Transmitting module, detecting device and terminal equipment

Abstract

The invention discloses a transmitting module, a detection device and terminal equipment. The emission module comprises an array light source and an optical shaping assembly, and the optical shaping assembly comprises a spherical lens and / or an aspherical lens. The array light source is used for emitting a first light beam. The optical shaping assembly is used for adjusting a first divergence angle of a first light beam emitted by the array light source to a first preset divergence angle at least in the first direction and dodging the first light beam to obtain a second light beam. The first light beam emitted by the array light source has good divergence angle adjustment and dodging effects. The method is used for solving the problem that micro-nano optical element shaping through a complex preparation process is needed in the prior art. The method can be applied to the fields of automatic driving, intelligent driving, auxiliary driving, connected vehicles or surveying and mapping and the like.

Description

Transmitting module, detecting device and terminal equipment Technical Field

[0001] The present application relates to the field of optical shaping technology, and in particular to a transmitting module, a detecting device and a terminal device. Background Art

[0002] With the advancement of science and technology, intelligent devices such as smart transportation equipment, smart home appliances, robots, and vehicles are gradually becoming part of people's daily lives. Because LiDAR can perceive the surrounding environment, it can identify and track moving targets based on this environmental information, as well as recognize stationary objects such as lane markings and signs. It can also be combined with navigation systems and map data for path planning. Therefore, LiDAR is playing an increasingly important role in intelligent devices.

[0003] Based on the different application requirements of LiDAR, different shaping requirements are required for the light beam emitted by the light source in the LiDAR. This allows the LiDAR to form an output beam with a specific energy density distribution. This process is also called beam shaping. Currently, micro-nano optical elements (such as microlens arrays (MLAs) or diffractive optical elements (DOEs)) are commonly used to shape the beam. However, these micro-nano optical elements require high processing precision, complex processes, and complex optical path designs.

[0004] In summary, how to shape the light beam through a shaping structure with a simple preparation process is a technical problem that needs to be solved urgently.

[0005] Summary of the Invention

[0006] The present application provides an emission module, a detection device and a terminal device for realizing light beam shaping through an optical shaping component with a simple manufacturing process.

[0007] In a first aspect, the present application provides a transmitting module. The transmitting module includes an array light source and an optical shaping assembly, wherein the optical shaping assembly includes a spherical lens and / or an aspherical lens. The array light source is configured to emit a first light beam, wherein the divergence angle of the first light beam is a first divergence angle. The optical shaping assembly is configured to adjust the first divergence angle of the first light beam from the array light source to a first preset divergence angle in at least a first direction, and homogenize the first light beam to obtain a second light beam, wherein the divergence angle of the second light beam is the first preset divergence angle.

[0008] Based on the above solution, the optical shaping assembly can achieve shaping of the first light beam emitted by the array light source in a first direction (including adjusting the divergence angle and homogenizing the light), thereby obtaining a second light beam with a first predetermined divergence angle, and the energy density of the light spot formed by the second light beam is relatively uniform. Furthermore, the conventional spherical lens and / or aspherical lens included in the optical shaping assembly is simple to manufacture. That is, based on the above-mentioned emission module, spherical lenses and / or aspherical lenses manufactured using relatively simple processes can achieve a good shaping effect on the first light beam emitted by the array light source.

[0009] In a possible implementation, the array light source includes m×n light sources, where m is an integer greater than 1 and n is a positive integer.

[0010] In a possible implementation, the optical shaping assembly includes a first collimating element configured to adjust a first divergence angle of a first light beam from an array light source to a first preset divergence angle in a first direction and homogenize the first light beam.

[0011] The first collimating element can be used to adjust the divergence angle and uniformity of the first light beam emitted by the array light source in the first direction. Alternatively, the first collimating element can be used to scale the divergence angle of the first light beam emitted by the array light source in the first direction to produce a second light beam, which then propagates freely to achieve aliasing and uniform light.

[0012] In one possible implementation, the array light source is located at a first predetermined distance from the object-side focal point of the first collimating element, and the first predetermined distance is related to a duty cycle (or fill rate) of the array light source in the first direction and a first divergence angle of the first light beam. The duty cycle of the array light source in the slow axis direction is calculated as: the total effective luminous length of the array light source in the slow axis direction divided by the total physical length of the array light source in the slow axis direction.

[0013] By arranging the array light source at a first preset distance from the object focus of the first collimating element, it helps to further improve the uniformity of the second light beam in the first direction.

[0014] In a possible implementation, there is a correlation between the focal length f1 of the first collimating element, the length d of the array light source in the first direction, and the first preset divergence angle u1 ′. Further, the correlation satisfies the following formula 1.

[0015] u1' / 2=arctan(d / 2f1)±δ1 Formula 1

[0016] Wherein, δ1 is the allowable error range in the first direction.

[0017] According to the above formula 1, the focal length f1 of the first collimating element can be determined.

[0018] In a possible implementation, the first collimating element includes at least one aspherical mirror, and the aspherical mirror includes a one-dimensional cylindrical mirror (or cylindrical lens).

[0019] A one-dimensional cylindrical mirror can produce an elliptical beam focus, which can be used to compensate for astigmatism in the beam or emission module. Furthermore, a one-dimensional cylindrical mirror can focus or defocus light only in a first direction, without affecting the wavefront curvature in a second direction. Furthermore, if the first collimating element utilizes at least two one-dimensional cylindrical mirrors, aberrations in the first direction can be corrected.

[0020] In a possible implementation, the emission module further includes a first aperture, and the first aperture is located between the first collimating element and the array light source.

[0021] The first aperture can allow the first light beam within the effective field of view in the first direction to pass through, and can suppress the background stray light outside the effective field of view in the first direction from passing through, thereby helping to reduce the impact of stray light.

[0022] In one possible implementation, the optical shaping assembly is further configured to adjust a second divergence angle of the first light beam from the array light source to a second preset divergence angle in the second direction. Furthermore, optionally, the optical shaping assembly is further configured to homogenize the first light beam from the array light source in the second direction.

[0023] By shaping the first light beam in the second direction through the optical shaping component, the divergence angle of the second light beam in the second direction can be made to be a second preset divergence angle. Furthermore, the energy density of the light spot formed by the second light beam in the second direction can also be made more uniform.

[0024] In a possible implementation, the optical shaping component further includes a second collimating element.

[0025] The second collimating element can adjust the divergence angle and uniformity of the first light beam emitted by the array light source in the second direction. Alternatively, the second collimating element can be used to scale the divergence angle of the first light beam emitted by the array light source in the second direction. After obtaining the second light beam, the second light beam propagates freely to achieve aliasing and uniform light.

[0026] In a possible implementation, the focal length f2 of the second collimating element, the length h of the array light source in the second direction, and the second preset divergence angle u2' are associated with each other. Further, the associated relationship satisfies the following formula 2.

[0027] u2' / 2=arctan(d / 2f2)±δ2 Formula 2.

[0028] Among them, δ2 is the allowable error range.

[0029] The focal length f2 of the second collimating element can be determined by the above formula 2.

[0030] In a possible implementation, the second collimating element includes at least one aspherical mirror, and the aspherical mirror includes a one-dimensional cylindrical mirror.

[0031] A one-dimensional cylindrical mirror can produce an elliptical beam focus, which can be used to compensate for astigmatism in the beam or emission module. Furthermore, a one-dimensional cylindrical mirror can focus or defocus light only in the second direction, without affecting the wavefront curvature in the first direction. Furthermore, if the second collimating element utilizes at least two one-dimensional cylindrical mirrors, aberrations in the second direction can be corrected.

[0032] In a possible implementation, the emission module further includes a second aperture, and the second aperture is located between the second collimating element and the array light source.

[0033] The second aperture can allow the first light beam within the effective field of view in the second direction to pass through, and can suppress the background stray light outside the effective field of view in the second direction from passing through, thereby helping to reduce the impact of stray light.

[0034] In a possible implementation manner, the focus lines of the first collimating element and the second collimating element are perpendicular.

[0035] By making the focal line of the first collimating element perpendicular to the focal line of the second collimating element, the light beams in the first direction and the light beams in the second direction do not affect each other.

[0036] In a possible implementation, the optical axes of the first collimating element and the second collimating element are parallel to or coincide with each other.

[0037] In a possible implementation, the emission module further includes a reflective element, and the reflective element is located between the first collimating element and the second collimating element.

[0038] The reflective element can change the direction of the propagation path of the first light beam emitted by the array light source, which helps to reduce the optical path of the first light beam in the slow axis direction, thereby helping to reduce the size of the emission module in the first direction, and further helping to miniaturize the emission module.

[0039] Exemplarily, the reflective element includes a reflective prism or a plane reflective mirror.

