Optical scanning module and laser radar system
By setting up multiple reflectors in the optical scanning module for cascade scanning, the problems of small field angle and high multi-channel synthesis cost of MEMS galvanometer solution are solved, and scanning with large field angles is achieved, high yield and low cost are achieved lidar system.
Patent Information
- Application Number
- CN202310672031.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-07
- Publication Date
- 2024-12-10
AI Technical Summary
The scanning field angle of the MEMS galvanometer scheme is small, difficult to reach more than 30°, and the multi-channel synthesis scheme is costly and difficult to calibrate the system, which affects yield and mass production.
By providing at least two reflectors on the light exit path of the transmitting or transmitting module of the optical scanning module, at least one of which is a scanning mirror, the light beam is scanned and reflected at least twice in the preset dimension direction, and is emitted through the superposition of the reflector. Large scanning angle and multiple mirror cascade settings to reduce synchronization errors.
It realizes scanning with large field of view angles, reduces costs, improves yield and mass production, and solves the difficulty of system calibration of multi-channel synthesis solutions.
Smart Images
Figure CN119105008A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of optical scanning technology, and in particular to an optical scanning module and a laser radar system. Background Art
[0002] Automotive radar and active optical sensing systems (such as optical rangefinders) generally include three major optical components: light transmitter, light receiver, and scanning system. Taking Lidar as an example, the scanning system is the core of Lidar, which directly affects the automotive-grade reliability, performance, cost, volume, and mass production of Lidar. Among various scanning system solutions, the comprehensive effect of MEMS galvanometer is the best, and it is also one of the mainstream solutions for Lidar products on the market.
[0003] One of the performance bottlenecks of the MEMS galvanometer solution is that the scanning field of view is small, and it is difficult to achieve a scanning angle of more than 30°, while practical applications often require a field of view of about 120°. Currently, the problem of small scanning field of view is mainly improved through multi-channel synthesis. For example, five transmitting + receiving ends are used with one or more scanning galvanometers, and each channel covers 25° in the horizontal direction to achieve a field of view of about 120°. Figure 1 ), is the main solution for mass production of LiDAR. However, this solution still has two major problems. One is the high cost of multi-channel transmission + reception modules, and the other is the difficulty of system calibration between multiple channels, which affects the yield and mass production. Summary of the invention
[0004] The purpose of the embodiments of the present application is to provide an optical scanning module and a laser radar system that can improve the scanning angle of the module in a preset dimensional direction, and has high yield and mass production performance and low cost.
[0005] On the one hand, an embodiment of the present application provides an optical scanning module, comprising at least two reflectors arranged on the light output path of a transmitting module or a transceiver module, at least one of the reflectors is a scanning mirror, and the light beam emitted by the transmitting module or the transceiver module is scanned and reflected by the reflector at least twice in a preset dimensional direction and then emitted, and the scanning angle of the optical scanning module in the preset dimensional direction is increased by superimposing the scanning angles of the reflector in the preset dimensional direction at least twice.
[0006] Optionally, the preset dimensional direction of the optical scanning module includes any one or any two of a horizontal scanning direction, a vertical scanning direction or a non-orthogonal scanning direction.
[0007] Optionally, the light beam is reflected by all the reflectors a number of times equal to the number of the reflectors, and the light beam is reflected once on a single reflector.
[0008] Optionally, the light beam is reflected by all the reflectors for a number of times greater than the number of the reflectors, and the light beam is reflected at least twice on a single reflector.
[0009] Optionally, a single scanning mirror scans in one of the preset dimensional directions, or scans in two of the preset dimensional directions simultaneously.
[0010] Optionally, the scanning mirror is a galvanometer mirror and / or a rotating mirror.
[0011] Optionally, the light source of the transmitting module or the transceiver module is a point light source, a line light source or a surface light source.
[0012] On the other hand, an embodiment of the present application provides a laser radar system, including a transmitting module or a transceiver module, and the above-mentioned optical scanning module.
