Transmitting terminal, optical system and laser radar

Abstract

The invention provides a transmitting terminal, an optical system and a laser radar, and relates to the technical field of optics. The transmitting end comprises a light source used for transmitting row and / or column light beams of a detection target object; and the light source processing element is used for processing the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams. According to the scheme, when the light source emits one row / column or multiple rows / columns, through dodging angle expanding processing of the light source processing element, dark-space-free illumination between rows or between columns is achieved while light source energy is not lost, then the scanning information capture amount achieved by means of the light source illumination area is increased, and the scanning efficiency is improved. And the scanning information loss of the scanning system can be reduced.

Description

Technical Field

[0001] The present application relates to the field of optical technology, and in particular to a transmitting end, an optical system and a laser radar. Background Art

[0002] LiDAR can obtain information such as the distance and speed of a target or realize target imaging with high precision and accuracy. It plays an important role in roadblock detection, mapping, navigation and other fields, and is widely used in aerospace, industry, medicine and other fields. The scanning systems used by existing LiDARs mainly include point scanning, line scanning and surface scanning.

[0003] Although conventional surface scanning can cover the scanning area well, the power requirement of the laser is greatly increased, and a large area light source needs to be used accordingly; line scanning reduces the power requirement of the laser, but it will lead to insufficient coverage of the scanning range, resulting in certain blind spots, dark corners and uneven distribution of light intensity on the receiving surface or object in the integrated transceiver system, thus affecting the detection accuracy; point scanning has a complex structure and is generally expensive and unreliable, and point scanning and line scanning are discrete points and lines when emitted. A row in the emission area is illuminated, and there is a dark area in the middle of the single row itself, and there are also dark areas between rows, resulting in a lack of information obtained by the radar.

[0004] In summary, there is an urgent need to provide a scanning light source transmitter that can provide high energy and no dark area illumination without the need for a high-power light source, so as to reduce the loss of scanning information. Summary of the invention

[0005] The present application provides a transmitting end, an optical system and a laser radar to solve the problem that the existing scanning system does not have a scanning light source transmitting end that takes into account high energy and no dark area illumination to reduce the problem of missing scanning information.

[0006] In a first aspect, the present application provides a transmitting end, including:

[0007] A light source for emitting row and / or column light beams for detecting a target object; and

[0008] The light source processing element is used for processing the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams.

[0009] In one possible design, the light source processing element includes a transmitting end lens and / or a microlens array;

[0010] The transmitting end lens is used to diverge or collimate the row and / or column light beams emitted by the light source;

[0011] The microlens array is used to homogenize and expand the angle of the divergent or collimated light beam to obtain diffused row and / or column light beams;

[0012] or,

[0013] The transmitting end lens is used to homogenize and expand the row and / or column light beams emitted by the light source after the spacing is adjusted to obtain diffused row and / or column light beams;

[0014] or,

[0015] The microlens array is used to diverge the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams;

[0016] Wherein, the microlens array includes a plurality of microlens units.

[0017] In a possible design, the horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy the following relationship:

[0018] 2≤|R1 / D1|≤100;

[0019] or,

[0020] 5≤|R1 / D1|≤50;

[0021] The vertical curvature radius R2 and the vertical aperture D2 of the microlens unit satisfy the following relationship:

[0022] 2≤|R2 / D2|≤70;

[0023] or,

[0024] 5≤|R2 / D2|≤30.

[0025] In a possible design, the horizontal field of view HFOV of the transmitting end lens and the horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy the following diffusion relationship:

[0026] HFOV / (R1 / D1)≤30;

[0027] or,

[0028] HFOV / (R1 / D1)≤12.

[0029] In a possible design, the thickness of the microlens unit is a random thickness value, and the variation d0 of the random thickness value satisfies the following relationship with the preset thickness d:

[0030] d0≤1 / 3*d;

[0031] or,

[0032] d0≤1 / 5*d.

[0033] In a possible design, the horizontal radius of curvature of the microlens unit is a random value of the horizontal radius of curvature, and the maximum random value R1max and the minimum random value R1min of the horizontal radius of curvature among the random values ​​of the horizontal radius of curvature satisfy the following relationship:

[0034] |R1max / R1min|≤1.5;

[0035] The vertical curvature radius of the microlens unit is a vertical curvature radius random value, and the maximum vertical curvature radius random value R2max and the minimum vertical curvature radius random value R2min among the vertical curvature radius random values ​​satisfy the following relationship:

[0036] |R2max / R2min|≤1.5.

[0037] In a possible design, the center points of the horizontal apertures and / or vertical apertures of the plurality of microlens arrays are not in the same plane; the height difference D3 between the center point of the horizontal aperture and the center point of the preset microlens unit aperture and the preset microlens unit aperture D4 in the horizontal direction satisfy the following relationship:

[0038] |D3|≤1 / 3*D4;

[0039] The height difference D5 between the center point of the vertical aperture and the center point of the preset microlens unit aperture and the preset microlens unit aperture D6 in the vertical direction satisfy the following relationship:

[0040] |D5|≤1 / 3*D6.

[0041] In a possible design, the collimation degree α1 before homogenization and the collimation degree α2 after homogenization of the light source satisfy the following irradiation area relationship with the horizontal field of view HFOV of the transmitting end lens, the focal length F of the transmitting end lens, the number C of light-emitting holes in a single row of channels in the horizontal direction, and the diameter Le of a single light-emitting hole of the light source:

[0042] 1≤α2 / α1≤F*2tan(HFOV / 2) / C / / Le;

[0043] in,

[0044] α1>0,1≤F*2tan(HFOV / 2) / C / Le≤35;

[0045] or,

[0046] F*tan(HFOV / 2) / C / Le≤α2 / α1≤F*2tan(HFOV / 2) / C / Le.