[0040] In one possible implementation, the optical shaping assembly includes a two-dimensional optical power shaping element. The two-dimensional optical power shaping element is configured to adjust a first divergence angle of a first light beam from an array light source to a first preset divergence angle in a first direction, homogenize the first light beam, and adjust a second divergence angle of the first light beam from the array light source to a second preset divergence angle in a second direction, thereby generating a second light beam.

[0041] The two-dimensional optical power shaping element can simultaneously adjust the divergence angle and uniformity of the first light beam emitted by the array light source in the first direction and the second direction.

[0042] Exemplarily, the two-dimensional optical power shaping element includes at least one spherical lens or at least one cylindrical lens with two-dimensional optical power.

[0043] In a possible implementation, the emission module further includes a refractive prism configured to adjust the propagation path of the second light beam so that the energy density in the middle region of the light spot formed by the second light beam after the propagation path is adjusted is greater than the energy density in the edge region.

[0044] By using a refracting prism, the upper half of the light in the second light beam can be shifted downward, and the lower half can be shifted upward, resulting in an overlapping part. This allows the energy density in the middle area of ​​the light spot formed by the second light beam after the propagation light path is adjusted to be greater than the energy density in the edge area, thereby helping to improve the ranging capability of the second light beam in the middle area.

[0045] In a possible implementation, the shape of the light spot formed by the second light beam after the propagation light path is adjusted is a "convex" or quasi-"convex" shape.

[0046] Among them, the energy density of the convex part of the "convex" or quasi-"convex" light spot is higher than the energy density on both sides.

[0047] In a possible implementation manner, a first optical axis of the first collimating element is perpendicular to a second optical axis of the second collimating element.

[0048] In a possible implementation manner, the first direction is perpendicular to the second direction.

[0049] In a possible implementation, the first direction is a slow axis direction of the optical shaping component; and / or the second direction is a fast axis direction of the optical shaping component.

[0050] In the second aspect, the present application provides a detection device, which includes a receiving module and the above-mentioned first aspect or any one of the transmitting modules in the first aspect; wherein, the receiving module is used to receive an echo signal, and the echo signal is a signal obtained after the second light beam is reflected by the target in the detection area.

[0051] The technical effects that can be achieved in the second aspect can be referred to the description of the beneficial effects in the first aspect, and will not be repeated here.

[0052] In a possible implementation, the detection device further includes a scanning module, which is located at the waist of the second light beam and is configured to reflect the second light beam from the optical shaping component to the detection area.

[0053] The above-mentioned transmitting module can compress the beam size near the light outlet of the beam shaping component, and place the scanning module at the beam waist. A scanning module with a smaller reflective surface can be used, which helps to reduce the size of the scanning module and further reduce the size of the entire detection device.

[0054] In a third aspect, the present application provides a terminal device, which includes a control device and the above-mentioned second aspect or any one of the detection devices in the second aspect.

[0055] The technical effects that can be achieved in the third aspect can be referred to the description of the beneficial effects in the second aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1a is a schematic diagram of the optical path of a light beam propagating through a lens provided by the present application;

[0057] FIG1b is a schematic diagram of the optical path of a light beam propagating through a lens provided by the present application;

[0058] FIG1c is a schematic diagram of a beam waist provided by the present application;

[0059] FIG2 is a schematic diagram of a possible application scenario of the present application;

[0060] FIG3 is a schematic structural diagram of a transmitting module provided by the present application;

[0061] FIG4 is a schematic structural diagram of a one-dimensional array light source provided by the present application;

[0062] FIG5 is a schematic structural diagram of a two-dimensional array light source provided by the present application;

[0063] FIG6 is an optical path of a first light beam shaped in the slow axis direction by an optical shaping assembly provided by the present application;

[0064] FIG7 is a schematic diagram of the positional relationship between an array light source and a first collimating element provided by the present application;

[0065] FIG8 is a schematic structural diagram of another transmitting module provided by the present application;

[0066] FIG9a is a schematic structural diagram of another transmitting module provided in this application;

[0067] FIG9b is a schematic diagram of a three-dimensional structure of a transmitting module provided in this application;

[0068] FIG10a is a schematic structural diagram of another transmitting module provided in the present application;

[0069] FIG10b is a schematic diagram of a three-dimensional structure of another transmitting module provided in the present application;

[0070] FIG11a is a schematic structural diagram of another transmitting module provided in the present application;

[0071] FIG11b is a schematic diagram of a three-dimensional structure of another transmitting module provided in the present application;

[0072] FIG12a is a schematic diagram of the uniformity of a light spot formed by a second light beam in the slow axis direction provided by the present application;

[0073] FIG12b is a schematic diagram of a simulated relationship between the uniformity of a light spot formed by a second light beam in the slow axis direction and the irradiation distance of the second light beam provided by the present application;

[0074] FIG13a is a schematic structural diagram of another transmitting module provided in the present application;

[0075] FIG13b is a schematic diagram of a three-dimensional structure of another transmitting module provided in the present application;

[0076] FIG14a is a schematic diagram of a second light beam forming a convex spot provided by the present application;

[0077] FIG14b is a schematic diagram of an intensity distribution curve of a far-field light spot in the slow axis direction provided by the present application;

[0078] FIG15 is a schematic structural diagram of another transmitting module provided in this application;

[0079] FIG16 is a schematic structural diagram of a detection device provided by the present application;

[0080] FIG17 is a schematic structural diagram of a detection assembly provided by the present application;

[0081] FIG18 is an exemplary functional block diagram of a vehicle provided in this application. DETAILED DESCRIPTION

[0082] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0083] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the purpose of facilitating understanding by those skilled in the art and do not limit the scope of protection claimed in this application.

[0084] 1. Lens

[0085] A lens is a transparent optical device that affects the wavefront curvature of a light beam passing through it. A light beam enters from one side and exits from the other. The function of a lens is to change the wavefront curvature of the light beam, that is, to focus or defocus the light beam. For example: a collimated light beam with an approximately flat wavefront is converted into a light beam with a curved wavefront, and the light beam is focused to a focal point. This type of lens acts as a focusing lens, see Figure 1a. The same lens as above can also convert a diverging light beam into a collimated light beam. In this case, the lens acts as a collimating lens, see Figure 1a, and the light beam is incident from the right. A lens with a concave surface can turn a collimated or converging light beam into a diverging light beam, see Figure 1b. This type of lens can also be used to turn a diverging light beam into a collimated light beam, see Figure 1b, and the light beam is incident from the right.

[0086] 2. Optical power

[0087] The optical power is equal to the difference between the convergence of the image-side beam and the convergence of the object-side beam, and can be used to characterize the ability of an optical element to deflect a beam. The optical power is often represented by the letter φ. Generally, the optical power is expressed as the reciprocal of the image-side focal length of the lens (assuming that the refractive index of air is approximately 1). The unit of optical power is diopters (D), where 1 diopters (D) = 1m -1 .

[0088] Due to the different thicknesses of optical elements, non-uniformities such as refractive index, and different curvatures of the front and back surfaces (the curvature radius of the convex surface of the lens is a positive number, and the curvature radius of the concave surface is a negative number), these characteristics will cause the actual optical focal length of the optical element to differ from the theoretical optical focal length. Therefore, the actual optical focal length can also be called the equivalent optical focal length. Unless otherwise specified below, the optical focal length refers to the actual optical focal length of the optical element.

[0089] 3. Beam Divergence

[0090] The beam divergence angle (u) is a measure of how quickly the beam diverges from the beam waist. See Figure 1c. The beam waist is the point in the beam propagation direction where the beam radius (which measures the lateral spread of the beam) is the smallest. This point is called the beam waist radius. For a Gaussian beam, the beam radius is typically defined as 1 / e of the peak intensity. 2 The corresponding radius.

[0091] 4. Uniform light

[0092] Light homogenization refers to the process of uniformizing the energy of a light beam.

[0093] 5. Light spot

[0094] A beam spot generally refers to the energy density (or intensity) distribution of a beam across an angular space. The energy density distribution of a beam spot can be low at the ends and high in the middle (also known as a "convex" or "convex"-like shape). For example, the energy density distribution can be normal or similar. Alternatively, the energy density of a beam spot can be uniformly distributed.

[0095] 6. Region of interest

[0096] In machine vision and image processing, the region of interest refers to the area to be processed that is outlined from the processed image in the form of a box, circle, ellipse, irregular polygon, etc.

[0097] The previous text introduced some of the terms involved in this application. The following text introduces the possible application scenarios of this application.

[0098] In one possible implementation, the transmitting module can be integrated into a detection device, which can be installed on a vehicle. Referring to FIG2 , a schematic diagram illustrating a possible application scenario of the present application is shown. This application scenario takes the detection device as an example, where it is installed in the front of the vehicle. It is understood that the detection device can also be installed in other locations on the vehicle, such as in any one or more of the four directions: front, rear, left, and right, to capture information about the vehicle's surroundings.