[0013] The optical scanning module and laser radar system provided by the embodiments of the present application are configured with at least two reflectors arranged in sequence on the light output path of the transmitting module or the transceiver module, wherein at least one reflector is a scanning mirror; the light beam emitted by the transmitting module or the transceiver module is scanned and reflected at least twice in a preset dimensional direction by the reflector and then emitted, wherein the scanning mirror scans the light beam and the reflector reflects the light beam; since at least two reflectors are arranged in cascade in sequence, the scanning angle of the optical scanning module is the superposition of the scanning angles of the at least two reflectors in the preset dimensional direction, and by cascading scanning and reflection by at least two reflectors, the scanning angle of the optical scanning module can be increased, thereby achieving scanning with a large field of view angle. The synchronization accuracy of at least two reflectors is generally less than 0.1°, so the scanning error of at least two cascaded reflectors is reduced relative to the scanning error of a single scanning mirror, thereby solving the problem of difficult system calibration between multi-channel transceiver modules in the multi-channel synthesis scheme. The optical scanning module of the present application can be mass-produced with a high yield rate; and the cost of the reflector is generally lower than that of the transceiver module. Therefore, the present application adopts a transmitting module or a transceiver module with multiple reflectors. Compared with the prior art method of multiple transceiver modules with one scanning mirror, the cost of the present application is relatively more advantageous. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0015] Figure 1 It is a schematic diagram of the prior art scan;
[0016] Figure 2This is one of the optical path schematic diagrams of the optical scanning module provided in this embodiment;
[0017] Figure 3 This is the second optical path schematic diagram of the optical scanning module provided in this embodiment;
[0018] Figure 4 yes Figure 3 The formed scanning spot pattern;
[0019] Figure 5 This is the third optical path schematic diagram of the optical scanning module provided in this embodiment;
[0020] Figure 6 This is the fourth optical path schematic diagram of the optical scanning module provided in this embodiment;
[0021] Figure 7 is one of the scanning spot patterns of the optical scanning module provided in this embodiment;
[0022] Figure 8 This is the second scanning spot diagram of the optical scanning module provided in this embodiment;
[0023] Fig. 9 This is the third scanning spot diagram of the optical scanning module provided in this embodiment;
[0024] Fig.10 This is the fourth scanning spot diagram of the optical scanning module provided in this embodiment;
[0025] Fig.11 This is the fifth scanning spot diagram of the optical scanning module provided in this embodiment;
[0026] Fig.12 This is the fifth optical path schematic diagram of the optical scanning module provided in this embodiment;
[0027] Fig.13 This is the sixth optical path schematic diagram of the optical scanning module provided in this embodiment.
[0028] Icon: 100-transceiver module; 10-reflector; 101-scanning mirror; 102-point light spot; 103-line light spot; 104-surface light spot; F1-first direction; F2-second direction; F3-third direction. DETAILED DESCRIPTION
[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.
[0030] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0031] It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0032] Automotive radar and active optical sensing systems (such as optical rangefinders) generally include three major optical components: light transmitter, light receiver, and scanning system. The following uses LiDAR as an example, but it can also be applied to other active optical sensing systems with scanning systems. Among them, the scanning system is the core of LiDAR, which directly affects the automotive-grade reliability, performance, cost, volume, and mass production of LiDAR. Through a comprehensive comparison of the current mainstream scanning systems, MEMS scanning mirrors are generally considered to be the best solution and one of the mainstream solutions for LiDAR products on the market.
[0033] The performance bottlenecks of the MEMS micro-scanning mirror solution lie in two points: First, the aperture is small, which leads to limited beam diameters at the transmitter and receiver, affecting the performance indicators of both and the overall transceiver link efficiency (the proportion of energy at the transmitter that is reflected back to the receiving detector by external objects). Second, the scanning field of view is small, and it is difficult to achieve a scanning angle of more than 30°, while practical applications often require a field of view of about 120°. The former is generally achieved through design / process improvements of the scanning mirror itself, but the improvement is relatively limited and it is currently difficult to fundamentally solve the problem. The latter is generally achieved through multi-channel synthesis, for example, using 5 transmitters + receivers, combined with one or more scanning mirrors, each channel covers 25° in the horizontal direction to achieve a field of view of about 120° ( Figure 1 ), is one of the mainstream solutions for mass-produced LiDARs, but there are two major problems. One is the high cost of multi-channel transmission + receiving modules, and the other is the difficulty of system calibration between multiple channels, which affects the yield and mass production.
[0034] In order to solve the problems that the above-mentioned scanning mirror has a small scanning field of view angle, needs to be spliced to achieve the target field of view angle, resulting in high cost and difficult system calibration between multiple channels, the present application provides an optical scanning module (hereinafter referred to as the system) that uses at least two reflectors 10, at least one of which is a scanning mirror 101 for cascade scanning and reflection to achieve large field of view angle scanning.