[0047] In a possible design, when the light source processing element includes a transmitting end lens and a micro lens array, the transmitting end lens and the micro lens array are arranged in a bonded or non-bonded manner;

[0048] If the emitting end lens and the microlens array are arranged in close contact, the curvature of the rearmost surface of the emitting end lens is consistent with the curvature of the contact surface of the microlens array.

[0049] In a possible design, the light source processing element includes an emitting end lens; the emitting end lens is used to homogenize and expand the row and / or column light beams emitted by the light source after the spacing is adjusted to obtain diffused row and / or column light beams.

[0050] In a possible design, when the light source processing element includes a transmitting end lens, the collimation degree α3 before the light source spacing is adjusted, the collimation degree α4 after the spacing is adjusted, the horizontal field of view angle HFOV of the transmitting end lens, the focal length F of the transmitting end lens, and the light source defocus range d satisfy the following irradiation area relationship:

[0051] F*tan(HFOV / 2)*d≤α4 / α3≤F*tan(HFOV / 2) / d;

[0052] The collimation α3 before the light source spacing is adjusted and the collimation α4 after the spacing is adjusted satisfy the following relationship:

[0053] 1≤α4 / α3≤120;

[0054] or,

[0055] 1≤α4 / α3≤50;

[0056] The focal length F of the transmitting end lens and the light source defocus range d satisfy the following relationship:

[0057] d / F≤0.2;

[0058] or,

[0059] 0.08≤d / F≤0.18.

[0060] In one possible design, the transmitting end lens includes only one transmitting end lens.

[0061] In a second aspect, the present application provides an optical system, comprising:

[0062] Transmitter; and

[0063] A target object, used to receive and reflect the row and / or column light beams emitted by the transmitting end;

[0064] The receiving end is used to receive the row and / or column light beams reflected by the target object, and the area of ​​the row and / or column light beams received by the receiving end is larger than the area of ​​the row and / or column light beams emitted by the transmitting end.

[0065] In a possible design, the transmitting end includes a light source and a transmitting end lens, and the receiving end includes a receiving end lens and a receiving chip;

[0066] The receiving end lens is used to focus the row and / or column light beams reflected by the target object;

[0067] The receiving chip is used to receive the row and / or column light beams after focusing processing;

[0068] The distortion Fθ1 of the transmitting end lens and the distortion Fθ2 of the receiving end lens satisfy the following relationship:

[0069] 0.5≤|Fθ1 / Fθ2|≤1.5;

[0070] or,

[0071] |Fθ1 / Fθ2-1|≤0.1.

[0072] In a possible design, the receiving end includes a human eye, which is used to receive the row and / or column light beams reflected by the target object.

[0073] The transmitting end, optical system and laser radar provided by the present application include a light source for emitting row and / or column light beams for detecting a target object; and a light source processing element for processing the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams. Compared with the scanning system in the prior art, the present application does not have a scanning light source transmitting end that takes into account high energy and no dark area illumination, so as to reduce the defect of missing scanning information, so that when the light source emits one row / column or multiple rows / columns, it can be processed by the light source processing element for uniform light expansion, and no dark area illumination between rows or columns can be achieved without losing the energy of the light source, thereby increasing the amount of scanning information captured by relying on the area illuminated by the light source, which is conducive to reducing the missing scanning information of the scanning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0075] Figure 1 A schematic diagram of a transmitter application scenario provided in an embodiment of the present application;

[0076] Figure 2 The structure of the transmitter provided in the embodiment of the present application is shown in FIG. Figure 1 ;

[0077] Figure 3 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 1 ;

[0078] Figure 4 A schematic diagram of the light source structure provided in an embodiment of the present application;

[0079] Figure 5 The structure of the transmitter provided in the embodiment of the present application is shown in FIG. Figure 2 ;

[0080] Figure 6 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 1 ;

[0081] Figure 7 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 2 ;

[0082] Figure 8 A schematic diagram of the structure of a two-dimensional microlens array provided in an embodiment of the present application;

[0083] Fig. 9 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 3 ;

[0084] Fig.10 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 2 ;

[0085] Fig.11 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 3 ;

[0086] Fig.12 The structure of the transmitter provided in the embodiment of the present application is shown in FIG. Figure 3 ;

[0087] Fig.13 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 4 ;

[0088] Fig.14 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 4 . DETAILED DESCRIPTION

[0089] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0090] In existing laser radars, the surface scanning method usually requires the configuration of a light source with larger power and area. Although the line scanning and point scanning methods reduce the configuration requirements of the light source, the insufficient coverage of the scanning range will cause dark areas in the scanning light, making the light signal intensity distribution uneven. That is, the existing surface scanning, line scanning and point scanning methods cannot take into account both low-power light sources and no dark area illumination at the same time, resulting in the problem of missing scanning information in the existing scanning system.

[0091] Based on the above technical problems, the inventive concept of the present application is to diverge, collimate or defocus the light source to achieve uniform light expansion of the emitted light beam, and eliminate diffraction and compensate for dark areas by setting specific parameters to achieve illumination of the measured area without dark areas, thereby avoiding the loss of scanning signals and improving the matching efficiency of the receiving end and the transmitting end, aiming to solve the above technical problems of the prior art.