[0099] In this application scenario, the working principle of the detection device is as follows: the detection device emits a light beam into the detection area. If there is a target in the detection area, the target can reflect the received light beam back to the detection device (the reflected light beam can be called an echo signal). The detection device then determines the target's associated information based on the echo signal. Specifically, the detection device can obtain the vehicle's latitude and longitude, speed, direction, or associated information (such as the distance to the target, the speed of the target, and / or the posture of the target) of targets within a certain range (such as other surrounding vehicles, pedestrians, or obstacles) in real time or periodically. Furthermore, optionally, the detection device can send this acquired information to a control device in the vehicle, so that the control device can perform vehicle path planning based on this acquired information. For example, the vehicle's position can be determined using longitude and latitude, or the vehicle's direction and destination for a period of time in the future can be determined using speed and direction, or the number and density of obstacles around the vehicle can be determined using the distance to surrounding objects. Furthermore, optionally, the function of an advanced driving assistant system (ADAS) can be combined to achieve assisted driving or autonomous driving of the vehicle.

[0100] It should be understood that the above application scenarios are merely examples. The detection device provided in this application (including the transmitting module provided in this application) can also be used in other possible scenarios, not limited to the scenarios exemplified above. For example, the detection device can be installed on a vehicle as a headlight. For another example, the detection device can be installed on a drone as an airborne detection device. For another example, the detection device can be installed on a roadside unit (RSU) as a roadside traffic detection device (see Figure 2 above), which can implement intelligent vehicle-road cooperative communication, etc. For another example, the detection device can be installed on an automated guided vehicle (AGV). An AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions. For another example, the detection device can be installed on a stage as a stage lighting. For another example, the detection device can be installed on a lithography machine. For another example, the detection device can be installed on medical equipment. These examples are not listed here one by one. It should be noted that the application scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation of the technical solutions provided in this application. In these possible application scenarios, a uniform light spot may be required, or a “convex” light spot or a quasi-“convex” light spot may be required.

[0101] The above application scenarios can be applied to, for example, unmanned driving, automatic driving, assisted driving, intelligent driving, connected cars, security monitoring, biomedicine, lithography or surveying and mapping (such as three-dimensional mapping) and other fields.

[0102] As described in the background art, in the prior art, micro-nano optical elements such as MLA or DOE are usually used for beam shaping. However, the processing technology of these micro-nano optical elements is complex and requires complex optical path design.

[0103] In view of the above problems, the present application proposes a transmitting module that can shape the light beam through a conventional lens, thereby helping to reduce the complexity of the transmitting module manufacturing process and the complexity of the optical path design.

[0104] Based on the above content, the transmitting module proposed in this application is described in detail below with reference to the accompanying drawings.

[0105] As shown in Figure 3, it is a structural schematic diagram of an emission module provided by the present application. The emission module may include an array light source and an optical shaping component. The array light source is used to emit a first light beam, and the divergence angle of the first light beam is a first divergence angle. The first divergence angle is the inherent divergence angle of the array light source in the first direction. The optical shaping component includes a spherical lens and / or an aspheric lens, which is used to adjust the first divergence angle of the first light beam emitted by the array light source in the first direction to a first preset divergence angle, and to homogenize the first light beam to obtain a second light beam. The divergence angle of the second light beam is the first preset divergence angle, and the energy density (or intensity) of the light spot formed by the second light beam in the first direction is uniform.

[0106] Based on the above-mentioned emission module, the optical shaping assembly can achieve shaping of the first light beam emitted by the array light source in a first direction (including adjusting the divergence angle and homogenizing the light), thereby obtaining a second light beam with a first predetermined divergence angle, and the energy density of the light spot formed by the second light beam is relatively uniform. Furthermore, the manufacturing process of the spherical lens and / or aspherical lens included in the optical shaping assembly is simple. In other words, based on the above-mentioned emission module, the spherical lens and / or aspherical lens, which can be manufactured using a relatively simple process, can achieve a good shaping effect on the first light beam emitted by the array light source.

[0107] In one possible implementation, the optical shaping assembly is further configured to adjust the second divergence angle of the first light beam from the array light source to a second preset divergence angle in the second direction. Furthermore, the optical shaping assembly is further configured to homogenize the first light beam from the array light source in the second direction to obtain a second light beam. The divergence angle of the first light beam in the second direction is the second divergence angle, and the divergence angle of the second light beam in the second direction is the second preset divergence angle.

[0108] The first direction is perpendicular to the second direction. Exemplarily, the first direction is the slow axis direction of the optical shaping component; and / or the second direction is the fast axis direction of the optical shaping component.

[0109] In the following description, the first direction is taken as the slow axis direction of the optical shaping component, and the second direction is taken as the fast axis direction of the optical shaping component. In other words, the slow axis direction can be replaced by the first direction, and the fast axis direction can be replaced by the second direction.

[0110] The following describes the various functional components and structures shown in FIG3 to provide an exemplary specific implementation solution.

[0111] 1. Array Light Source

[0112] In one possible implementation, the array light source includes m×n light sources, where m is an integer greater than 1 and n is a positive integer. Specifically, the array light source can be a one-dimensional array light source (or called a linear type), please refer to Figure 4. In this example, an array light source includes 8 light sources as an example. These 8 light sources are arranged in strips along the slow axis direction (i.e., the vertical direction shown in Figure 4), and the spacing between two adjacent light sources is Δ1. For example, the spacing between two adjacent light sources is Δ1 = 400 (micrometers) um. Further, optionally, the size of the light-emitting area (or light-emitting surface) of each light source in the array light source can be expressed as p×k, please refer to Figure 4. Among them, p represents the length of the light-emitting area of ​​the light source in the slow axis direction, and k represents the length of the light-emitting area of ​​the light source in the fast axis direction. Exemplarily, the size of the light-emitting area of ​​the light source is 220um×10um. Based on this, the duty cycle (or fill rate) of the array light source in the slow axis direction is the total effective luminous length of the array light source in the slow axis direction / the total physical length in the slow axis direction, which can be expressed as (8×p) / d, where d represents the total physical length of the array light source in the slow axis direction. Specifically, d = (m-1) × (Δ1+p)+p. The first divergence angle of the first light beam emitted by the array light source in the slow axis direction is u1.

[0113] Alternatively, the array light source may also be a two-dimensional array (or called a planar array), please refer to Figure 5. Figure 5 takes the array light source including 8×8 light sources as an example. In the slow axis direction, the spacing between two adjacent light sources is Δ2. Among them, Δ1 may be the same as Δ2 or different, and this application does not limit this. Furthermore, the light-emitting area of ​​each light source in the array light source can be referred to the introduction of Figure 4 above, which will not be repeated here. Based on Figure 5, the duty cycle of the array light source in the slow axis direction can be expressed as (8×p) / d, d=(m-1)×(Δ2+p)+p.

[0114] The array light source can be independently addressed. Independent addressing means that light sources in the array light source can be independently strobed (or illuminated, turned on, or powered on). The strobed light sources can be used to emit the first light beam. Specifically, a driving current can be input to the light sources to be strobed to achieve strobing.

[0115] In one possible implementation, the addressing method of the array light source may include, but is not limited to, selecting the light sources column by column, or selecting the light sources row by row, or selecting the light sources according to the area of ​​interest, etc. It can be understood that the addressing method of the array light source is also related to the physical connection relationship of the light source. In conjunction with Figure 5 above, for example, if the light sources in the same column of the array light source are connected in series, and the light sources in different columns are connected in parallel, then the light sources in the array light source can be selected column by column. For another example, if the light sources in the same row of the array light source are connected in series, and the light sources in different rows are connected in parallel, then the light sources in the array light source can be selected row by row. For another example, if the light sources on each diagonal line in the array light source are connected in series, and the light sources on different diagonals are connected in parallel, then the light sources in the array light source can be selected diagonally.

[0116] Exemplarily, the light source in the array light source can be, for example, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a diode pumped solid state laser (DPSS), a fiber laser or a laser diode (LD), etc.

[0117] 2. Optical Shaping Components

[0118] In one possible implementation, the optical shaping assembly can perform at least the following two functions: one is adjusting the divergence angle of the first light beam from the array light source, and the other is homogenizing the first light beam. Specifically, the optical shaping assembly adjusts the first divergence angle of the first light beam emitted by the array light source in the slow axis direction to a first preset divergence angle, and further homogenizes the first light beam in the slow axis direction; and / or adjusts the second divergence angle of the first light beam emitted by the array light source in the fast axis direction to a second preset divergence angle, and further homogenizes the first light beam in the fast axis direction.