[0035] For details, please refer to Figure 3 As shown, an embodiment of the present application provides an optical scanning module (hereinafter referred to as a module), comprising: at least two reflectors 10 arranged in sequence on the light path of a transmitting module or a transceiver module 100, wherein at least one reflector 10 is a scanning mirror 101, and the reflector 10 is used to reflect a light beam. The scanning mirror 101 is generally connected to a driving component (not shown in the figure) to drive the scanning mirror 101 to scan. The light beam emitted by the transmitting module or the transceiver module 100 is scanned and reflected by at least two reflectors 10 in sequence and then emitted. By superimposing the scanning angles of at least two reflectors 10 in a preset dimensional direction, the scanning angle of the optical scanning module in the preset dimensional direction is increased.
[0036] It should be noted that the optical path of the transmitting module through the optical scanning module is the same as the optical path of the light emitted by the transceiver module through the optical scanning module.
[0037] In a specific embodiment, the galvanometer is a MEMS (Micro-electromechanical systems) scanning mirror 101, which is a tiny drivable reflector 10 made based on micro-electromechanical system technology. Under the driving action, the laser beam can be deflected, modulated, opened and closed, and the phase can be controlled.
[0038] In another specific embodiment, the scanning mirror 101 may also be a rotating mirror. The galvanometer mirror scans reciprocatingly by vibration, while the rotating mirror scans by rotation. The galvanometer mirror and the rotating mirror may also be used in combination for scanning, which is specifically configured according to actual needs.
[0039] Each scanning mirror 101 is connected to a driving member to drive the scanning mirror 101 to rotate and adjust the rotation angle of the scanning mirror 101 .
[0040] At least two reflectors 10, at least one of which is a scanning mirror 101, are arranged in sequence on the light output path. The reflector 10 plays a reflecting role, and the scanning mirror 101 plays a scanning role. The exit surface and the incident surface of the adjacent reflectors 10 are arranged oppositely. Since the incident surface and the exit surface of the scanning mirror reflector 10 are the same surface, the reflected light beam from the previous reflector 10 can be received.
[0041] For example, Figure 2As shown, the module includes a reflector 10 and a scanning mirror 101. The reflector 10 only reflects but does not scan. The light beam emitted by the transceiver module 100 is first scanned by the scanning mirror 101, then reflected by the reflector 10 once, and then reflected back to the scanning mirror 101 for a second scan, and then emitted after being reflected by the reflector 10 twice. Figure 2 The reflector 10 in the image performs two reflections, and the scanning mirror performs two scans, and a total of four scans and reflections are performed to achieve the expansion of the scanning angle.
[0042] Alternatively, at least two reflecting mirrors 10 are scanning mirrors 101 . The following description assumes that both reflecting mirrors 10 are scanning mirrors 101 .
[0043] At least two scanning mirrors 101 are arranged in sequence, and the scanning angle of the system in a preset dimensional direction can be increased by at least two cascaded scanning mirrors 101. For example, Figure 4 As shown, each scanning mirror 101 has a scanning angle of 30° in the horizontal direction. Figure 3 The four scanning mirrors 101 can realize 120° scanning in the horizontal direction (first direction F1, first preset dimension direction): when each scanning mirror 101 is at +15°, the light beam field angle is +60°; when each scanning mirror 101 is at -15°, the light beam field angle is -60°, thus forming a scanning angle of 120°.
[0044] This is equivalent to cascading the scanning of four scanning mirrors 101 and then superimposing the scanning angles of the four scanning mirrors 101 in the horizontal direction to form a scanning angle of the system in the horizontal direction; in view of the disadvantage that the scanning angle of the scanning mirror 101 is relatively small, the scanning angle of the system is increased by cascading the scanning of at least two scanning mirrors 101.
