TDC (time to digital converter, full name: time to digital converter). The duration determination module and the processor may be independent components, or may be integrated into one component.

[0050] Form 2: If the output signal is the first electrical signal, then Figure 3 As shown, the probe assembly 200 includes a light receiving assembly 210, a light scanning assembly 220 and a photoelectric conversion assembly 130. The light scanning assembly 220 deflects the emitted light emitted by the main assembly 100 according to the scanning control signal and irradiates it to at least one target object 500, and / or deflects at least one group of reflected light reflected by at least one target object 500 and irradiates it to the light receiving assembly 210; the light receiving assembly 210 receives the reflected light reflected by the target object 500 and converts the reflected light into a first light signal, and the photoelectric conversion assembly 130 converts the first light signal into a first electrical signal.

[0051] In this case, if the output end of the photoelectric conversion component 130 is directly electrically connected to the input end of the processor 150, then the main component 100 includes a light emitting component 110, a scanning control component 120 and a processor 150, and the processor 150 can directly or indirectly determine at least one of the distance of the target object 500, the reflectivity of the target object 500 and the contour of the target object 500 based on the transmission signal and / or the first electrical signal.

[0052] If the output end of the photoelectric conversion component 130 is not directly electrically connected to the input end of the processor 150, then the main component 100 includes, in addition to the light emitting component 110, the scanning control component 120 and the processor 150, an electrical amplification module 140. The output end of the photoelectric conversion component 130 is electrically connected to the input end of the processor 150 through the electrical amplification module 140. The electrical amplification module 140 amplifies the first electrical signal into a second electrical signal. The processor 150 can directly or indirectly transmit the signal and / or the second electrical signal based on at least one of the distance of the target object 500, the reflectivity of the target object 500 and the contour of the target object 500.

[0053] Form 3: If the output signal is a second electrical signal, then Figure 4 As shown, the probe assembly 200 includes a light receiving assembly 210, a light scanning assembly 220, a photoelectric conversion assembly 130 and an electric amplification module 140. In this case, the main body assembly 100 includes a light emitting assembly 110, a scanning control component 120 and a processor 150, and the electric amplification module 140 of the probe assembly 200 is electrically connected to the input end of the processor 150 of the main body assembly 100, and the processor 150 can directly or indirectly determine at least one of the distance of the target object 500, the reflectivity of the target object 500 and the profile of the target object 500 according to the transmitted signal and / or the second electrical signal. In addition, when the processor 150 determines the distance of the target object 500 based on the time-of-flight method, the main body assembly 100 further includes a comparator and a duration determination module, and the electric amplification module 140 of the probe assembly 200 is electrically connected to the comparator, the duration determination module and the processor 150 of the main body assembly 100 in sequence.

[0054] Form 4: If the output signal is the output signal of the comparator, the probe assembly 200 includes a light receiving assembly 210, a light scanning assembly 220, a photoelectric conversion assembly 130, an electric amplification module 140 and a comparator. In this case, the main assembly 100 includes a light emitting assembly 110, a scanning control component 120, a duration determination module and a processor 150. The output end of the comparator of the probe assembly 200 is electrically connected to the duration determination module and the processor 150 of the main assembly 100 in sequence. The processor 150 determines at least one of the distance of the target object 500, the reflectivity of the target object 500 and the contour of the target object 500 according to the emission signal and / or the output signal of the comparator.

[0055] Form 5: If the output signal is the output signal of the duration determination module, then the probe assembly 200 includes a light receiving assembly 210, a light scanning assembly 220, a photoelectric conversion assembly 130, an electrical amplification module 140, a comparator and a duration determination module. In this case, the main assembly 100 includes a light emitting assembly 110, a scanning control component 120 and a processor 150. The duration determination module of the probe assembly 200 is electrically connected to the input end of the processor 150 of the main assembly 100. The processor 150 determines at least one of the distance of the target object 500, the reflectivity of the target object 500 and the contour of the target object 500 according to the transmitted signal and / or the second electrical signal.

[0056] In addition, if the target object 500 is far away from the probe assembly 200, the time length for the emission light emitted by the probe assembly 200 to hit the target object 500 and then be reflected from the target object 500 to the probe assembly 200 is longer. Similarly, if the target object 500 is close to the probe assembly 200, the time length for the emission light emitted by the probe assembly 200 to hit the target object 500 and then be reflected from the target object 500 to the probe assembly 200 is shorter. It can be seen that the time length can represent the distance of the target object 500. That is to say, if the probe assembly 200 receives reflected light outside the first preset time length from the start time of the emission of the emission light, it means that the target object 500 is far away. Therefore, in order to expand the detection range of the laser system, such as Figure 8 As shown, the light receiving assembly 210 includes at least one lens group, and the lens group includes a plurality of receiving lenses 211 arranged in sequence along the optical path of the reflected light, and the plurality of receiving lenses 211 are arranged in sequence along the optical path direction of the reflected light, and the spacing between at least two receiving lenses 211 is adjustable; the focal length of the lens group gradually increases within the first preset time length from the emission start time of the emitted light, that is, the imaging position of the lens group remains unchanged while the imaging area decreases with time, so that the viewing angle of the lens group decreases synchronously. In this way, the laser system can operate with a larger detection field angle within the first preset time length, thereby detecting a larger scene, and then operate with a smaller detection field angle, thereby detecting a farther distance. Among them, the first preset time length is greater than the pulse time width of the emitted light. It should be noted that the focal length of the lens group can be achieved by adjusting the spacing between two adjacent receiving lenses 211.