[0119] The following describes the process of shaping the first light beam by the optical shaping component in the fast axis direction and the slow axis direction.

[0120] In the first scenario, the optical shaping component shapes the first light beam in the slow axis direction.

[0121] In one possible implementation, the optical shaping component is used to shape the first divergence angle u1 of the first light beam emitted by the array light source into a first preset divergence angle (or called the first projection divergence angle) u1' in the slow axis direction, and further, the first light beam is homogenized, please refer to Figure 6. It can also be understood that the first light beam from the array light source is shaped by the optical shaping component to obtain a second light beam, and the divergence angle of the second light beam in the slow axis direction is the first preset divergence angle u1', and the uniformity of the light spot formed by the second light beam in the slow axis direction (which can be determined by the following formula 3) is greater than the first preset uniformity. Among them, the first divergence angle u1 of the first light beam is the inherent divergence angle of the first light beam in the slow axis direction. The first preset divergence angle u1' and the first preset uniformity can be pre-acquired according to actual needs.

[0122] U=1–(I max -I min ) / (I max +I min ) Formula 3

[0123] Wherein, U represents the uniformity of the light spot formed by the second beam in the slow axis direction, I max Indicates the maximum intensity of the spot formed by the second beam in the slow axis direction, I min Indicates the minimum intensity of the spot formed by the second beam in the slow axis direction.

[0124] It is understandable that the first divergence angle may be greater than the first preset divergence angle, or the first divergence angle may be less than the first preset divergence angle, and this application does not limit this.

[0125] In the second scenario, the optical shaping component shapes the first light beam in the fast axis direction.

[0126] In one possible implementation, the optical shaping component is used to shape the second divergence angle u2 of the first light beam from the array light source into a second preset divergence angle (or called a second projection divergence angle) u2' in the fast axis direction. Furthermore, the first light beam is homogenized. In other words, the first light beam emitted by the array light source is shaped by the optical shaping component to obtain a second light beam, and the divergence angle of the second light beam in the fast axis direction is the second divergence angle u2', and the uniformity of the light spot formed by the second light beam in the fast axis direction is greater than the second preset uniformity. Among them, the first divergence angle u2 of the first light beam is the inherent divergence angle of the first light beam in the fast axis direction. Among them, the second preset divergence angle u2' and the second preset uniformity can be pre-acquired based on actual needs.

[0127] It is understood that the second divergence angle may be greater than the second preset divergence angle, or may be less than the second preset divergence angle, and this application does not limit this. Furthermore, this application does not limit the magnitude relationship between the first preset divergence angle and the second preset divergence angle, nor does it limit the magnitude relationship between the first preset uniformity and the second preset uniformity.

[0128] It should be noted that the optical shaping component can only shape the slow axis direction (for example, it can include adjusting the divergence angle and / or uniformity in the slow axis direction). Based on this, the optical shaping component can include the following structure 1; or it can only shape the fast axis direction. Based on this, the optical shaping component can include the following structure 2; or it can simultaneously shape the fast axis direction and the slow axis direction. Based on this, the optical shaping component can include the following structures 1 and 2, or it can also include at least one two-dimensional optical focal length shaping element, which is described in detail below.

[0129] Structure 1: The optical shaping component includes a first collimating element.

[0130] Among them, the first collimating element can also be called a slow-axis collimator (SAC). The first collimating element is used to shape the first divergence angle u1 of the first light beam from the array light source in the slow axis direction into a first preset divergence angle u1'. Please refer to Figure 6. Specifically, the optical shaping component in the above 6 can be replaced with the first collimating element. Furthermore, the first collimating element is also used to homogenize the first light beam in the slow axis direction. In other words, the divergence angle of the second light beam in the slow axis direction obtained after the first light beam from the array light source is shaped by the first collimating element is the first preset divergence angle u1', and the uniformity of the light spot formed by the second light beam in the slow axis direction is greater than the first preset uniformity.

[0131] Exemplarily, the first collimating element may include at least one aspheric lens, such as a one-dimensional cylindrical mirror. A one-dimensional cylindrical mirror refers to a cylindrical mirror whose optical power in one direction is not 0, and the optical power in other directions is 0. It can also be understood that the curvature of the one-dimensional cylindrical mirror exists only in one direction, and there is no curvature in the other direction. Among them, the one-dimensional cylindrical mirror may include but is not limited to a plano-convex cylindrical mirror (or called a plano-convex cylindrical lens), a plano-concave cylindrical mirror (or called a plano-concave cylindrical lens), a double-convex cylindrical mirror (double-convex cylindrical lens) and a double-concave cylindrical mirror (double-concave cylindrical lens), etc. An elliptical light beam focus can be obtained by a one-dimensional cylindrical mirror, which can be used to compensate for the astigmatism of a light beam or an emission module. Moreover, a one-dimensional cylindrical mirror can focus or defocus light only in the first direction, without affecting the wavefront curvature in the second direction. It should be noted that if the length d of the array light source in the slow axis direction is large, the correction of aberrations needs to be considered when designing the structure of the optical shaping component in the slow axis direction. To this end, the first collimating element can use at least two one-dimensional cylindrical mirrors to correct the aberration in the slow axis direction. If the first collimating element includes at least two one-dimensional cylindrical mirrors, each one-dimensional cylindrical mirror has a corresponding focus and focal length. The focus of the first collimating element involved in this application can be the equivalent focus of the multiple one-dimensional cylindrical mirrors included in the first collimating element, and the focal length of the first collimating element involved in this application can be the equivalent focal length of the multiple one-dimensional cylindrical mirrors included in the first collimating element.

[0132] In a possible implementation, the length d of the array light source in the slow axis direction, the focal length f1 of the first collimating element, and the first preset divergence angle u1 ′ satisfy the correlation relationship given by the following formula 1.

[0133] u1' / 2=arctan(d / 2f1)±δ1 Formula 1

[0134] Wherein, δ1 is the allowable error range in the slow axis direction. For example, the allowable error includes but is not limited to errors caused by engineering errors.

[0135] Based on the above formula 1, the focal length f1 of the first collimating element can be determined. The focal length f1 of the first collimating element determines the position of the first collimating element and the divergence angle of the second light beam in the slow axis direction after being shaped by the first collimating element. Generally, the larger the focal length of the first collimating element, the smaller the divergence angle of the second light beam in the slow axis direction. Among them, the focal length of the first collimating element is the focal length of the optical shaping component in the slow axis direction. In other words, by designing the focal length f1 of the first collimating element, the image of the array light source can be magnified or reduced, thereby forming different divergence angles in the slow axis direction.

[0136] In one possible implementation, the array light source can be located at the object focus of the first collimating element. However, to achieve a better uniform light effect, the array light source can also be placed outside the object focus of the first collimating element. Fine-tuning can be performed before or after the object focus of the first collimating element. The amplitude of the fine-tuning (i.e., the first preset distance) is related to the duty cycle of the array light source in the slow axis direction and the first divergence angle u1 of the first light beam. In other words, the array light source is located at the first preset distance from the object focus of the first collimating element. The first preset distance is related to the duty cycle of the array light source in the slow axis direction and the first divergence angle u1 of the first light beam. It can also be understood that the distance between the position of the array light source and the object focus of the first collimating element is the first preset distance. Specifically, the first preset distance is a fixed value that is at least related to the duty cycle of the array light source in the slow axis direction and the first divergence angle u1 of the first light beam. In other words, the magnitude of the first preset distance is at least related to the duty cycle of the array light source in the slow axis direction and the first divergence angle u1 of the first light beam. The specific relationship can be adjusted through model simulation. It is understandable that the position of the array light source may also be related to the total optical path length allowed by the emission module and / or the spatial angular distribution of the first light beam emitted from the array light source.

[0137] After fine-tuning the position of the array light source, the divergence angle of the second light beam, obtained after the first light beam emitted by the array light source is shaped by the first collimating element, may deviate to a certain extent from the desired first preset divergence angle u1'. If higher precision is required for the divergence angle of the second light beam, the focal length of the first collimating element can be fine-tuned and / or redesigned until the divergence angle of the second light beam reaches the desired first preset divergence angle u1'.

[0138] Please refer to Figure 7, which is a schematic diagram of the positional relationship between an array light source and a first collimating element provided in the present application. In this example, the array light source is taken as including 3×1 LDs, and the first collimating element is taken as including a double convex cylindrical mirror. The divergence angle of the second light beam obtained after the first light beam emitted by the three LDs passes through the first collimating element is the first preset divergence angle u1'. Exemplarily, the first divergence angle u1=13° in the slow axis direction of the first light beam emitted from the three LDs, and the first preset divergence angle u1'=25° of the second light beam obtained after being shaped by the first collimating element. Furthermore, the second light beam propagates freely to perform aliasing and uniform light, and can form a relatively uniform light spot in the slow axis direction from a certain distance to infinity.