[0045] Therefore, in the optical scanning module provided in the embodiment of the present application, at least two reflectors 10 are sequentially arranged on the light output path of the transmitting module or the transceiver module 100, wherein at least one reflector 10 is a scanning mirror 101, and the light beam emitted by the transmitting module or the transceiver module 100 is sequentially scanned and reflected at least twice before being emitted. Since at least two reflectors 10 are sequentially cascaded, the scanning angles of the optical scanning module in the preset dimensional direction are superimposed by the scanning angles of the at least two reflectors 10 in the preset dimensional direction, thereby increasing the scanning angle of the optical scanning module in the preset dimensional direction, thereby achieving scanning with a large field of view angle. The synchronization accuracy of at least two reflectors 10 is generally less than 0.1°, so that the scanning error of at least two cascaded reflectors 10 is reduced relative to the scanning error of a single existing galvanometer. The multiple cascaded reflectors 10 of the present application realize a large angle of the system, which is relative to the large angle achieved by a single existing galvanometer, and is not disadvantaged by synchronization errors. Therefore, the problem of difficulty in system calibration between multi-channel transceiver modules of a multi-channel synthesis scheme is solved. The optical scanning module of the present application can be mass-produced with a high yield rate; and the cost of the reflector 10 is generally lower than that of the transceiver module 100. Therefore, the present application adopts a transceiver module 100 with multiple reflectors 10. Compared with the prior art method of multiple transceiver modules with one galvanometer, the cost of the present application is relatively more advantageous.
[0046] Furthermore, the transmitting module or the transceiver module 100 forms a line light spot 103 with a small angle inclination in the horizontal direction and a vertical angle of 25°, such as Figure 4 As shown, after scanning by multiple scanning mirrors 101, the system can form a scanning angle of 120°.
[0047] There are different implementation methods for increasing the scanning angle of the optical scanning module in the preset dimensional direction by superimposing the scanning angles of at least two scanning mirrors 101 in the preset dimensional direction. In the first implementation method, the scanning angle of the optical scanning module in the preset dimensional direction is equal to the sum of the scanning angles of at least two scanning mirrors 101 in the preset dimensional direction. This implementation method is suitable for the situation where the light beam is reflected once on the same scanning mirror 101.
[0048] The number of times the light beam is reflected by all the reflectors 10 is equal to the number of the reflectors 10 , and the light beam is reflected once on a single reflector 10 .
[0049] Taking the case where all the reflective mirrors 10 are scanning mirrors 101 as an example, at this time, when multiple scanning mirrors 101 are cascaded, the exit surfaces and incident surfaces of adjacent scanning mirrors 101 are relatively arranged, and when the field of view angles of the multiple scanning mirrors 101 are the same, in the preset dimensional direction, the total field of view angle of the optical scanning module = the field of view angle of a single scanning mirror 101 * the number of scanning mirrors 101.
[0050] For example Figure 3 and Figure 4In the embodiment, among the four scanning mirrors 101, each scanning mirror 101 has a scanning angle of 30° in the horizontal direction, and after the four scanning mirrors 101 are cascaded, a scanning angle of 120° in the horizontal direction is formed.
[0051] Of course, according to the scanning angle to be achieved by the system, different scanning mirrors 101 and scanning angles of different scanning mirrors 101 can be cascaded. For example, in the preset dimensional direction, after three scanning mirrors 101 with a scanning angle of 60° are cascaded, a system scanning angle of 180° can be achieved; after two scanning mirrors 101 with a scanning angle of 40° are cascaded, a system scanning angle of 80° can be achieved.
[0052] In addition, the spatial arrangement of the scanning mirror 101 is also different; Figure 3 In the embodiment, each scanning mirror 101 and the next adjacent scanning mirror 101 are located on the same side, and each scanning mirror 101 and the next interval scanning mirror 101 are located on the opposite side. The light beam emitted by the transceiver module 100 is incident on the first scanning mirror 101, the second scanning mirror 101, the third scanning mirror 101 and the fourth scanning mirror 101 in sequence, and is emitted by the fourth scanning mirror 101.
[0053] You can also Figure 5 As shown, each scanning mirror 101 and the adjacent next scanning mirror 101 are located on opposite sides, and each scanning mirror 101 and the interval next scanning mirror 101 are located on the same side.
[0054] Figure 5 The first scanning mirror 101 and the third scanning mirror 101 are located on the same side, the second scanning mirror 101 and the fourth scanning mirror 101 are located on the same side, the first scanning mirror 101 and the second scanning mirror 101 are located on opposite sides, and so on; the light beam emitted by the transceiver module 100 is incident on the first scanning mirror 101, the second scanning mirror 101, the third scanning mirror 101 and the fourth scanning mirror 101 in sequence, and is emitted by the fourth scanning mirror 101.
[0055] Above Figure 3 and Figure 5 Only two of the spatial arrangements of the at least two scanning mirrors 101 are shown. The arrangement of the at least two scanning mirrors 101 in the present application is not limited to the above.
[0056] In addition, the aforementioned Figure 3 and Figure 5 Each scanning mirror 101 receives a light beam once and emits a light beam once, and Figure 6 Each scanning mirror 101 can receive two light beams and emit two light beams.