[0057] In some embodiments, in order to achieve deflection of emitted light and / or reflected light, the optical scanning component 220 includes at least one of a MEMS galvanometer 221, a rotating prism, a rotating wedge mirror, an optical phased array, an optoelectronic deflection device, and a liquid crystal scanner; wherein the liquid crystal scanner includes a liquid crystal spatial light modulator, a liquid crystal supercrystal surface, a liquid crystal linear array, a perspective one-dimensional liquid crystal array, a transmissive two-dimensional liquid crystal array, or a liquid crystal display module.

[0058] The scanning dimension of the optical scanning component 220 may be, but is not limited to, one-dimensional or two-dimensional.

[0059] Taking one-dimensional scanning as an example, the scanning control signal includes a first analog voltage signal; the optical scanning component 220 rotates along the first scanning direction within the current frame scanning duration according to the first analog voltage signal, so as to deflect the multiple groups of emitted light in sequence and then emit them to the target object 500, and / or deflect the reflected light reflected by the target object 500 and then irradiate it to the light receiving component 210. For example, taking the emitted light as an example, when the first scanning direction is the horizontal direction, each group of emitted light is deflected by the optical scanning component 220 and then emits it to a different direction. Within the current frame scanning duration, the trajectory of the multiple groups of emitted light in sequence passing through the optical scanning component 220 and then deflecting the direction and then irradiating it to the target object 500 can be surrounded to form a horizontal fan-shaped surface. It should be noted that the first scanning direction can be, but is not limited to, a vertical direction, a horizontal direction or an inclined direction; wherein the inclined direction is between the vertical direction and the horizontal direction.

[0060] Of course, the optical scanning component 220 can rotate in other directions in addition to the first scanning direction. For example, the scanning control signal includes a second analog voltage signal; the optical scanning component 220 rotates along the second scanning direction within the current frame scanning time according to the second analog voltage signal, so as to deflect the multiple groups of emitted light in turn and emit them to the target object 500, and / or deflect the reflected light reflected by the target object 500 and irradiate it to the light receiving component 210. For example, taking the emitted light as an example, when the second scanning direction is the vertical direction, each group of emitted light is deflected by the optical scanning component and emits it to a different direction. The trajectory of the multiple groups of emitted light passing through the deflection direction of the optical scanning component and emitting to the target object 500 in the current frame scanning time can be surrounded to form a vertical fan-shaped surface. It should be noted that the first scanning direction is different from the second scanning direction, and the second scanning direction can be, but is not limited to, a vertical direction, a horizontal direction or an inclined direction; wherein the inclined direction is between the vertical direction and the horizontal direction.

[0061] Taking two-dimensional scanning as an example, the scanning control signal includes a first analog voltage signal and a second analog voltage signal. The time period during which the first analog voltage signal controls the optical scanning component 220 is the same as the time period during which the second analog voltage signal controls the optical scanning component 220. That is, the first analog voltage signal and the second analog voltage signal simultaneously control the optical scanning component 220. The optical scanning component 220 rotates along the first scanning direction and the second scanning direction simultaneously within the current frame scanning duration according to the first analog voltage signal and the second analog voltage signal, so as to deflect the multiple groups of emitted light in sequence and then emit them to the target object 500, and / or deflect the reflected light reflected by the target object 500 and then irradiate it to the light receiving component 210. Taking the first scanning direction as the horizontal direction and the second scanning direction as the vertical direction as an example, within the current frame scanning duration, the optical scanning component rotates in the horizontal direction around a certain vertical axis, and at the same time, the optical scanning component 220 as a whole rotates in the vertical direction around a certain horizontal axis. Taking a group of reflected light reflected by the target object 500 as an example, when the light scanning component 220 rotates at an angle α in the horizontal direction and at an angle β in the vertical direction at the same time, the reflected light is deflected (α, β) after being reflected by the light scanning component 220. Since the light scanning component 220 rotates at different angles each time, each group of reflected light is emitted in a different direction after being deflected by the light scanning component 220. Within the scanning time of this frame, the trajectories of the multiple groups of reflected light that are sequentially deflected by the light scanning component 220 and emitted to the light receiving component 210 can be arranged to form a cone-like figure. That is, a coordinate system is established with the first scanning direction as the x-axis and the second scanning direction as the y-axis. The projection of each group of reflected light that is deflected by the light scanning component 220 and emitted to the light receiving component 210 on the xy plane has components along both the x-axis and the y-axis.

[0062] The waveform parameters of the first analog voltage signal and / or the second analog voltage signal include at least one of frequency, amplitude and phase.

[0063] like Figure 8 As shown, when the optical scanning component 220 includes a MEMS galvanometer 221, the MEMS galvanometer 221 is configured to rotate along a first scanning direction within the current frame scanning duration according to a first analog voltage signal and / or rotate along a second scanning direction according to a second analog voltage signal.