[0139] Furthermore, the emission module may optionally include a first aperture, as shown in Figure 8 . The first aperture is located between the array light source and the first collimating element. The first aperture is used to filter some stray light along the slow axis. The first aperture allows the first light beam within the effective field of view along the slow axis to pass through, while suppressing background stray light outside the effective field of view along the slow axis, thereby helping to reduce stray light.

[0140] In one possible implementation, the first aperture may be, for example, a slit aperture (or aperture). Alternatively, the first aperture may be formed by silk-screening a desired light-transmitting shape on glass or the like, with the remaining area being black ink, which prevents light from passing through.

[0141] Structure 2: The optical shaping component includes a second collimating element.

[0142] Among them, the second collimating element can also be called a fast-axis collimator (FAC). The second collimating element is used to shape the second divergence angle u2 of the first light beam emitted by the array light source in the fast axis direction into a second preset divergence angle u2', please refer to Figure 6, specifically, the optical shaping component in the above 6 can be replaced with the second collimating element. Furthermore, the second collimating element is also used to uniformly light the first light beam in the fast axis direction. It can also be understood that the divergence angle of the second light beam obtained after the first light beam from the array light source passes through the second collimating element in the fast axis direction is the second preset divergence angle u2', and the uniformity of the light spot formed by the second light beam in the fast axis direction is greater than the second preset uniformity. Among them, the uniformity of the light spot formed by the second light beam in the fast axis direction can also be determined based on the principle of the above formula 3. Specifically, in the above formula 3, U represents the uniformity of the light spot formed by the second light beam in the fast axis direction, I max Indicates the maximum intensity of the spot formed by the second beam in the fast axis direction, I min Indicates the minimum intensity of the spot formed by the second beam along the fast axis.

[0143] Exemplarily, the second collimating element may also include at least one one-dimensional cylindrical mirror, wherein, for the introduction of the one-dimensional cylindrical mirror, please refer to the relevant introduction of the aforementioned structure one, which will not be repeated here. It should be noted that if the length of the array light source in the fast axis direction is large, the correction of aberrations needs to be considered when designing the structure of the second collimating element in the fast axis direction. To this end, the second collimating element may adopt at least two one-dimensional cylindrical mirrors to achieve the correction of aberrations in the fast axis direction. If the second collimating element includes at least two one-dimensional cylindrical mirrors, each one-dimensional cylindrical mirror has a corresponding focus and focal length, the focus of the second collimating element involved in this application may be the equivalent focus of the multiple one-dimensional cylindrical mirrors included in the second collimating element, and the focal length of the second collimating element involved in this application may be the equivalent focal length of the multiple one-dimensional cylindrical mirrors included in the second collimating element.

[0144] In a possible implementation, the length h of the array light source in the fast axis direction, the focal length f2 of the second collimating element, and the second preset divergence angle u2′ satisfy the correlation relationship shown in the following formula 2.

[0145] u2' / 2=arctan(h / 2f2)±δ2 Formula 2

[0146] Wherein, δ2 is the allowable error range in the fast axis direction. The allowable error includes but is not limited to errors caused by engineering errors.

[0147] Based on Formula 2 above, the focal length f2 of the second collimating element can be determined. The focal length f2 of the second collimating element determines the position of the second collimating element and the divergence angle of the second light beam shaped by the second collimating element in the fast axis direction. Generally, the larger the focal length of the second collimating element, the smaller the divergence angle of the second light beam in the fast axis direction. The focal length of the second collimating element is the focal length of the optical shaping component in the fast axis direction. In other words, by designing the focal length f2 of the second collimating element, the image of the array light source can be magnified or reduced, thereby forming different divergence angles in the fast axis direction.

[0148] Furthermore, the emission module may optionally include a second aperture located between the array light source and the second collimating element. The second aperture is configured to filter some stray light along the fast axis. This second aperture allows the first light beam within the effective field of view along the fast axis to pass through, while suppressing background stray light outside the effective field of view along the fast axis, thereby helping to reduce stray light.

[0149] In one possible implementation, the second aperture may be, for example, a slit aperture (also known as an aperture or effective aperture). Alternatively, the second aperture may be formed by silk-screening a desired light-transmitting shape on glass or the like, with the remaining area being black ink, which prevents light from passing through.

[0150] It should be noted that if there is a higher uniformity requirement for the slow axis direction, the array light source can be set at a first preset distance from the object focus of the first collimating element; for example, the object focus of the first collimating element is F1, the object focus of the second collimating element is F2, and the difference between F1 and F2 is a first preset distance. If there is a higher uniformity requirement for the fast axis direction, the array light source can be set at a second preset distance from the object focus of the second collimating element; for example, the object focus of the first collimating element is F1, the object focus of the second collimating element is F2, and the difference between F1 and F2 is a second preset distance. The determination of the second preset distance is similar to the first preset distance. The second preset distance is a fixed value that is at least related to the duty cycle of the array light source in the fast axis direction and the second divergence angle u2 of the first light beam. For details, please refer to the introduction of the first preset distance above, which will not be repeated here.

[0151] In the present application, if it is necessary to shape the first light beam in both the fast and slow axis directions, the optical shaping assembly may include a first collimating element and a second collimating element. Based on the positional relationship between the first collimating element and the second collimating element, two possible scenarios are exemplified below.

[0152] Case 1: The optical axis of the first collimating element is parallel to or coincides with the optical axis of the second collimating element.

[0153] Please refer to Figures 9a and 9b for schematic structural diagrams of two other emission modules provided in this application. The emission module includes an array light source and an optical shaping assembly. The optical shaping assembly includes a first collimating element and a second collimating element. In this example, the first collimating element is a biconvex cylindrical mirror, and the second collimating element is a plano-convex cylindrical mirror. The optical axis of the first collimating element is parallel to or coincides with the optical axis of the second collimating element. Furthermore, optionally, the focal line of the first collimating element and the focal line of the second collimating element are mutually perpendicular. The focal line of the first collimating element is in the same direction as the direction in which the divergence angle of the first light beam passing through the first collimating element is adjusted, and the focal line of the second collimating element is in the same direction as the direction in which the divergence angle of the first light beam passing through the second collimating element is adjusted. It is understood that if the focal lines of the first collimating element and the second collimating element are not perpendicular, light from the two directions will affect each other. Therefore, by making the focal lines of the first collimating element and the second collimating element perpendicular, the light beams in the first and second directions can be prevented from affecting each other. In the slow axis direction, the second collimating element is equivalent to a transparent glass plate and does not change the first divergence angle of the passing first light beam. Therefore, the first divergence angle of the first light beam emitted from the array light source in the slow axis direction remains unchanged before passing through the first collimating element. The first divergence angle of the first light beam is adjusted to the first preset divergence angle by the first collimating element. Similarly, in the fast axis direction, the first collimating element is equivalent to a transparent glass plate and does not change the second divergence angle of the passing first light beam. Therefore, the second divergence angle of the first light beam emitted from the array light source in the fast axis direction remains unchanged before passing through the second collimating element. The second divergence angle of the first light beam is adjusted to the second preset divergence angle by the second collimating element.

[0154] It is understandable that Figure 9a illustrates the propagation light path in the slow axis direction. Specifically, the first light beam emitted by the array light source is shaped by the second collimating element in the fast axis direction and then propagates to the first collimating element, and then is shaped by the first collimating element in the slow axis direction to obtain the second light beam; the divergence angle of the first light beam in the slow axis direction is the first divergence angle, and the divergence angle of the second light beam in the slow axis direction is the first preset divergence angle. Furthermore, the uniformity of the light spot formed by the second light beam in the slow axis direction is greater than the first preset uniformity; the divergence angle of the first light beam in the fast axis direction is the second divergence angle, and the divergence angle of the second light beam in the fast axis direction is the second preset divergence angle. The uniformity of the light spot formed by the second light beam in the fast axis direction is greater than the second preset uniformity.

[0155] Case 2: The optical axis of the first collimating element is perpendicular to the optical axis of the second collimating element.

[0156] Please refer to Figures 10a and 10b, which are schematic structural diagrams of two emission modules provided in this application. The emission module includes an array light source, an optical shaping component and a reflective element. Among them, the optical shaping component includes a first collimating element and a second collimating element, and the reflective element is located between the first collimating element and the second collimating element. The optical axis of the first collimating element is perpendicular to the optical axis of the second collimating element. Furthermore, optionally, the focal line of the first collimating element and the focal line of the second collimating element are perpendicular to each other. In this example, the first collimating element and the second collimating element are the same as those in Figures 9a and 9b above. For details, please refer to the above-mentioned related introduction, which will not be repeated here.