[0057] By superimposing the scanning angles of at least two scanning mirrors 101 in the preset dimensional direction, the scanning angle of the optical scanning module in the preset dimensional direction is increased. In the second implementation method, the scanning angle of the optical scanning module in the preset dimensional direction is equal to the scanning angle of at least two scanning mirrors 101 in the preset dimensional direction * the sum of the number of times the light beam is reflected by the scanning mirror 101; this method is suitable for the situation where the light beam is reflected multiple times on the same scanning mirror 101, for example Figure 6 .
[0058] The number of times the light beam is reflected by all the reflectors 10 is greater than the number of the reflectors 10 , and the light beam is reflected at least twice on one of the reflectors 10 .
[0059] When the reflector 10 is a scanning mirror 101, at least two reflection points are formed on the incident surface of the scanning mirror 101, and each reflection point is used to receive an incident light beam and reflect an outgoing light beam, so that the scanning mirror 101 can receive at least two adjacent incident light beams and emit at least two adjacent outgoing light beams. At this time, the scanning angle of the optical scanning module in the preset dimensional direction = (the field of view angle of the first scanning mirror 101 * the number of times the light beam is reflected by the scanning mirror 101) +... (the field of view angle of the Nth scanning mirror 101 * the number of times the light beam is reflected by the scanning mirror 101).
[0060] The surface size of the scanning mirror 101 is large enough so that the light beam can be reflected multiple times on the same scanning mirror 101; Figure 5 In the figure, the light beam emitted by the transceiver module 100 first enters the first reflection point of the first scanning mirror 101, and is reflected by the first reflection point of the first scanning mirror 101 to the first reflection point of the second scanning mirror 101, and then is reflected by the first reflection point of the second scanning mirror 101 to the second reflection point of the first scanning mirror 101, and is reflected again to the second reflection point of the second scanning mirror 101, thereby realizing four-level cascade reflection through the two scanning mirrors 101.
[0061] Of course, as long as the surface size of the scanning mirror 101 is large enough, three reflections, four reflections, etc. can also be formed on the same scanning mirror 101. For details, refer to Figure 6 The reflection structure can be used.
[0062] The preset dimensional direction of the optical scanning module includes any one or any two of a horizontal scanning direction, a vertical scanning direction or a non-orthogonal scanning direction.
[0063] A single scanning mirror 101 scans a preset dimensional direction (eg Figure 3 ), or scan two preset dimensions simultaneously.
[0064] The scanning direction of the plurality of scanning mirrors 101, that is, the preset scanning direction of the optical scanning module is not limited to the horizontal scanning direction (first direction F1), but may also be a vertical scanning direction (second direction F2) or a non-orthogonal scanning direction (third direction F3) to achieve horizontal scanning, vertical scanning or non-orthogonal scanning. Figure 7 Non-orthogonal scanning is achieved in Figure 8 Vertical scanning can be realized in the process of scanning in two directions. It can also be a combination of scanning in two directions, for example Fig.13 shown.
[0065] On the other hand, the light source of the transmitting module or the transceiver module 100 is a point light source, a line light source or a surface light source. Taking the transceiver module 100 as an example, the transceiver module 100 emits one of the point light spot 102, the line light spot 103 or the surface light spot 104. When the form of the light source is different, the scanning method is different; the light beam shape and scanning dimension of the present application are not limited to scanning the line light spot 103 to generate the surface light spot 104, it can also be the point light spot 102 scanning to form the line light spot 103, or the surface light spot 104 scanning to form the surface light spot 104, or the point light spot 102 scanning to form the surface light spot 104, etc.
[0066] Fig. 9 The midpoint light spot 102 is scanned in one direction to form a line light spot 103. Fig.10 The middle surface light spot 104 is scanned in one direction to form a larger surface light spot 104. Fig.11 The midpoint light spot 102 is scanned in two directions to form a surface light spot 104 .
[0067] Two examples of scanning the point light spot 102 are given below. In the first example, when the transceiver module 100 emits the point light spot 102 , multiple scanning mirrors 101 scan in sequence along the first direction F1 , and the remaining scanning mirrors 101 scan in sequence along the second direction F2 to form a surface light spot 104 .