[0064] Furthermore, the optical scanning component 220 also includes a rotating mirror 224, which is located on the optical path of the emitted light emitted by the MEMS galvanometer 221 to the target object 500, and the rotating mirror 224 is configured to rotate along a third scanning direction according to a scanning control signal to reflect the emitted light reflected by the MEMS galvanometer 221 to the target object 500. The third scanning direction can be in the same direction as the first scanning direction or the second scanning direction, or in a different direction. The advantage of such a setting is that since the scanning frequency of the MEMS galvanometer 221 is very fast, and the scanning frequency of the rotating mirror 224 is relatively slow, and the cost of the rotating mirror 224 is much lower than that of the MEMS galvanometer 221, the receiving field of view of the optical receiving component 210 can be expanded at a relatively low cost by sequentially utilizing the MEMS galvanometer 221 and the rotating mirror 224 to deflect the emitted light. For example, when the scanning direction of the MEMS galvanometer 221 is vertical and the scanning direction of the rotating mirror 224 is horizontal, the MEMS galvanometer 221 quickly deflects the multiple groups of emitted light in sequence and then projects them toward the rotating mirror 224. After being reflected by the rotating mirror 224 in sequence, the multiple groups of emitted light are projected toward the target object 500 at a large horizontal scanning angle. In other words, the trajectory of the multiple groups of emitted light projected toward the target object 500 after being deflected by the rotating mirror 224 forms a sector-shaped surface with a large central angle in the horizontal plane. Thus, the optical scanning component 220 can realize vertical high-frequency scanning + horizontal wide-angle scanning. The rotating mirror 224 can be, but is not limited to, a rotating prism or a rotating wedge mirror.

[0065] Recombination Figures 5 to 7 As shown, in order to further reduce the volume of the probe assembly 200, the optical scanning assembly 220 further includes a light guide 222 and a light collimator 223. The light inlet of the light guide 222 is connected to the main assembly 100 through a flexible cable 300, the light outlet of the light guide 222 is adjacent to and faces the light inlet of the light collimator 223, and the light outlet of the light collimator 223 faces the reflective surface of the MEMS galvanometer 221. The light guide 222 can be fixed on a support 700 for carrying the MEMS galvanometer 221, and the light inlet of the light guide 222 is connected to the optical fiber 320 of the flexible cable 300 by optical fiber fusion splicing. Since the light outlet of the light guide 222 faces the light inlet of the light collimator 223, and the light outlet of the light collimator 223 faces the reflective surface of the MEMS galvanometer 221, the multiple groups of emitted lights emitted by the main assembly 100 are sequentially transmitted to the light outlet of the light guide 222 through the optical fiber 320 and then directly emitted to the reflective surface of the MEMS galvanometer 221 through the light collimator 223. Figure 3 As shown, the optical path of the emitted light emitted from the light outlet of the light collimator 223 is located between the reflective surface of the MEMS galvanometer 221 and the specific conical surface 600, and the angle between the optical path of the emitted light emitted from the light outlet of the light collimator 223 and the generatrix of the specific conical surface 600 is Less than a preset angle; wherein the central axis of the specific conical surface 600 is perpendicular to the reflective surface of the MEMS galvanometer 221, and the vertex of the specific conical surface 600 is located on the reflective surface of the MEMS galvanometer 221, and the angle γ between the generatrix of the specific conical surface 600 and the reflective surface of the MEMS galvanometer 221 is an acute angle, and the size of the acute angle can be but not limited to 15° to 75°. The preset angle can be but not limited to 0° to 45°.

[0066] like Figure 6 and Figure 7 As shown, the distance d between the light outlet of the light collimator 223 and the center of the reflective surface of the MEMS galvanometer 221 is less than the preset distance, for example, the preset distance may be, but not limited to, 0.1 cm, 1 cm, 2 cm, or 5 cm. Alternatively, in the case where the reflective surface of the MEMS galvanometer 221 is circular, the preset distance may be, but not limited to, 0.1 times, 1 times, 2 times, or 5 times the radius of the reflective surface of the MEMS galvanometer 221.

[0067] In addition, in order to further reduce the volume of the probe assembly 200 and lower the cost, the MEMS galvanometer 221 , the light guide 222 and the light collimating mirror 223 are all arranged on the same chip.

[0068] like Figure 2 As shown, in order to expand the detection range of the laser system, the probe assembly 200 also includes a driving member 230, the driving member 230 is electrically connected to the main assembly 100, the optical scanning assembly 220 is arranged on the driving member 230, and the driving member 230 is used to drive the optical scanning assembly 220 to swing or rotate according to the scanning control signal. Of course, the optical receiving assembly 210 can also be arranged on the driving member 230. In this case, the driving member 230 can drive the optical receiving assembly 210 and the optical scanning assembly 220 to swing or rotate synchronously relative to the target object 500. It should be noted that, in the above, "rotation" generally means that the optical scanning assembly 220 can be deflected by a certain angle in the horizontal direction relative to the target object 500, and can also be deflected by a certain angle in the vertical direction relative to the target object 500, and of course, it can also be deflected by a certain angle in any direction in space. "Swing" generally means that the optical scanning assembly 220 reciprocates in a certain direction. Among them, the driving member 230 can include, but is not limited to, a universal shaft and a driving motor. The optical scanning assembly 220 is arranged on the universal shaft, and the driving motor drives the universal shaft to rotate.