[0157] Figure 10a shows the propagation light path in the slow axis direction. Specifically: the first light beam emitted by the array light source is shaped in the fast axis direction by the second collimating element and then propagates to the reflecting element, is reflected by the reflecting element to the first collimating element, and is then shaped in the slow axis direction by the first collimating element to obtain the second light beam. The divergence angle of the first light beam in the slow axis direction is the first divergence angle, and the divergence angle of the second light beam in the slow axis direction is the first preset divergence angle. Furthermore, the uniformity of the light spot formed by the second light beam in the slow axis direction is greater than the first preset uniformity; the divergence angle of the first light beam in the fast axis direction is the second divergence angle, and the second light beam in the fast axis direction is the second preset divergence angle. The uniformity of the light spot formed by the second light beam in the fast axis direction is greater than the second preset uniformity. The reflecting element can be, for example, a reflecting prism (or a turning prism) or a plane reflecting mirror, etc., and this application does not limit this.

[0158] The reflective element can change the direction of the propagation path of the first light beam emitted by the array light source, thereby enabling flexible placement of the first and second collimating elements. Furthermore, compared to Figures 9a and 9b, this helps reduce the optical path of the first light beam along the slow axis, thereby reducing the size of the emission module along the slow axis and further contributing to the miniaturization of the emission module.

[0159] It should be noted that the positions of the first collimating element and the second collimating element given in Figures 9a, 9b, 10a and 10b above are merely examples. For example, the order of the first collimating element and the second collimating element can also be interchanged, and this application does not limit this. In addition, in the emission modules shown in Figures 9a and 9b above, the array light source and the optical shaping component are coaxial, while in the emission modules shown in Figures 10a and 10b, the array light source and the optical shaping component are non-coaxial. For the structure in which the array light source and the optical shaping component are non-coaxial, Figures 10a and 10b are examples in which the first collimating element and the second collimating element are also non-coaxial. In a specific implementation, the first collimating element and the second collimating element can also be coaxial. Based on this, the reflective element can be located between the second collimating element and the array light source.

[0160] If it is necessary to shape both the fast axis direction and the slow axis direction of the first light beam, in one possible implementation, the optical shaping component includes a first collimating element and a second collimating element. For details, please refer to the above-mentioned related introduction, which will not be repeated here. In another possible implementation, the optical shaping component includes a two-dimensional optical focal length shaping element. Among them, the two-dimensional optical focal length shaping element refers to an optical focal length in two dimensions (i.e., the slow axis direction and the fast axis direction) that is not 0. The optical focal lengths of these two dimensions can be the same or different, and this application is not limited to this. The design of the size of the optical focal length of the two-dimensional optical focal length shaping element in the slow axis direction can refer to the introduction of the first collimating element mentioned above, and the design of the size of the optical focal length in the fast axis direction can refer to the introduction of the second collimating element mentioned above, which will not be repeated here. If both dimensions have different optical focal lengths (i.e., both dimensions have different curvatures), astigmatism can be generated, which can be used to correct the astigmatism of the array light source.

[0161] Specifically, the two-dimensional optical power shaping element is used to adjust the first divergence angle of the first light beam emitted by the array light source in the slow axis direction to a first preset divergence angle, and adjust the second divergence angle in the fast axis direction to a second preset divergence angle. Furthermore, the two-dimensional optical power shaping element is also used to homogenize the first light beam in the slow axis direction and the fast axis direction, respectively, so that the uniformity of the light spot formed by the second light beam in the slow axis direction is greater than the first preset uniformity, and the uniformity in the fast axis direction is greater than the second preset uniformity.

[0162] For example, the two-dimensional optical power shaping element may include a spherical lens (i.e., a lens with a spherical surface) or an aspherical lens. The aspherical lens may include, but is not limited to, a two-dimensional cylindrical lens. It should be noted that to correct aberrations, the optical power shaping component may employ a spherical lens assembly (i.e., at least two spherical lenses) or a two-dimensional cylindrical lens assembly (i.e., at least two two-dimensional cylindrical lenses).

[0163] Furthermore, the positional relationship between the array light source and the two-dimensional optical power shaping element may optionally be related to uniformity requirements. If a higher uniformity requirement is required in the slow axis direction, the array light source may be positioned at a first preset distance from the object focus of the two-dimensional optical power shaping element in the slow axis direction. If a higher uniformity requirement is required in the fast axis direction, the array light source may be positioned at a second preset distance from the object focus of the two-dimensional optical power shaping element in the fast axis direction. For details on the first and second preset distances, please refer to the aforementioned related descriptions and will not be repeated here.

[0164] It should be noted that if the optical shaping assembly includes a two-dimensional optical power shaping element, and the array light source and the two-dimensional optical power shaping element are not coaxial, the emission module may further include a reflective element. The reflective element is positioned between the array light source and the two-dimensional optical power shaping element and is configured to reflect the first light beam emitted by the array light source toward the two-dimensional optical power shaping element.

[0165] The emission module in the present application may also include a refracting prism. For details, please refer to the introduction of Figures 13a and 13b below, which will not be repeated here.

[0166] Based on the above, two specific implementations of the aforementioned transmit module are described below, combined with specific hardware structures, to further understand the structure of the transmit module. It should be noted that, unless otherwise specified or logically conflicting, the various functional components and structures described above can be combined to form other possible transmit modules based on their inherent logical relationships.

[0167] As shown in Figure 11a, it is a schematic structural diagram of another emission module provided by the present application. Figure 11b is a schematic three-dimensional structural diagram of Figure 11a. The emission module is taken as an example including an array light source, an optical shaping component and a first aperture. Among them, the optical shaping component is taken as an example including a first collimating element and a second collimating element, the array light source is taken as an example including a column, the first collimating element is taken as an example including a double convex cylindrical mirror, and the second collimating element is taken as an example including a plano-convex cylindrical mirror. In this example, the array light source and the optical shaping component are coaxial. For example, the first divergence angle of the first light beam emitted by the array light source in the slow axis direction is 13°, and the second divergence angle in the fast axis direction is 45°. The first collimating element shapes the first light beam in the slow axis direction, and the second collimating element shapes the first light beam in the fast axis direction. After the first light beam is shaped by the first collimating element and the second collimating element, the second light beam is obtained. The divergence angle of the second light beam in the slow axis direction is the first preset divergence angle of 25°, and the divergence angle of the second light beam in the fast axis direction is the second preset divergence angle of 0.1°. For a more detailed introduction to the array light source, the first collimating element, the second collimating element and the first aperture, please refer to the above-mentioned related description, which will not be repeated here. It should be noted that the structure of the emission module given in Figures 11a and 11b above is only an example, and the emission module may also have fewer structures than those in Figures 11a and 11b above. For example, the emission module may not include the first aperture in Figures 11a and 11b above. Of course, the emission module may also have more structures than those in Figures 11a and 11b above. For example, the emission module may also include a second aperture, etc., and this application does not limit this.

[0168] The energy density distribution of the first light beam emitted by the array light source in angular space may not meet actual requirements. The optical shaping component can be used to adjust the energy density distribution of the first light beam in space. In one possible implementation, if the emission module has the structure shown in Figures 11a and 11b above, the energy density distribution of the second light beam formed by the second light beam in space is relatively uniform (see Figure 12a). Specifically, the uniformity of the light beam formed by the second light beam in the slow axis direction is greater than the first preset uniformity, and the uniformity in the fast axis direction is greater than the second preset uniformity.

[0169] Please refer to Figure 12b, which shows a simulated relationship between the intensity of the second beam's spot along the slow axis and the second beam's irradiation distance, as provided in this application. As can be seen from Figure 12b, the uniformity of the spot formed by the second beam increases with the distance of the second beam's irradiation. For details, see Table 1. A uniformity of 91.76% can be achieved at 1m, and this uniformity gradually increases with distance, reaching 94.55% at 100m.

[0170] Table 1 Simulated relationship between the intensity of the spot formed by the second beam and the irradiation distance

[0171] 1m2m5m100m Maximum value 0.0650.020.010.0058 Minimum value 0.0550.0180.00890.0052 Uniformity 91.76% 94.14% 94.44% 94.55%

[0172] Figures 13a and 13b are schematic diagrams of the structures of two emission modules provided in this application. Figure 13b is a schematic diagram of the three-dimensional structure of Figure 13a. The emission module includes, for example, an array light source, an optical shaping assembly, a first aperture, a reflective element, and a refractive prism. In this example, the array light source and the optical shaping assembly are non-coaxial. For example, the optical shaping assembly includes a first collimating element and a second collimating element, the array light source includes a row of light sources, the first collimating element includes a biconvex cylindrical mirror, and the second collimating element includes a plano-convex cylindrical mirror. The array light source emits a first light beam, which is shaped in the fast axis direction by the second collimating element before propagating to the reflective element. The first light beam is then reflected by the reflective element to the first collimating element, and then shaped in the slow axis direction by the first collimating element to obtain a second light beam. The refractive prism is used to adjust the propagation path of the second light beam. Specifically, the refractive prism can shift the upper half of the second light beam downward and the lower half upward, concentrating the energy of the second light beam in the middle region, which is the convex region. After adjusting the propagation path, the energy density in the middle area of ​​the light spot formed by the second light beam is greater than that in the edge areas. It can also be understood that the refractive prism can concentrate the energy of the second light beam in the area of ​​interest, thereby improving the ranging capability of the area of ​​interest.