[0092] The specific application scenarios of this application are as follows:

[0093] Figure 1 Schematic diagram of the application scenario of the transmitter provided in the embodiment of the present application. Figure 1 As shown, the transmitting end 101 transmits a light beam to illuminate the target object 102, and the reflected light beam of the target object 102 is captured by the receiving end 103 to form an optical signal related to the target object 102, so that the target object 102 can be reversely inferred based on the optical signal, thereby realizing the scanning function of scanning detection equipment such as laser radar.

[0094] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0095] Figure 2 The structure of the transmitter provided in the embodiment of the present application is shown in FIG. Figure 1 .like Figure 2 As shown, the transmitting end includes:

[0096] A light source 201 for emitting row and / or column light beams for detecting a target object; and

[0097] The light source processing element 202 is used for processing the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams.

[0098] Specifically, a row beam, a column beam, or a row and column beam is emitted by a light source to provide a linear light source for pan-line scanning, wherein the row beam or the column beam is a single row beam or a single column beam, and the row and column beams are composed of multiple rows or columns of beams.

[0099] In a feasible implementation, the light source processing element includes an emitting end lens and a microlens array; wherein the emitting end lens is used to diverge or collimate the row and / or column light beams emitted by the light source; the microlens array is used to homogenize and expand the divergent or collimated light beams to obtain diffused row and / or column light beams.

[0100] In another possible implementation, the light source processing element includes a microlens array; wherein the microlens array is used to diverge the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams.

[0101] Specifically, a microlens array is obtained by arranging multiple microlens units in an array on a substrate, and the array method includes a horizontal array, a vertical array, or a horizontal and vertical bidirectional array. The microlens units in the horizontal array are mainly used to homogenize and expand the light beam in the horizontal direction, the microlens units in the vertical array are mainly used to homogenize and expand the light beam in the vertical direction, and the microlens units in the horizontal and vertical bidirectional array can homogenize and expand the microlens units in both the horizontal and vertical directions at the same time. In order to achieve the homogenization and expansion of the light beam in the horizontal and / or vertical directions, each microlens unit needs to meet the homogenization design conditions, that is:

[0102] The horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy the following relationship:

[0103] 2≤|R1 / D1|≤100;

[0104] Preferably,

[0105] 5≤|R1 / D1|≤50;

[0106] The vertical curvature radius R2 and the vertical aperture D2 of the microlens unit satisfy the following relationship:

[0107] 2≤|R2 / D2|≤70;

[0108] Preferably,

[0109] 5≤|R2 / D2|≤30.

[0110] Furthermore, since the row and / or column light beams are strip light beams, the physical property of the light waves of strip light beams is that they are prone to diffraction. In order to eliminate diffraction and avoid strong diffraction interference caused by the regular array, it is necessary to disrupt the regular arrangement of the microlens array when processing the light beam. Therefore, the array arrangement is retained to retain the light uniformity and angle expansion function of the microlens array itself, and the shape, center point and other features of a single microlens unit in the microlens array are changed within a certain range to achieve the diffraction suppression effect.

[0111] Specifically, the thickness of the microlens unit is a random thickness value, and the variation d0 of the random thickness value satisfies the following relationship with the preset thickness d:

[0112] d0≤1 / 3*d;

[0113] Preferably,

[0114] d0≤1 / 5*d.

[0115] The horizontal radius of curvature of the microlens unit is a random value of the horizontal radius of curvature, and the maximum random value R1max and the minimum random value R1min of the horizontal radius of curvature in the random value of the horizontal radius of curvature satisfy the following relationship:

[0116] |R1max / R1min|≤1.5;

[0117] Preferably,

[0118] 0.5≤|R1max / R1min|≤1.5;

[0119] The vertical curvature radius of the microlens unit is a vertical curvature radius random value, and the maximum vertical curvature radius random value R2max and the minimum vertical curvature radius random value R2min in the vertical curvature radius random value satisfy the following relationship:

[0120] |R2max / R2min|≤1.5;

[0121] Preferably,

[0122] 0.5≤|R2max / R2min|≤1.5.

[0123] The center points of the horizontal apertures and / or vertical apertures of the multiple microlens arrays are not in the same plane; the height difference D3 between the center point of the horizontal aperture and the center point of the preset microlens unit aperture and the preset microlens unit aperture D4 in the horizontal direction satisfy the following relationship:

[0124] |D3|≤1 / 3*D4;

[0125] The height difference D5 between the center point of the vertical aperture and the center point of the preset microlens unit aperture and the preset microlens unit aperture D6 in the vertical direction satisfy the following relationship:

[0126] |D5|≤1 / 3*D6.

[0127] For the light source processing component including the transmitting end lens, in order to improve the uniform light and angle expansion effect, the transmitting end lens also needs to satisfy the following relationship:

[0128] The horizontal field of view HFOV of the transmitting end lens and the horizontal curvature radius R1 and horizontal aperture D1 of the microlens unit satisfy the following diffusion relationship:

[0129] HFOV / (R1 / D1)≤30;

[0130] Preferably,

[0131] HFOV / (R1 / D1)≤12.

[0132] The collimation degree α1 before homogenization and the collimation degree α2 after homogenization of the light source satisfy the following irradiation area relationship with the horizontal field of view HFOV of the transmitting end lens, the focal length F of the transmitting end lens, the number C of light-emitting holes in a single row of channels in the horizontal direction, and the diameter Le of a single light-emitting hole of the light source:

[0133] 1≤α2 / α1≤F*2tan(HFOV / 2) / C / Le;

[0134] in,

[0135] α1>0,1≤F*2tan(HFOV / 2) / C / Le≤35;

[0136] Preferably,

[0137] F*tan(HFOV / 2) / C / Le≤α2 / α1≤F*2tan(HFOV / 2) / C / Le.