[0069] In some embodiments, Fig. 9As shown, the photoelectric conversion component 130 includes a plurality of photoelectric conversion units 131 distributed in an array, and the photoelectric conversion unit 131 converts a first optical signal into a first electrical signal; wherein, the number of the photoelectric conversion units 131 in the operating state among the plurality of photoelectric conversion units 131 gradually decreases within a first preset time length from the emission start moment of the emitted light; wherein, the photoelectric conversion units 131 in the operating state are adjacent to each other, and the first preset time length is greater than the pulse time width of the emitted light. As an example, the photoelectric conversion unit 131 may be, but is not limited to, an avalanche photodiode (APD) or a single photon avalanche diode (SPAD). For example, Fig. 9 As shown, the photoelectric conversion assembly 130 includes 6×9 photoelectric conversion units 131 distributed in a rectangular array, wherein a black photoelectric conversion unit 131 indicates that the photoelectric conversion unit 131 is in operation, that is, the photoelectric conversion unit 131 is an effective photoelectric conversion unit, and a white photoelectric conversion unit 131 indicates that the photoelectric conversion unit 131 is in shutdown, that is, the photoelectric conversion unit 131 is an invalid photoelectric conversion unit. Since the target object 500 is located in the target scene 400, the photoelectric conversion unit 131 has a certain area, so each photoelectric conversion unit 131 corresponds to a certain receiving area, that is, a field of view angle, in the target scene 400 through the receiving lens 211, and the field of view angle η of the photoelectric conversion assembly 130 is determined by the receiving area corresponding to the photoelectric conversion unit 131 in the operating state, that is, the effective photoelectric conversion unit. The embodiment of the present application can change the detection field of view of the laser system by adjusting the number of photoelectric conversion units 131 in operation within a first preset time period starting from the start time of emission of the emitted light, so that the laser system can operate at a larger detection field of view within the first preset time period, thereby detecting a larger scene, and then operate at a smaller detection field of view, thereby detecting a longer distance.

[0070] Considering that in order to improve the resolution in a certain direction in the prior art, the laser system has multiple emission fields of view along the direction, and also needs to be matched with the same number of receiving fields of view as the emission fields of view. In order to accurately and synchronously match the emission field of view and the receiving field of view, the laser system needs to set up a complex control system to accurately control the light scanning component. Therefore, in order to avoid accurately matching the emission field of view and the receiving field of view, and then simplify the control method of the light scanning component 220, in the embodiment of the present application, from the emission start time of the corresponding emission light, within the preset receiving time, the emission field of view of the light emitting component 110 is located in the receiving field of view of the corresponding photoelectric conversion component 130, and the area of ​​the receiving field of view is not less than twice the area of ​​the emission field of view; the emission field of view is the projection area of ​​each group of emission light in the target scene 400, and the receiving field of view is the area corresponding to all light beams that can be received by the photoelectric conversion component 130 in the target scene 400. In this case, the photoelectric conversion component 130 includes a plurality of photoelectric conversion units 131 arranged in sequence along the length direction and the width direction of the receiving field of view, that is, the plurality of photoelectric conversion units 131 are distributed in a two-dimensional array, and the photoelectric conversion units 131 in operation among the plurality of photoelectric conversion units 131 convert all first optical signals into corresponding first electrical signals.

[0071] The optical scanning component 220 is also configured to generate a current scanning angle signal when the reflected light reflected by the target object 500 is deflected and sent to the processor 150 of the main component 100. For example, in the case where the optical scanning component 220 includes a rotating mirror 224, a code disk is provided on the rotating mirror 224. The code disk detects the current scanning angle of the rotating mirror 224 in real time, and sends the detection result, i.e., the current scanning angle signal, to the processor 150 of the main component 100. For another example, in the case where the optical scanning component 220 includes a MEMS galvanometer 221, a torque detector is provided on the MEMS galvanometer 221. The torque detector detects the torque of the MEMS galvanometer 221 in real time, and converts the torque of the MEMS galvanometer 221 into a current scanning angle signal and sends it to the processor 150 of the main component 100. The processor 150 of the main component 100 is configured to determine the irradiation angle of the emitted light to the target object 500 according to at least one of the scanning control signal, the current scanning angle signal, the output signal, and the position where the first electrical signal is output on the photoelectric conversion component 130. For example, when the photoelectric conversion component 130 includes a plurality of photoelectric conversion units 131 , “a position on the photoelectric conversion component 130 where the first electrical signal is output” generally refers to a position where the photoelectric conversion unit 131 that outputs the first electrical signal is located.

[0072] In order to expand the application field of the laser system so that it can be applied to the fields of AR, VR and metaverse, the multiple groups of emitted light include at least one group of first emitted light and at least one group of second emitted light, the emission time of the first emitted light is earlier than the emission time of the second emitted light, the reflected light of the first emitted light after being reflected by the corresponding target object 500 is converted into an output signal, and the second emitted light is visible light, that is, the first emitted light is used to measure at least one of the distance, reflectivity or profile, and the second emitted light is used to project an image. The light scanning component 220 is configured to project the second emitted light onto the surface of one of the target objects 500 in the above multiple target objects 500 according to a preset effect after irradiating the first emitted light to the multiple target objects 500, according to at least one of the distance of the target object 500, the irradiation angle, the reflectivity of the target object 500 and the profile of the target object 500. Since the second emitted light is projected onto the surface of the target object 500 according to at least one of the distance of the target object 500, the irradiation angle, the reflectivity of the target object 500 and the profile of the target object 500, the imaging of the second emitted light on the surface of the target object 500 can reproduce the real image.

[0073] For example, when the surface of the target object 500 is a sphere, the light emitting component 110 first emits at least one group of first emitted light to the surface of the target object 500 through the probe component 200, and then emits at least one group of second emitted light. The processor 150 determines at least one of the distance of the target object 500, the reflectivity of the target object 500, and the contour of the target object 500 according to the emission signal and / or output signal corresponding to the first emitted light. At the same time, the processor 150 also determines the irradiation angle of the emitted light to the target object 500 according to at least one of the scanning control signal, the current scanning angle signal, the output signal, and the position of the first electrical signal output on the photoelectric conversion component. Afterwards, the light scanning component 220 projects the second emitted light, such as an insect image, on the surface of the target object 500 according to at least one of the distance of the target object 500, the irradiation angle, the reflectivity of the target object 500, and the contour of the target object 500 determined by the processor 150 based on the first emitted light. Since the second emitted light is projected onto the surface of the target object 500 according to at least one of the distance to the target object 500, the irradiation angle, the reflectivity of the target object 500, and the outline of the target object 500, the image of the insect is not distorted by the curved surface of the target object 500, but is covered on the curved surface of the target object 500 according to a certain curvature, so that the target object 500 truly restores the insect. The second emitted light may include, but is not limited to, at least one of red light, blue light, and green light.