[0173] Based on this, the shape of the light spot formed by the second light beam after adjusting the propagation light path is "convex" or quasi-"convex". Please refer to Figure 14a. The energy density of the convex part of the light spot formed by the second light beam after adjusting the propagation light path is higher than the energy density on both sides. The energy density of the convex part of the light spot formed by the second light beam after adjusting the propagation light path is about twice the energy density on both sides. Combined with the intensity distribution curve of the simulated far-field light spot in the slow axis direction of Figure 14b, it can be seen that the energy cavity in the middle and the energy on both sides are weak, forming a "convex" or quasi-"convex" shape. It can be understood that the height and width of the convex part of the light spot formed by the second light beam after adjusting the propagation light path can be achieved by adjusting the parameters of the first collimating element and the refractive prism (such as β or refractive index). The larger β is, the longer the convex part is; the greater the refractive index of the material of the refractive prism is, the longer the convex part is.

[0174] It should be noted that the structure of the transmitting module given above is only an example, and the structure of the transmitting module can also be other combinations of the various functional components and structures given above, such as the structure shown in FIG15 .

[0175] Based on the structure and functional principles of the transmitting module described above, the present application may also provide a detection device. Referring to FIG. 16 , the detection device may include a receiving module and the transmitting module of any of the above embodiments. The receiving module is configured to receive an echo signal obtained by reflecting the second light beam from a target within the detection area.

[0176] In one possible implementation, the receiving module may include a detection component configured to receive an echo signal obtained by reflecting the second light beam from a target within the detection area. Furthermore, the detection component may optionally perform photoelectric conversion on the echo signal to generate an electrical signal used to determine target-related information. This target-related information may include, but is not limited to, target distance information, target position, target speed, and / or target grayscale information.

[0177] Exemplarily, the detection component can be a photodetector (PD), a P-type semiconductor-intrinsic layer-N-type semiconductor (positive intrinsic negative, PIN) photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), or a single-photon avalanche diode (SPAD) array, a silicon photomultiplier (SiMP) array, etc.

[0178] Please refer to Figure 17, which is a structural diagram of a detection component provided by the present application. The detection component includes 8×8 pixels as an example, and each pixel in the pixel array may include one or more SPADs or SiMPs, etc. Further, the pixels in the pixel array can be selected by column. It can be understood that the pixel array given in Figure 17 above is only an example, and the present application does not limit the number of rows and columns included in the pixel array. For example, the pixel array can also be a pixel array with multiple rows and one column, or it can be other pixel arrays with multiple rows and columns, which are not listed here one by one. In addition, the shape of the pixels in the pixel array can also be other possible shapes (such as circular, square or elliptical, etc.), which is not limited by the present application. It should be noted that if the array light source is the structure shown in Figure 4 above, the detection component can also include 8×1 pixels, or it can be the pixel array shown in Figure 17 above; if the array light source is the structure shown in Figure 5 above, the detection component can be the pixel array shown in Figure 17 above.

[0179] In one possible implementation, the receiving module may further include a receiving lens, and the receiving lens may include at least one lens. The lens may be, for example, a spherical lens (e.g., a concave lens, a convex lens, etc.), or may be an aspheric lens. By using a combination of multiple spherical lenses and / or aspheric lenses as a receiving lens, it is helpful to improve the imaging quality of the detection device and reduce the aberration of the optical imaging system. It should be understood that there are many different types of convex lenses and concave lenses, for example, convex lenses include biconvex lenses, plano-convex lenses and concave-convex lenses, and concave lenses include biconcave lenses, plano-concave lenses and concave-convex lenses. The present application does not limit the types of convex lenses and concave lenses.

[0180] The lens in the receiving lens can be made of an optical material such as glass, resin, or crystal. Resin lenses help reduce the weight of the detection device. Glass lenses further improve the imaging quality of the detection device. Furthermore, to effectively suppress temperature drift, the receiving lens includes at least one lens made of glass.

[0181] Furthermore, optionally, the detection device may further include a scanning module, which is used to reflect the received second light beam toward the detection area of ​​the detection device. Specifically, by changing the scanning angle of the scanning module, the propagation direction of the second light beam directed toward the detection area is changed, thereby achieving scanning of the detection area. It should be noted that the scanning module can rotate in a continuous operation mode or in a step-by-step operation mode, and this application does not limit this. In actual application, the specific rotation mode can be preset.

[0182] In one possible implementation, the scanning module can be located at the waist of the second beam. Since the second beam tends to converge after passing through the slow-axis collimator, forming a beam waist within a short distance, placing the scanning module at the waist of the second beam allows for the use of a scanning module with a smaller reflective surface, thereby reducing the size of the detection device.

[0183] Exemplarily, the scanning module can be a polyhedron (e.g., an octahedron, a hexahedron, or a tetrahedron) rotating mirror, a microelectromechanical system (MEMS) galvanometer, or an oscillating mirror. It should be noted that this application does not limit the type of scanning module; any structure that can reflect the second light beam to the detection area is acceptable.

[0184] It should be noted that the detection device in this application may also include other possible modules, such as a control module. The control module is used to determine target association information based on the electrical signals from the detection component. Furthermore, based on the determined target association information, the vehicle can plan a driving path, for example, to avoid obstacles on the road ahead or to achieve autonomous driving of the vehicle.

[0185] Exemplarily, the control module may include one or more processors, and the processor may be a circuit with signal (or data) processing capabilities. In one implementation, the processor may be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. For example, it can also be an application processor (AP), an image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0186] Based on the structure and functional principle of the detection device described above, the present application can also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Exemplarily, the terminal device can be, for example, a vehicle (such as an unmanned vehicle, a smart car, an electric car, or a digital car), a robot, a surveying and mapping equipment, a drone, a smart home device (such as a TV, a sweeping robot, a smart desk lamp, a sound system, an intelligent lighting system, an electrical control system, a home background music, a home theater system, an intercom system, or a video surveillance system), an intelligent manufacturing equipment (such as an industrial equipment), an intelligent transportation equipment (such as an AGV, an unmanned transport vehicle, or a truck), or an intelligent terminal (a mobile phone, a computer, a tablet computer, a PDA, a desktop computer, a headset, an audio system, a wearable device, an on-board device, a virtual reality device, an augmented reality device, etc.), etc.

[0187] Please refer to Figure 18 , which illustrates an exemplary functional block diagram of a vehicle provided herein, using a vehicle as an example terminal device. Components coupled to or included in vehicle 100 may include a sensor system 1001 and a computer system 1002. It should be understood that the vehicle functional framework shown in Figure 18 is merely an example. In other examples, vehicle 100 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Furthermore, the systems and components shown may be combined or divided in any manner, and this application does not impose specific limitations on this. For example, a vehicle may also include a power supply 1003, a control system 1004, a user interface 1005, and peripheral devices 1006. The components of vehicle 100 may be configured to operate in a manner interconnected with each other and / or with other components coupled to each system. For example, power supply 1003 may provide power to all components of vehicle 100. Computer system 1002 may be configured to receive data from and control sensor system 1001, control system 1004, and peripheral devices 1006.

[0188] Sensor system 1001 may include several sensors for sensing information about the environment in which vehicle 100 is located. For example, the sensors of sensor system 1001 may include, but are not limited to, a global positioning system (GPS), an inertial measurement unit (IMU), millimeter-wave radar, lidar, a camera, and actuators for modifying the position and / or orientation of the sensors. Millimeter-wave radar utilizes radio signals to sense objects within the environment surrounding vehicle 100. In some embodiments, in addition to sensing objects, millimeter-wave radar may also be used to sense the speed and / or direction of an object. Lidar may utilize lasers to sense objects within the environment in which vehicle 100 is located. In some embodiments, the lidar may be the detection device described in any of the aforementioned embodiments. For details, please refer to the above description of the detection device and will not be further described here. The camera may be used to capture multiple images of the environment surrounding vehicle 100. The camera may be a still camera or a video camera. In some embodiments, the GPS may be any sensor used to estimate the geographic location of vehicle 100. To this end, the GPS may include a transceiver that estimates the position of vehicle 100 relative to the Earth based on satellite positioning data. In some examples, computer system 1002 can use GPS in conjunction with map data to estimate the road traveled by vehicle 100. An IMU can be used to sense changes in the position and orientation of vehicle 100 based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in an IMU can include, for example, an accelerometer and a gyroscope. In addition, other combinations of sensors in an IMU are possible.