[0138] In another feasible implementation, the light source processing element includes a transmitting end lens; wherein the transmitting end lens is used to homogenize and expand the row and / or column light beams emitted by the light source after the adjusted spacing to obtain diffused row and / or column light beams.

[0139] For a light source processing component that only includes a transmitting end lens, the distance between the light source and the transmitting end lens is adjusted by adjusting the position of the light source, so as to achieve a uniform light and wide angle effect through defocusing.

[0140] Specifically, the collimation α3 before the light source spacing is adjusted, the collimation α4 after the spacing is adjusted, the horizontal field of view HFOV of the transmitting end lens, the focal length F of the transmitting end lens, and the light source defocus range d satisfy the following irradiation area relationship:

[0141] F*tan(HFOV / 2)*d≤α4 / α3≤F*tan(HFOV / 2) / d;

[0142] The collimation α3 before the light source spacing is adjusted and the collimation α4 after the spacing is adjusted satisfy the following relationship:

[0143] 1≤α4 / α3≤120;

[0144] Preferably,

[0145] 1≤α4 / α3≤50;

[0146] The focal length F of the transmitting end lens and the light source defocus range d satisfy the following relationship:

[0147] d / F≤0.2;

[0148] Preferably,

[0149] 0.08≤d / F≤0.18.

[0150] Furthermore, when the light source processing element includes a transmitting end lens and a micro lens array, the transmitting end lens and the micro lens array are arranged in a bonded or non-bonded manner;

[0151] If the emitting end lens and the micro lens array are arranged in close contact, the curvature of the rearmost surface of the emitting end lens is consistent with the curvature of the contact surface of the micro lens array.

[0152] Specifically, by fitting the transmitting end lens and the microlens array together, the total length of the transmitting end can be effectively reduced, thereby reducing the total length of the entire optical system, which is conducive to the miniaturization design of the optical system. By setting the two fitting surfaces to have the same curvature, such as both convex or concave or flat structures, the matching degree after fitting is ensured to improve the uniform light expansion effect.

[0153] Preferably, since the transmitting end lens is usually also provided with an optical window for protection, the microlens array can be bonded to the optical window, or formed integrally with the optical window, which is also conducive to the miniaturized design of the optical system.

[0154] Preferably, the transmitting end lens includes only one transmitting end lens.

[0155] Specifically, compared with the original transmitting end lens composed of multiple lenses, by setting only one transmitting end lens, the light spot can be expanded, the uniformity of the light beam can be improved, and the light beam uniformity and angle expansion processing function can also be realized.

[0156] The transmitting end provided in this embodiment is provided with a light source for emitting row and / or column light beams for detecting the target object; and a light source processing element is used to process the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams, so that the light source can be uniformly lighted and expanded by the light source processing element when emitting one row / column or multiple rows / columns, and at the same time, no dark area illumination between rows or between columns is achieved without losing the light source energy, thereby increasing the amount of scanning information captured by relying on the area illuminated by the light source, which is beneficial to reducing the scanning information loss of the scanning system.

[0157] The present application also provides an optical system, comprising:

[0158] Transmitter; and

[0159] A target object, used to receive and reflect the row and / or column light beams emitted by the transmitting end;

[0160] The receiving end is used to receive the row and / or column light beams reflected by the target object, and the area of ​​the row and / or column light beams received by the receiving end is larger than the area of ​​the row and / or column light beams emitted by the transmitting end.

[0161] Specifically, the receiving end includes a receiving end lens and a receiving chip. The size of the receiving chip is proportional to the size of the light source at the transmitting end. For example, the light source at the transmitting end is an array light source (VCSEL light source) with M rows and N columns, and the receiving chip is an array chip (SPAD chip) with m rows and n columns, then m / M≥1, n / N≥1. This setting makes the back-end processing circuit of the light source simple and low-cost. At the same time, since the light beam is amplified and processed, there is no need to set a larger light source, thereby effectively reducing the size of the light source, thereby effectively reducing the overall design volume of the system.

[0162] In a feasible implementation, the transmitting end includes a light source and a transmitting end lens. The light beam emitted by the light source is homogenized and expanded by the transmitting end lens and then irradiated onto the surface of the target object. The surface of the target object is reflected due to the illumination, and the reflected light beam is received and focused by the receiving end lens and then sent to the receiving chip.

[0163] Among them, the distortion of the receiving end lens should be close to that of the transmitting end lens to ensure the matching of the transmitting and receiving ends, thereby improving the detection efficiency of the transmitting and receiving ends of the system.

[0164] Specifically, the distortion Fθ1 of the transmitting end lens and the distortion Fθ2 of the receiving end lens satisfy the following relationship:

[0165] 0.5≤|Fθ1 / Fθ2|≤1.5;

[0166] or,

[0167] |Fθ1 / Fθ2-1|≤0.1.

[0168] In another feasible implementation, the receiving end includes a human eye. In this case, the human eye directly receives the light beam reflected by the target object. Due to the uniform light expansion processing at the transmitting end, there is no dark area in the light beam reflected by the target object observed by the human eye, thereby enabling the human eye to capture a uniformly illuminated reflected image.

[0169] The optical system of the present application is described in detail below in conjunction with specific embodiments, wherein the light source adopts a VCSEL light source and the receiving chip adopts a SPAD chip.