[0074] For another example, when the target object 500 is a car windshield or AR glasses, the light scanning component 220 first projects the first emitted light onto the car windshield or AR glasses, and then projects the preset virtual AR image, that is, the second emitted light, onto the car windshield or AR glasses based on at least one of the distance of the target object 500, the illumination angle, the reflectivity of the target object 500 and the outline of the target object 500, so that the user can see the enhanced scenes of the real world and the virtual world.

[0075] Of course, the optical scanning component 220 can also directly project the first emitted light and the second emitted light onto the surfaces of two different target objects 500 respectively. In this case, the laser system is equivalent to an ordinary projection device.

[0076] In some embodiments, the main assembly 100 further includes a display component and / or a prompt component; wherein the display component is used to display at least one of the distance of the target object 500, the illumination angle, the reflectivity of the target object 500, and the outline of the target object 500; and the prompt component is used to output a prompt signal according to at least one of the distance of the target object 500, the illumination angle, the reflectivity of the target object 500, and the outline of the target object 500. The prompt component may be, but is not limited to, a microphone or a vibrator.

[0077] In some embodiments, the light emitting assembly 110 includes a plurality of light emitting units, and the emitted light generated by at least two of the plurality of light emitting units has different angles relative to the light scanning assembly. As an example, the light emitting unit may include, but is not limited to, any one of a point light source, a line light source, and a surface light source. In some embodiments, the light characteristics of the emitted light or reflected light include at least one of light intensity, AM modulation function, i.e., amplitude modulation modulation function, FM modulation function, i.e., frequency modulation modulation function, light wave type, light polarization, light wavelength, light wavelength distribution, light spot shape, and light pulse time width.

[0078] When the emitted light is a long pulse light beam, in order to make the emitted light more focused at a distance, the divergence angle of each group of emitted light emitted by the optical emission component 110 gradually decreases within a second preset time length from the corresponding emission start moment; wherein the second preset time length is less than the pulse time width of the emitted light.

[0079] In some embodiments, the target object 500 is located in a target scene, and the ratio of the projection range of each group of emitted light emitted by the probe assembly 200 in the target scene to the range of the target scene is less than a preset ratio; wherein the preset ratio is 1:10, 1:100, 1:1000, 1:10000 or 1:100000.

[0080] like Fig.10As shown, the embodiment of the present application also provides a laser measurement method, which is implemented based on the above laser system and includes:

[0081] S1. Generate a scanning control signal and an emission signal through the main body component 100, and emit multiple groups of emission lights according to the emission signal through the main body component 100; wherein the emission signal includes time information indicating the emission start time of each group of emission lights;

[0082] S2, irradiating the plurality of groups of emitted light sequentially to at least one target object 500 in the target scene according to the scanning control signal through the probe assembly 200, and converting at least one group of reflected light reflected by the at least one target object 500 into an output signal; wherein the type of the output signal is an optical signal or an electrical signal;

[0083] S3. Determine at least one of the distance of the target object 500, the reflectivity of the target object 500, and the outline of the target object 500 according to the transmission signal and / or the output signal through the main body component 100.

[0084] like Fig.11 As shown, in the case where the probe assembly 200 includes a light receiving assembly 210 and a light scanning assembly 220, step S2 includes:

[0085] S2.1, using the optical scanning component 220 to deflect the transmitted light according to the scanning control signal and then irradiate it to at least one target object 500, and / or deflect at least one group of reflected light reflected by at least one target object 500 and then irradiate it to the receiving direction;

[0086] S2.2. Receive the reflected light reflected by the target object 500 through the light receiving component 210 and convert the reflected light into a first optical signal.

[0087] Further, the scanning control signal includes a first analog voltage signal and / or a second analog voltage signal. Step S2.1 includes: scanning along a first scanning direction within the current frame scanning time length and / or scanning along a second scanning direction within the current frame scanning time length by the light scanning component 220 according to the first analog voltage signal, so as to deflect the directions of the multiple groups of emission lights in sequence and then emit them toward the target object 500;

[0088] And / or, the light scanning component 220 scans along the first scanning direction within the current frame scanning time according to the first analog voltage signal and / or scans along the second scanning direction within the current frame scanning time, so as to deflect the reflected light reflected by the target object 500 and irradiate it to the receiving direction.

[0089] The time period of the first analog voltage signal controlling the light scanning component 220 is the same as the time period of the second analog voltage signal controlling the light scanning component 220, and the first scanning direction is different from the second scanning direction. For example, the first scanning direction is perpendicular to the second scanning direction.

[0090] In some embodiments, in step S1, emitting multiple groups of emission lights through the main component 100 according to the emission signal includes: emitting emission lights through the main component 100 with the emission angle gradually decreasing within a second preset time period starting from the start moment of emission; wherein the second preset time period is greater than the pulse time width of the emission light.