[0189] It is understood that the sensor system 1001 may also include sensors of the internal systems of the monitored vehicle 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). This detection and identification is a key function for the safe operation of the vehicle 100. The sensor system 1001 may also include other sensors. This application does not specifically limit this.

[0190] Some or all functions of vehicle 100 are controlled by computer system 1002. Computer system 1002 may include at least one processor 10021 and may further include interface circuitry 10022. Processor 10021 executes instructions stored in a non-transitory computer-readable medium, such as memory 10023. Computer system 1002 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner.

[0191] The processor 10021 may be a circuit having the capability of processing signals (or data). For specific possible implementations, please refer to the introduction of the aforementioned control module, which will not be repeated here.

[0192] Although FIG18 functionally illustrates the processor, memory, and other elements of the computer system 1002 as being in the same block, one skilled in the art will appreciate that the processor and memory may not actually be multiple processors or memories stored in the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different housing than the computer system 1002. For another example, the processor may be remote from the vehicle but may be in wireless communication with the vehicle.

[0193] In some embodiments, the memory 10023 may contain instructions (e.g., program logic) that can be read by the processor 10021 to perform various functions of the vehicle 100, including the functions described above. The memory 10023 may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the propulsion system 110, the sensor system 1001, the control system 1004, and the peripheral devices 1006. In addition to instructions, the memory 10023 may also store data such as road maps, route information, data detected by sensors, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. This information can be used by the vehicle 100 and the computer system 1002 when the vehicle 100 is in autonomous, semi-autonomous, and / or manual mode.

[0194] The memory may be, for example, a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. In another example, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. In addition, the ASIC may be located in a detection device. Of course, the processor and the storage medium may also be present in the detection device as discrete components.

[0195] The computer system 1002 can control functions of the vehicle 100 based on input received from various subsystems (e.g., the sensor system 1001 and the control system 1004, etc.) and from the user interface 1005. For example, the computer system 1002 can use input from the control system 1004 to control the steering unit to avoid obstacles detected by the sensor system 1001 and the obstacle avoidance system. In some embodiments, the computer system 1002 is operable to provide control over many aspects of the vehicle 100 and its subsystems.

[0196] Alternatively, one or more of the above components may be installed or associated separately from the vehicle 100. For example, the memory 10023 may be partially or completely separate from the vehicle 100. The above components may be communicatively coupled together in a wired and / or wireless manner.

[0197] Illustratively, the vehicle 100 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and cart, etc., and the present application does not limit this.

[0198] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0199] In this application, "uniform" does not mean absolute uniformity, and a certain engineering error can be allowed. "Vertical" does not mean absolute verticality, and a certain engineering error can be allowed. "At least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple. In the text description of this application, the character " / " generally indicates that the related objects before and after are in an "or" relationship. In the formula of this application, the character " / " indicates that the related objects before and after are in a "division" relationship. Additionally, in this application, the word "exemplary" is used to mean an example, illustration, or description. Any embodiment or design described in this application as an "exemplary" should not be construed as preferred or advantageous over other embodiments or designs. Alternatively, it can be understood that the use of the word "exemplary" is intended to present concepts in a concrete manner and does not constitute a limitation of this application.

[0200] It will be appreciated that the various numerical numbers involved in this application are merely for the purpose of describing the distinctions made, and are not intended to limit the scope of the embodiments of the present application. The size of the sequence numbers of the above-mentioned processes does not imply the order of execution, and the order of execution of each process should be determined by its function and inherent logic. Terms such as "first", "second", and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, comprising a series of steps or units. Methods, systems, products, or devices are not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products, or devices.

[0201] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A transmitting module, characterized in that: It includes an array light source and an optical shaping component, wherein the optical shaping component includes a spherical lens and / or an aspherical lens; The array light source is used to emit a first light beam; The optical shaping component is used to adjust the first divergence angle of the first light beam from the array light source to a first preset divergence angle in at least a first direction, and homogenize the first light beam to obtain a second light beam.

2. The module according to claim 1, wherein: The array light source includes m×n light sources, where m is an integer greater than 1 and n is a positive integer.

3. The module according to claim 1 or 2, wherein: The optical shaping assembly includes a first collimating element.

4. The module according to claim 3, wherein: There is a correlation between the focal length f1 of the first collimating element, the length d of the array light source in the first direction, and the first preset divergence angle u1 ′.

5. The module according to claim 4, wherein: The association relationship satisfies Formula 1: u1' / 2=arctan(d / 2f1)±δ1 Formula 1 Here, the δ1 is the allowable error range in the first direction.

6. The module according to any one of claims 3 to 5, wherein: The array light source is located at a first preset distance from the object focus of the first collimating element, and the first preset distance is related to a duty cycle of the array light source in the first direction and a first divergence angle of the first light beam.

7. The module according to any one of claims 3 to 6, wherein: The first collimating element includes at least one aspherical mirror, and the aspherical mirror includes a one-dimensional cylindrical mirror.

8. The module according to any one of claims 3 to 7, wherein: The emission module further includes a first aperture, which is located between the first collimating element and the array light source.

9. The module according to any one of claims 1 to 3, wherein: The optical shaping component is also used for: In the second direction, a second divergence angle of the first light beam from the array light source is adjusted to a second preset divergence angle.

10. The module according to claim 9, wherein: The optical shaping component is also used for: In a second direction, the first light beam from the array light source is homogenized.

11. The module according to claim 9 or 10, wherein: The optical shaping assembly further includes a second collimating element.

12. The module according to claim 11, wherein: There is a correlation between the focal length f2 of the second collimating element, the length h of the array light source in the second direction, and the second preset divergence angle u2'.

13. The module according to claim 12, wherein: The association relationship satisfies Formula 2: u2' / 2=arctan(h / 2f2)±δ2 Formula 2 Wherein, the δ2 ​​is the allowable error range.

14. The module according to any one of claims 11 to 13, wherein: The second collimating element includes at least one aspherical mirror, and the aspherical mirror includes a one-dimensional cylindrical mirror.

15. The module according to any one of claims 11 to 14, wherein: The emission module further includes a second aperture, which is located between the second collimating element and the array light source.

16. The module according to any one of claims 11 to 15, wherein: The focal lines of the first collimating element and the second collimating element are perpendicular.

17. The module according to any one of claims 11 to 16, wherein: The optical axes of the first collimating element and the second collimating element are parallel to or coincide with each other.

18. The module according to any one of claims 11 to 16, wherein: The emission module further includes a reflective element, and the reflective element is located between the first collimating element and the second collimating element.

19. The module according to claim 18, wherein: The reflective element includes a reflective prism.

20. The module according to claim 18 or 19, wherein: The first optical axis of the first collimating element is perpendicular to the second optical axis of the second collimating element.

21. The module according to claim 1 or 2, wherein: The optical shaping component includes a two-dimensional optical power shaping element; The two-dimensional optical focal length shaping element is used to adjust the first divergence angle of the first light beam from the array light source to the first preset divergence angle in a first direction, homogenize the first light beam, and adjust the second divergence angle of the first light beam from the array light source to the second preset divergence angle in a second direction to obtain the second light beam.

22. The module according to claim 21, wherein: The two-dimensional optical power shaping element includes any one of the following: at least one spherical lens; At least one cylindrical lens with two-dimensional optical power.

23. The module according to any one of claims 1 to 22, wherein: The emission module further includes a refractive prism; The refracting prism is used to adjust the propagation path of the second light beam, so that the energy density of the middle area of ​​the light spot formed by the second light beam after the propagation path is adjusted is greater than the energy density of the edge area.

24. The module according to claim 23, wherein: The shape of the light spot formed by the second light beam after adjusting the propagation light path is "convex" or quasi-"convex".

25. The module according to any one of claims 9 to 24, wherein: The first direction is perpendicular to the second direction.

26. The module according to any one of claims 9 to 25, wherein: The first direction is the slow axis direction of the optical shaping component; and / or, The second direction is the fast axis direction of the optical shaping component.

27. A detection device, characterized in that: comprising a receiving module and a transmitting module as claimed in any one of claims 1 to 26; The receiving module is used to receive an echo signal, where the echo signal is a signal obtained after the second light beam is reflected by a target in a detection area.

28. The device according to claim 27, wherein The detection device further includes a scanning module, wherein the scanning module is located at the waist of the second light beam; The scanning module is used to reflect the second light beam from the optical shaping component to the detection area.

29. A terminal device, characterized in that: It comprises a control device and a detection device as claimed in claim 27 or 28.

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