[0170] Figure 3 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 1 ; Figure 4 A schematic diagram of the light source structure provided in an embodiment of the present application; Figure 5 The structure of the transmitter provided in the embodiment of the present application is shown in FIG. Figure 2 ; Figure 6 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 1 .like Figure 3 As shown, the optical system includes:

[0171] Transmitting end, target object 304 , receiving end lens 305 and receiving chip 306 ; wherein the transmitting end includes a light source 301 , a transmitting end lens 302 , and a double-row orthogonal microlens array 303 .

[0172] like Figure 4 As shown, the black shadow holes in the figure are light-emitting holes. The light-emitting holes in the light source are arranged in multiple channels. A single row or multiple rows of light-emitting holes are arranged in each channel. The light-emitting holes are circular light-emitting holes with small diameters.

[0173] The overall divergence angle of the optical system is 128°*96°, and the size ratio of the VCSEL light source to the SPAD chip is 1:3.

[0174] like Figure 5 As shown, the double-row orthogonal microlens array 303 includes microlens units 307 arranged horizontally and microlens units 308 arranged vertically.

[0175] The transversely arranged microlens units 307 are used for uniform light and angle expansion in the vertical direction, and the value range satisfies: 2≤|microlens unit curvature radius R1 / microlens unit aperture D1|≤100.

[0176] The micro lens units 308 arranged vertically are used for uniform light and angle expansion in the horizontal direction, and the value range satisfies: 2≤|micro lens unit curvature radius R2 / micro lens unit aperture D2|≤70.

[0177] The thickness of multiple single-row microlens units arranged in the same direction is random, the random range is ≤1 / 3*microlens thickness d, and the maximum value dmax of the microlens thickness / the minimum value dmin of the microlens thickness is ≤2.

[0178] The horizontal curvature radius of multiple single-row microlens units arranged in the same direction horizontally is randomly designed, and the random range is 0.5≤|R1max / R1min|≤1.5.

[0179] The vertical curvature radii of multiple single-row microlens units arranged in the same direction are randomly designed, and the random range is 0.5≤|R2max / R2min|≤1.5.

[0180] The horizontal center points of multiple single-row microlens units arranged in the same direction are randomly arranged, and the horizontal center points are randomly arranged, and the random range is ≤1 / 3*horizontal microlens unit aperture D1.

[0181] The vertical center points of multiple single-row microlens units arranged in the same direction are randomly arranged, and the vertical center points are randomly arranged, and the random range is ≤1 / 3*vertical microlens unit aperture D2.

[0182] The horizontal field of view HFOV of the transmitting end lens and the horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy HFOV / (R1 / D1)≤16.

[0183] Among them, 0.005mm≤D1≤1mm; 0.1mm≤R1≤20mm.

[0184] The distortion of the transmitting end lens is the same as that of the receiving end lens, that is, |Fθ TX / Fθ RX |=1. The matching efficiency of the transmitting and receiving ends is as high as 98%.

[0185] like Figure 6 As shown, the edges of the diffused light beams of the light source on the receiving chip are controlled not to overlap by changing the curvature of the double-row orthogonal microlens array.

[0186] The collimation degree of the optical system after homogenization is α2 / collimation degree before homogenization is α1=3.2. The focal length of the transmitting end lens is F=2mm; HFOV is 128°; the number of light-emitting holes in a single row of channels in the horizontal direction is C=60; the diameter of a single light-emitting hole of the light source is Le=30 microns; F*2tan(HFOV / 2) / C / Le=4.556.

[0187] The optical system provided in this embodiment uses a light source array and a receiving chip array of equal proportions, and utilizes a microlens array to synchronously uniformly expand the light beam in the horizontal and vertical directions. While improving the brightness uniformity after the light beam is expanded, a single row / column of light sources can be used to illuminate multiple rows / columns of receiving chips. Furthermore, through a pan-line scanning method, diffusion caused by pixel defects in the light source array in the to-be-scanned area on the target object is achieved. While reducing the size of the light source array, the size of the transmitting-end lens that matches the light source array is also reduced, thereby reducing the overall size and cost of the system.

[0188] Figure 7 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 2 ; Figure 8 Schematic diagram of the structure of a two-dimensional microlens array provided in an embodiment of the present application. The optical system is similar in structure to the optical system in the previous embodiment, except that the double-row orthogonal microlens array is replaced with a two-dimensional microlens array, which only performs uniform light expansion on one row / column of light beams.

[0189] The light-emitting holes in the light source are arranged in multiple channels, and three channels of light-emitting holes are arranged in each channel. The diameter of the light-emitting holes is a circular light-emitting hole with a small diameter.

[0190] The overall divergence angle of the optical system is 128°*96°, and the size ratio of the VCSEL light source to the SPAD chip is 1:3.

[0191] like Figure 8 As shown, the two-dimensional microlens array includes a plurality of microlens units of a block structure arranged in an array in both horizontal and vertical directions.

[0192] The two-dimensional microlens array simultaneously expands and homogenizes the light in the horizontal and vertical directions, and the value range satisfies: 2≤|microlens unit curvature radius R1 / microlens unit aperture D1|≤100, 2≤|microlens unit curvature radius R2 / microlens unit aperture D2|≤70.

[0193] The thickness of the multiple microlens units is random, the random range is ≤1 / 3*microlens thickness d, and the maximum value dmax of the microlens thickness / the minimum value dmin of the microlens thickness is ≤2.

[0194] The horizontal curvature radii of multiple microlens units are randomly designed, and the random range is 0.5≤|R1max / R1min|≤1.5.

[0195] The vertical curvature radii of multiple microlens units are randomly designed, and the random range is 0.5≤|R2max / R2min|≤1.5.