[0091] In some embodiments, when the main assembly 100 or the probe assembly 200 includes a photoelectric conversion assembly 130, the laser measurement method further includes: converting the first optical signal into a first electrical signal by the photoelectric conversion assembly 130. When the output end of the photoelectric conversion assembly 130 is connected to the electrical amplification module 140, the distance measurement method may further include: amplifying the first electrical signal into a second electrical signal by the electrical amplification module 140.

[0092] In some embodiments, the laser measurement method also includes: generating a current scanning angle signal after deflecting the reflected light reflected by the target object 500 through the light scanning component 220; determining the irradiation angle of the emitted light to the target object 500 through the main body component 100 according to the scanning control signal, the current scanning angle signal, the position of the first light signal output on the photoelectric conversion component 130, and at least one of the output signals.

[0093] In step S1, emitting multiple groups of emission lights through the main component 100 includes: emitting at least one group of first emission lights and at least one group of second emission lights through the main component 100; wherein, the emission time of the first emission light is earlier than the emission time of the second emission light, the reflected light of the first emission light after being reflected by the corresponding target object is converted into an output signal, and the second emission light is visible light. On this basis, the laser measurement method also includes: after irradiating the first emission light to multiple target objects 500 through the light scanning component 220, according to at least one of the distance, irradiation angle, reflectivity and profile, the second emission light is projected on the surface of one of the multiple target objects 500 according to a preset effect; or, irradiating the first emission light and the second emission light to two different target objects 500 respectively through the light scanning component 220. The former enables the laser system to be applied to the fields of AR, VR and metaverse, and the latter enables the laser system to have the projection function of an ordinary projection device.

[0094] In some embodiments, the main assembly 100 further includes a display component and / or a prompt component. The prompt component may be, but is not limited to, a microphone or a vibrator. The laser measurement method further includes displaying at least one of the distance, reflectivity, and profile through the display component; and / or outputting a prompt signal according to at least one of the distance, reflectivity, and profile through the prompt component.

[0095] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A laser system, characterized in that: include: A main body component, generating a scanning control signal and an emission signal, and emitting a plurality of groups of emission lights according to the emission signal, wherein the divergence angle of each group of the emission lights emitted by the main body component gradually decreases within a second preset time length from the corresponding emission start time; wherein the emission signal includes time information indicating the emission start time of each group of the emission lights, and the second preset time length is less than the pulse time width of the emission lights; and At least one probe assembly is separately provided from the main assembly and is photoelectrically connected to the main assembly; The probe assembly is configured to sequentially irradiate the plurality of groups of emitted light to at least one target object in the target scene according to the scanning control signal, and convert at least one group of reflected light reflected by at least one of the target objects into an output signal; wherein the type of the output signal is an optical signal or an electrical signal; The main body assembly is configured to determine at least one of a distance to the target object, a reflectivity of the target object, and a profile of the target object based on the transmission signal and / or the output signal.

2. The laser system according to claim 1, wherein: The probe assembly includes a light receiving assembly and a light scanning assembly; Among them, the light scanning component deflects the emitted light emitted by the main component according to the scanning control signal and irradiates it to at least one target object, and / or deflects at least one group of reflected light reflected by at least one target object and irradiates it to the light receiving component; the light receiving component converts the reflected light into a first light signal.

3. The laser system according to claim 2, wherein: The light receiving assembly comprises at least one lens group, wherein the lens group comprises a plurality of receiving lenses arranged in sequence along the optical path of the reflected light, and the distance between at least two of the receiving lenses is adjustable; The focal length of the lens group gradually increases within a first preset time period from the start of the emission, so that the viewing angle of the lens group is synchronously reduced; wherein the first preset time period is greater than the pulse time width of the emitted light.

4. The laser system according to claim 2, wherein: The optical scanning component includes at least one of a MEMS galvanometer, a rotating prism, a rotating wedge mirror, an optical phased array, an optoelectronic deflection device, and a liquid crystal scanner; wherein the liquid crystal scanner includes a liquid crystal spatial light modulator, a liquid crystal super crystal surface, a liquid crystal linear array, a perspective one-dimensional liquid crystal array, a transmissive two-dimensional liquid crystal array, or a liquid crystal display module.

5. The laser system according to claim 2, wherein: The scanning control signal includes a first analog voltage signal and / or a second analog voltage signal; the optical scanning component deflects the multiple groups of the emitted light in sequence and emits them to at least one of the target objects within the current frame scanning time according to the scanning control signal, and / or deflects the at least one group of the reflected light reflected by at least one of the target objects and irradiates them to the optical receiving component; Among them, the first analog voltage signal is used to control the light scanning component to rotate along the first scanning direction within the current frame scanning duration; the second analog voltage signal is used to control the light scanning component to rotate along the second scanning direction within the current frame scanning duration; the time period for the first analog voltage signal to control the light scanning component is the same as the time period for the second analog voltage signal to control the light scanning component, and the first scanning direction is in a different direction from the second scanning direction.

6. The laser system according to claim 5, wherein: The first scanning direction and / or the second scanning direction is a horizontal direction, a vertical direction or an inclined direction; wherein the inclined direction is between the vertical direction and the horizontal direction.

7. The laser system of claim 5, wherein: The waveform parameters of the first analog voltage signal and / or the second analog voltage signal include at least one of frequency, amplitude and phase.

8. The laser system of claim 5, wherein: The optical scanning component includes a MEMS galvanometer, and the MEMS galvanometer is configured to rotate along the first scanning direction within the current frame scanning time length according to the first analog voltage signal and / or rotate along the second scanning direction according to the second analog voltage signal.