[0068] The scanning mirrors 101 scanning in the second direction F2 may be adjacent scanning mirrors 101 or non-adjacent scanning mirrors 101; similarly, the scanning mirrors 101 scanning in the first direction F1 may be adjacent scanning mirrors 101 or non-adjacent scanning mirrors 101. For example, the first scanning mirror 101 scans along the second direction F2, and the remaining scanning mirrors 101 scan in sequence along the first direction F1 to form a surface light spot 104.
[0069] For example, each scanning mirror 101 and the next adjacent scanning mirror 101 are located on the same side, and each scanning mirror 101 and the next adjacent scanning mirror 101 are located on opposite sides. Multiple one-dimensional scanning mirrors 101 can be used for cascade scanning, for example, scanning in the vertical direction through one scanning mirror 101 and scanning in the horizontal direction through the remaining scanning mirrors 101. Fig.12As shown, the transceiver module 100 emits a light spot 102, which is first scanned by the first scanning mirror 101 at 25° in the vertical direction, and then scanned by four cascade scanning mirrors 101 in sequence at 30° in the horizontal direction, so that the system as a whole forms a scanning angle of 25° in the vertical direction and 120° in the horizontal direction.
[0070] Alternatively, the first scanning mirror 101 scans horizontally and the remaining scanning mirrors 101 scan vertically; or, the first two scanning mirrors 101 scan horizontally and the remaining scanning mirrors 101 scan vertically; or, the first and third scanning mirrors 101 scan vertically and the remaining scanning mirrors 101 scan horizontally. Various combinations can achieve the scanning angle of the system, which can be set according to actual needs.
[0071] In the second example, if Fig.13 As shown, when the transceiver module 100 emits a point light spot 102 , the scanning mirror 101 scans along the first direction F1 and the second direction F2 simultaneously to form a surface light spot 104 .
[0072] A plurality of two-dimensional scanning mirrors 101 are cascaded, and each scanning mirror 101 scans in two directions. For example, the scanning angle of each scanning mirror 101 in the horizontal direction is 30°, and each angle in the vertical direction is 7°. After the four scanning mirrors 101 are cascaded to scan, the system forms a scanning angle of 120° in the horizontal direction and 27° in the vertical direction.
[0073] On the other hand, an embodiment of the present application also provides a laser radar system, including a transmitting module or a transceiver module 100, and the above-mentioned optical scanning module.
[0074] The light beam emitted by the transmitting module, or the light beam emitted by the transceiver module 100, passes through the optical scanning module, which can increase the scanning angle of the system in a preset dimensional direction and realize scanning with a large field of view angle.
[0075] In addition, the optical path of the transmitting module through the optical scanning module is opposite to the optical path of the transceiver module 100 through the optical scanning module.
[0076] The laser radar system includes the same structure and beneficial effects as the optical scanning module in the aforementioned embodiment. The structure and beneficial effects of the optical scanning module have been described in detail in the aforementioned embodiment and will not be repeated here.
[0077] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.
Claims
1. An optical scanning module, characterized in that: include: At least two reflectors are arranged on the light output path of the transmitting module or the transceiver module, at least one of the reflectors is a scanning mirror, and the light beam emitted by the transmitting module or the transceiver module is scanned and reflected by the reflector at least twice in a preset dimensional direction and then emitted. By superimposing the scanning angles of the reflector in the preset dimensional direction at least twice, the scanning angle of the optical scanning module in the preset dimensional direction is increased.
2. The optical scanning module according to claim 1, characterized in that: The preset dimensional direction of the optical scanning module includes any one or any two of a horizontal scanning direction, a vertical scanning direction or a non-orthogonal scanning direction.
3. The optical scanning module according to claim 1, characterized in that: The light beam is reflected by all the reflectors a number of times equal to the number of the reflectors, and the light beam is reflected once on a single reflector.
4. The optical scanning module according to claim 1, characterized in that: The number of times the light beam is reflected by all the reflectors is greater than the number of the reflectors, and the light beam is reflected at least twice on a single reflector.
5. The optical scanning module according to claim 1, characterized in that: A single scanning mirror scans in one of the preset dimensional directions, or scans in two of the preset dimensional directions simultaneously.
6. The optical scanning module according to claim 1, characterized in that: The scanning mirror is a galvanometer mirror and / or a rotating mirror.
7. The optical scanning module according to claim 1, characterized in that: The light source of the transmitting module or the transceiver module is a point light source, a line light source or a surface light source.
8. A laser radar system, characterized in that: It comprises a transmitting module or a transceiver module, and the optical scanning module as described in any one of claims 1 to 7.