[0196] The horizontal center points of multiple microlens units are randomly arranged, and the horizontal center points are randomly arranged, and the random range is ≤1 / 3*horizontal microlens unit aperture D1.

[0197] The vertical center points of multiple microlens units are randomly arranged, and the vertical center points are randomly arranged, and the random range is ≤1 / 3*vertical microlens unit aperture D2.

[0198] The horizontal field of view HFOV of the transmitting end lens and the horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy HFOV / (R1 / D1)≤16.

[0199] Among them, 0.005mm≤D1≤1mm; 0.1mm≤R1≤20mm.

[0200] The distortion of the transmitting end lens is different from that of the receiving end lens, that is, |Fθ TX / Fθ RX |=1.1. The matching efficiency of the transmitting and receiving ends is as high as 96%.

[0201] like Figure 7 As shown, the edge portions of the diffused light beams A′, B′, and C′ of the light sources A, B, and C on the receiving chip are controlled to overlap by changing the curvature of the two-dimensional microlens array to eliminate the fluctuation caused by the light source spacing and further avoid the generation of dark areas.

[0202] The collimation degree of the optical system after homogenization α2 / collimation degree before homogenization α1 = 4. The focal length of the transmitting end lens F = 2.8 mm; HFOV is 128°; the number of light-emitting holes in a single row of channels in the horizontal direction C = 68; the diameter of a single light-emitting hole of the light source Le = 33 microns; F*2tan(HFOV / 2) / C / Le = 5.116.

[0203] The optical system provided in this embodiment uses a light source array and a receiving chip array of equal proportions, and utilizes a microlens array to synchronously uniformly expand the light beam in the horizontal and vertical directions. While improving the brightness uniformity after the light beam is expanded, a single row / column of light sources can be used to illuminate multiple rows / columns of receiving chips, thereby achieving diffusion caused by fluctuations in the spacing between light sources in the area to be scanned on the target object, reducing the size of the transmitting end lens that matches the light source array, thereby reducing the overall size and cost of the system.

[0204] Fig. 9 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 3 The optical system is similar in structure to the optical system in the previous embodiment, with the only difference being that the light source is collimated to form a beam of light and is injected into the two-dimensional microlens array.

[0205] The light-emitting holes in the light source are arranged in multiple channels, and a single row or multiple rows of light-emitting holes are arranged in each channel. The light-emitting holes are circular light-emitting holes with small diameters.

[0206] The overall divergence angle of the optical system is 126°*96°, and the size ratio of the VCSEL light source to the SPAD chip is 1:2.1.

[0207] The two-dimensional microlens array simultaneously expands and homogenizes the light in the horizontal and vertical directions, and the value range satisfies: 2≤|microlens unit curvature radius R1 / microlens unit aperture D1|≤100, 2≤|microlens unit curvature radius R2 / microlens unit aperture D2|≤70.

[0208] The thickness of the multiple microlens units is random, the random range is ≤1 / 3*microlens thickness d, and the maximum value dmax of the microlens thickness / the minimum value dmin of the microlens thickness is ≤2.

[0209] The horizontal curvature radii of multiple microlens units are randomly designed, and the random range is 0.5≤|R1max / R1min|≤1.5.

[0210] The vertical curvature radii of multiple microlens units are randomly designed, and the random range is 0.5≤|R2max / R2min|≤1.5.

[0211] The horizontal center points of multiple microlens units are randomly arranged, and the horizontal center points are randomly arranged, and the random range is ≤1 / 3*horizontal microlens unit aperture D1.

[0212] The vertical center points of multiple microlens units are randomly arranged, and the vertical center points are randomly arranged, and the random range is ≤1 / 3*vertical microlens unit aperture D2.

[0213] The horizontal field of view HFOV of the transmitting end lens and the horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy HFOV / (R1 / D1)≤16.

[0214] Among them, 0.005mm≤D1≤1mm; 0.1mm≤R1≤20mm.

[0215] The distortion of the transmitting end lens is different from that of the receiving end lens, that is, |Fθ TX / Fθ RX |=0.9. The matching efficiency of the transmitting and receiving ends is as high as 97%.

[0216] like Fig. 9 As shown, the longitudinal diffusion of a single column of light on the receiving chip is controlled by changing the curvature of the two-dimensional microlens array, thereby achieving diffusion by floodlighting and completing efficient matching between the transmitting end and the receiving end.

[0217] The collimation degree of the optical system after homogenization α2 / collimation degree before homogenization α1=3.2, the focal length of the transmitting end lens F=2.2mm; the HFOV is 126°; the number of light-emitting holes in a single row of channels in the horizontal direction C=56; the diameter of a single light-emitting hole of the light source Le=32 microns; F*2tan(HFOV / 2) / C / Le=4.819.

[0218] The optical system provided in this embodiment uses a light source array and a receiving chip array in equal proportions, and utilizes a microlens array to synchronously uniformly expand the light beam in the horizontal and vertical directions. While improving the brightness uniformity after the light beam is expanded, a single column of light sources can light up multiple columns of receiving chips, thereby achieving diffusion of the area to be scanned on the target object.

[0219] Fig.10 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 2 .like Fig.10 As shown, the optical system has a similar structure to the above-mentioned embodiment, and the parameter settings are also the same. The only difference is that there is no transmitting end lens and receiving chip, and the human eye 309 is set as the receiving end of the light beam reflected by the target object 304, so that the human eye can receive a picture without dark areas, thereby achieving uniform illumination of the entire picture.