9. The laser system of claim 8, wherein: The optical scanning assembly also includes a rotating mirror, which is located on the optical path of the emitted light emitted by the MEMS galvanometer toward the target object. The rotating mirror is configured to rotate along a third scanning direction according to the scanning control signal to reflect the emitted light reflected by the MEMS galvanometer to the target object.

10. The laser system of claim 8, wherein: The optical scanning component also includes a light guide and a light collimator. The light inlet of the light guide is connected to the main component through a cable, the light outlet of the light guide is arranged adjacent to and toward the light inlet of the light collimator, and the light outlet of the light collimator faces the reflective surface of the MEMS galvanometer.

11. The laser system of claim 10, wherein: The distance between the light outlet of the light collimating mirror and the center of the reflecting surface of the MEMS oscillator is less than a preset distance; wherein the preset distance is 0.1 cm, 1 cm, 2 cm or 5 cm.

12. The laser system of claim 10, wherein: The optical path of the emitted light emitted from the light outlet of the light collimator is located between the reflective surface of the MEMS galvanometer and the specific conical surface, and the angle between the optical path of the emitted light and the generatrix of the specific conical surface is less than a preset angle; Among them, the central axis of the specific cone surface is perpendicular to the reflective surface of the MEMS galvanometer, and the vertex of the specific cone surface is located on the reflective surface of the MEMS galvanometer, and the angle between the generatrix of the specific cone surface and the reflective surface of the MEMS galvanometer is an acute angle; wherein the acute angle is 15° to 75°.

13. The laser system of claim 10, wherein: The probe assembly further comprises a chip, and the MEMS oscillating mirror, the light guide and the light collimating mirror are all arranged on the chip.

14. The laser system of claim 2, wherein: The probe assembly also includes a driving member, which is electrically connected to the main body assembly. The optical scanning assembly is arranged on the driving member, and the driving member is used to drive the optical scanning assembly to swing or rotate according to the scanning control signal.

15. The laser system according to any one of claims 2 to 14, wherein: The main body component or the probe component comprises: The photoelectric conversion component converts the first optical signal into a first electrical signal.

16. The laser system of claim 15, wherein: The optical scanning component is also configured to generate a current scanning angle signal while deflecting the direction of the reflected light reflected from the target object; the main component is also configured to determine the irradiation angle of the emitted light to the target object based on at least one of the scanning control signal, the current scanning angle signal, the output signal and the position at which the first electrical signal is output on the photoelectric conversion component.

17. The laser system of claim 16, wherein: The multiple groups of emitted light include at least one group of first emitted light and at least one group of second emitted light, the emission time of the first emitted light is earlier than the emission time of the second emitted light, the reflected light of the first emitted light after being reflected by the corresponding target object is converted into the output signal, and the second emitted light is visible light; wherein, after the light scanning component irradiates the first emitted light onto the plurality of target objects, the second emitted light is projected onto the surface of one of the plurality of target objects according to a preset effect based on at least one of the distance, the irradiation angle, the reflectivity and the profile; or, The light scanning component irradiates the first emitted light and the second emitted light to two different target objects respectively.

18. The laser system of claim 17, wherein: The second emitted light includes at least one of red light, blue light and green light.

19. The laser system of claim 15, wherein: The main body component comprises: A light emitting component, generating the emission signal and emitting a plurality of groups of emission lights according to the emission signal; A scanning control component, generating the scanning control signal; A processor is configured to determine at least one of the distance, the reflectivity, and the profile based on the transmission signal and / or the output signal.

20. The laser system of claim 19, wherein: The output end of the photoelectric conversion component is electrically connected to the processor; or, The output end of the photoelectric conversion component is electrically connected to the processor through an electrical amplification module, and the electrical amplification module is used to amplify the first electrical signal into a second electrical signal.

21. The laser system of claim 20, wherein: The electric amplification module includes a plurality of amplifiers electrically connected in sequence, and the strength of the electric signal output by the amplifier of the upper stage of two adjacent amplifiers is smaller than the strength of the electric signal output by the amplifier of the lower stage.

22. The laser system of claim 21, wherein: The output end of at least one stage of the amplifier is connected to at least a comparator, and the input end of the comparator is connected to a comparison input, and the comparison input of the comparator corresponds to the amplifier one by one; the comparator is used to compare the voltage value of the comparison input with the electrical signal corresponding to the output of the amplifier to determine the trigger start time, the trigger end time and the pulse width; wherein the trigger start time and the trigger end time are respectively the start time and the end time when the intensity of the electrical signal output by the amplifier is higher than the voltage value of the comparison input, and the pulse width is the difference between the trigger end time and the trigger start time; the output end of each comparator is connected to a duration determination module, and the duration determination module is used to determine the light flight time according to the emission start time and the corresponding trigger start time; the processor determines at least one of the distance, the reflectivity and the profile according to at least one of the light flight time, the pulse width, the intensity of the second electrical signal and the speed of light.

23. The laser system of claim 22, wherein: Any one of the first optical signal, the first electrical signal, the second electrical signal, the output terminal signal of the comparator, and the output terminal signal of the duration determination module is used as the output signal.

24. The laser system of claim 19, wherein: From the emission start moment of the corresponding emission light, the emission field of view of the light emitting component is located in the receiving field of view of the corresponding photoelectric conversion component within the preset receiving time, and the area of ​​the receiving field of view is not less than twice the area of ​​the emission field of view; the emission field of view is the projection area of ​​each group of the emission light in the target scene, and the receiving field of view is the area corresponding to all light beams that can be received by the photoelectric conversion component in the target scene.