[0220] Fig.11 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 3 ; Fig.14 Schematic diagram of the lighting status of the optical system light source and receiving chip provided in the embodiment of the present application Figure 4 .like Fig.11 As shown, the optical system includes:

[0221] Transmitter, target object 1103 , receiver lens 1104 and receiver chip 1105 ; wherein the transmitter includes a light source 1101 and a transmitter lens 1102 .

[0222] The light-emitting holes in the light source are arranged in multiple channels, and a single row or multiple rows of light-emitting holes are arranged in each channel. The light-emitting holes are circular light-emitting holes with small diameters.

[0223] The overall divergence angle of the optical system is 128°*96°, and the size ratio of the VCSEL light source to the SPAD chip is 1:2.

[0224] The distortion of the transmitting end lens is the same as that of the receiving end lens, that is, |Fθ TX / Fθ RX |=1. The matching efficiency of the transmitting and receiving ends is as high as 98%.

[0225] The light source is translated a certain distance forward and backward in the propagation direction of the optical system, and the overall correlation is quantified to achieve light source defocusing, thereby uniforming and expanding the angle of the system; wherein, the defocus range d is 0.03, the focal length F of the lens is 3, and d / F≤0.2.

[0226] like Fig.14 As shown, the light beams from a single row of light-emitting holes on the receiving chip are controlled to diffuse in all directions by defocusing the light source, thereby achieving diffusion and completing efficient matching between the transmitting end and the receiving end.

[0227] The optical system provided in this embodiment performs uniform light expansion on the light emitting area of ​​the light source array by defocusing the light source, adjusts the divergence angle of the light source by defocusing, and improves the uniformity of the light, thereby achieving the effect of compensating dark areas by floodlighting.

[0228] Fig.12 The structure of the transmitter provided in the embodiment of the present application is shown in FIG. Figure 3 The structure of the optical system is as follows. Figure 3 The structure is similar to that shown in FIG. 1 , except that the present embodiment adopts Fig.12 The transmitter includes a light source 1201 and a transmitter lens 1202, wherein the transmitter lens only includes a transmitter lens 1203, and a single beam of light emitted by the light source 1201 is collimated by a transmitter lens 1203 and then emitted to a target object.

[0229] The light-emitting holes in the light source are arranged in multiple channels, and a single row or multiple rows of light-emitting holes are arranged in each channel. The light-emitting holes are circular light-emitting holes with small diameters.

[0230] The overall divergence angle of the optical system is 120°*90°.

[0231] The distortion of the transmitting end lens is different from that of the receiving end lens, that is, |Fθ TX / Fθ RX |=1.05. The matching efficiency of the transmitting and receiving ends is as high as 94%.

[0232] The collimation degree of the optical system after homogenization is α2 / the collimation degree before homogenization is α1=8.

[0233] The optical system provided in this embodiment achieves expansion of the floodlight spot and improves the uniformity of the light beam by reducing the number of lenses in the transmitting end lens, such as reducing 5 lenses to 3 lenses or 1 lens, thereby achieving the effect of compensating the dark area through floodlighting.

[0234] Fig.13 Schematic diagram of the optical system structure provided in the embodiment of the present application Figure 4 .like Fig.13 As shown, the optical system includes: a light source 1301 , a two-dimensional microlens array 1302 , a target object 1303 , a receiving end lens 1304 and a receiving chip 1305 .

[0235] The light-emitting holes in the light source are arranged in multiple channels, and a single row or multiple rows of light-emitting holes are arranged in each channel. The light-emitting holes are circular light-emitting holes with small diameters.

[0236] The overall divergence angle of the optical system is 128°*96°.

[0237] The two-dimensional microlens array simultaneously expands and homogenizes the light in the horizontal and vertical directions, and the value range satisfies: 2≤|microlens unit curvature radius R1 / microlens unit aperture D1|≤100, 2≤|microlens unit curvature radius R2 / microlens unit aperture D2|≤70.

[0238] The thickness of the multiple microlens units is random, and the random range is ≤1 / 5*microlens thickness d.

[0239] The horizontal curvature radii of multiple microlens units are randomly designed, and the random range is 0.5≤|R1max / R1min|≤1.5.

[0240] The vertical curvature radii of multiple microlens units are randomly designed, and the random range is 0.5≤|R2max / R2min|≤1.5.

[0241] The horizontal center points of multiple microlens units are randomly arranged, and the horizontal center points are randomly arranged, and the random range is ≤1 / 3*horizontal microlens unit aperture D1.

[0242] The vertical center points of multiple microlens units are randomly arranged, and the vertical center points are randomly arranged, and the random range is ≤1 / 3*vertical microlens unit aperture D2.

[0243] The matching efficiency of the transmitting and receiving ends is as high as 95%.

[0244] The optical system provided in this embodiment does not use a transmitting end lens, so that the light beam emitted by the light source is directly projected onto the target object after being diverged by a two-dimensional microlens array, thereby achieving diffusion of the scanning area caused by pixel defects.

[0245] This embodiment also provides a laser radar using an optical system.

[0246] The specific implementation method of the laser radar in this embodiment can refer to the above-mentioned optical system embodiment. The implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0247] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0248] Those skilled in the art can understand that in the description of the embodiments of the present application, the term "and / or" merely represents an association relationship that describes the associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" represents any combination of at least two of any one or more of a plurality of. For example, at least one of A, B, and C may represent any one or more elements selected from a set that communicates A, B, and C. In addition, the term "plurality" means two or more, unless otherwise precisely and specifically specified.