25. The laser system of claim 24, wherein: The photoelectric conversion component includes a plurality of photoelectric conversion units that are sequentially arranged along the length direction and the width direction of the receiving field of view, and the photoelectric conversion unit in operation among the plurality of photoelectric conversion units converts all the first optical signals into corresponding first electrical signals.

26. The laser system of claim 19, wherein: The divergence angle of each group of the emission lights emitted by the light emitting component gradually decreases within a second preset time period starting from the corresponding emission start moment; wherein the second preset time period is smaller than the pulse time width of the emission light.

27. The laser system of claim 19, wherein: The main body component also includes: A display component, displaying at least one of the distance, the reflectivity and the profile; and / or A prompt component outputs a prompt signal according to at least one of the distance, the reflectivity and the profile.

28. The laser system according to any one of claims 1 to 14, wherein: The target object is located in a target scene, and the ratio of the projection range of each group of emitted light emitted by the probe assembly in the target scene to the range of the target scene is less than a preset ratio; wherein the preset ratio is 1:10, 1:100, 1:1000, 1:10000 or 1:100000.

29. The laser system according to any one of claims 1 to 14, wherein: There are multiple probe assemblies, and the multiple probe assemblies respectively irradiate the corresponding emission light to target objects in different target scenes.

30. The laser system of any one of claims 1 to 14, wherein: The probe assembly is photoelectrically connected to the main assembly via a flexible cable.

31. A laser measurement method based on the laser system according to any one of claims 1 to 30, characterized in that: include: Generate a scanning control signal and an emission signal through the main component and emit multiple groups of emission lights according to the emission signal: emit emission lights whose emission angles gradually decrease within a second preset time period starting from the emission start time through the main component; wherein the emission signal includes time information indicating the emission start time of each group of the emission lights, and the second preset time period is less than the pulse time width of the emission lights; The probe assembly sequentially irradiates the plurality of groups of emitted lights to at least one target object in a target scene according to the scanning control signal, and converts at least one group of reflected lights reflected by at least one target object into an output signal; wherein the type of the output signal is an optical signal or an electrical signal; At least one of the distance of the target object, the reflectivity of the target object and the outline of the target object is determined by the main body component according to the transmission signal and / or the output signal.

32. The laser measurement method according to claim 31, characterized in that: The probe assembly includes a light receiving assembly and a light scanning assembly; Irradiating the emitted light to at least one target object in the target scene according to the scanning control signal, and converting at least one group of reflected light reflected by at least one of the target objects into an output signal comprises: The light scanning component deflects the emitted light emitted by the main component according to the scanning control signal and irradiates it to at least one target object, and / or deflects at least one group of reflected light reflected by at least one target object and irradiates it to a receiving direction; The reflected light is converted into a first optical signal by the light receiving component.

33. The laser measurement method according to claim 32, characterized in that: The scanning control signal includes a first analog voltage signal and / or a second analog voltage signal; The method of deflecting the emitted light emitted by the main component according to the scanning control signal by the light scanning component and irradiating it to at least one target object, and / or deflecting at least one group of reflected light reflected by at least one target object and irradiating it to a receiving direction includes: Scanning along the first scanning direction and / or scanning along the second scanning direction within the current frame scanning time length according to the first analog voltage signal by the optical scanning component, so as to deflect the multiple groups of emitted light in sequence and then emit them to at least one of the target objects and / or deflect the at least one group of reflected light reflected by at least one of the target objects and then irradiate them to the receiving direction; The time period during which the first analog voltage signal controls the light scanning component is the same as the time period during which the second analog voltage signal controls the light scanning component, and the first scanning direction is different from the second scanning direction.

34. The laser measurement method according to claim 32, characterized in that: The main body component or the probe component includes a photoelectric conversion component; The laser measurement method further includes: converting the first optical signal into a first electrical signal by the photoelectric conversion component.

35. The laser measurement method according to claim 34, characterized in that: The laser measurement method further comprises: The light scanning component deflects the reflected light from the target object and generates a current scanning angle signal at the same time; The main component determines the irradiation angle of the emitted light to the target object according to at least one of the scanning control signal, the current scanning angle signal, the output signal and the position where the first electrical signal is output on the photoelectric conversion component.

36. The laser measurement method according to claim 35, characterized in that: Emitting multiple groups of emission lights through the main body component includes: emitting at least one group of first emission lights and at least one group of second emission lights through the main body component; wherein the emission time of the first emission lights is earlier than the emission time of the second emission lights, the reflected light of the first emission lights after being reflected by the corresponding target object is converted into the output signal, and the second emission lights are visible light; The laser measurement method further comprises: After the first emitted light is irradiated to the plurality of target objects by the light scanning component, the second emitted light is projected onto the surface of one of the plurality of target objects according to a preset effect based on at least one of the distance, the irradiation angle, the reflectivity and the profile; or The first emitted light and the second emitted light are irradiated to two different target objects respectively through the light scanning component.

37. The laser measurement method according to claim 31, characterized in that: The main body assembly also includes a display component and / or a prompt component; The laser measurement method further comprises: Displaying at least one of the distance, the reflectivity and the outline by the display component; and / or The prompting component outputs a prompting signal according to at least one of the distance, the reflectivity and the contour.

38. The laser measurement method according to claim 31, characterized in that: There are multiple probe assemblies, and the multiple probe assemblies respectively irradiate the corresponding emission light to the target object in different target scenes.

Images