[0249] In the description of the embodiment of the present application, the terms "first", "second", "third", "fourth", etc. (if present) are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0250] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transmitting end, characterized in that: include: A light source, for emitting row and / or column light beams for detecting a target object; as well as The light source processing element is used for processing the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams.

2. The transmitting end according to claim 1, characterized in that: The light source processing element includes a transmitting end lens and / or a microlens array; The transmitting end lens is used to diverge or collimate the row and / or column light beams emitted by the light source; The microlens array is used to homogenize and expand the angle of the divergent or collimated light beam to obtain diffused row and / or column light beams; or, The transmitting end lens is used to homogenize and expand the row and / or column light beams emitted by the light source after the spacing is adjusted to obtain diffused row and / or column light beams; or, The microlens array is used to diverge the row and / or column light beams emitted by the light source to obtain diffused row and / or column light beams; Wherein, the microlens array includes a plurality of microlens units.

3. The transmitting end according to claim 2, characterized in that: The horizontal curvature radius R1 and the horizontal aperture D1 of the microlens unit satisfy the following relationship: 2≤|R1 / D1|≤100; The vertical curvature radius R2 and the vertical aperture D2 of the microlens unit satisfy the following relationship: 2≤|R2 / D2|≤70.

4. The transmitting end according to claim 2, characterized in that: The horizontal field of view HFOV of the transmitting end lens and the horizontal curvature radius R1 and horizontal aperture D1 of the microlens unit satisfy the following diffusion relationship: HFOV / (R1 / D1)≤30.

5. The transmitting end according to claim 2, characterized in that: The thickness of the microlens unit is a random thickness value, and the variation d0 of the random thickness value satisfies the following relationship with the preset thickness d: d0≤1 / 3*d.

6. The transmitting end according to claim 2, characterized in that: The horizontal radius of curvature of the microlens unit is a random value of the horizontal radius of curvature, and the maximum random value R1max and the minimum random value R1min of the horizontal radius of curvature among the random values ​​of the horizontal radius of curvature satisfy the following relationship: |R1max / R1min|≤1.5; The vertical curvature radius of the microlens unit is a vertical curvature radius random value, and the maximum vertical curvature radius random value R2max and the minimum vertical curvature radius random value R2min among the vertical curvature radius random values ​​satisfy the following relationship: |R2max / R2min|≤1.

5.

7. The transmitting end according to claim 2, characterized in that: The center points of the horizontal apertures and / or vertical apertures of the plurality of microlens arrays are not in the same plane; the height difference D3 between the center point of the horizontal aperture and the center point of the preset microlens unit aperture and the preset microlens unit aperture D4 in the horizontal direction satisfy the following relationship: |D3|≤1 / 3*D4; The height difference D5 between the center point of the vertical aperture and the center point of the preset microlens unit aperture and the preset microlens unit aperture D6 in the vertical direction satisfy the following relationship: |D5|≤1 / 3*D6.

8. The transmitting end according to claim 2, characterized in that: The collimation degree α1 before homogenization and the collimation degree α2 after homogenization of the light source satisfy the following irradiation area relationship with the horizontal field of view HFOV of the transmitting end lens, the focal length F of the transmitting end lens, the number C of light-emitting holes in a single row of channels in the horizontal direction, and the diameter Le of a single light-emitting hole of the light source: 1≤α2 / α1≤F*2tan(HFOV / 2) / C / Le; in, α1>0, 1≤F*2tan(HFOV / 2) / C / Le≤35.

9. The transmitting end according to claim 2, characterized in that: When the light source processing element includes a transmitting end lens and a micro lens array, the transmitting end lens and the micro lens array are arranged in a bonded or non-bonded manner; If the emitting end lens and the microlens array are arranged in close contact, the curvature of the rearmost surface of the emitting end lens is consistent with the curvature of the contact surface of the microlens array.

10. The transmitting end according to claim 2, characterized in that: When the light source processing element includes a transmitting end lens, the collimation degree α3 before the light source spacing adjustment, the collimation degree α4 after the spacing adjustment, the horizontal field of view angle HFOV of the transmitting end lens, the focal length F of the transmitting end lens, and the light source defocus range d satisfy the following irradiation area relationship: F*tan(HFOV / 2)*d≤α4 / α3≤F*tan(HFOV / 2) / d; The collimation α3 before the light source spacing is adjusted and the collimation α4 after the spacing is adjusted satisfy the following relationship: 1≤α4 / α3≤120； The focal length F of the transmitting end lens and the light source defocus range d satisfy the following relationship: d / F≤0.

2.

11. The transmitting end according to claim 2, characterized in that: The transmitting end lens only includes one transmitting end lens.

12. An optical system, characterized in that: include: The transmitting end as claimed in any one of claims 1 to 11; as well as A target object, used to receive and reflect the row and / or column light beams emitted by the transmitting end; The receiving end is used to receive the row and / or column light beams reflected by the target object, and the area of ​​the row and / or column light beams received by the receiving end is larger than the area of ​​the row and / or column light beams emitted by the transmitting end.

13. The optical system according to claim 12, characterized in that The transmitting end includes a light source and a transmitting end lens, and the receiving end includes a receiving end lens and a receiving chip; The receiving end lens is used to focus the row and / or column light beams reflected by the target object; The receiving chip is used to receive the row and / or column light beams after focusing processing; The distortion Fθ1 of the transmitting end lens and the distortion Fθ2 of the receiving end lens satisfy the following relationship: 0.5≤|Fθ1 / Fθ2|≤1.

5.

14. The optical system according to claim 12, characterized in that The receiving end includes a human eye, which is used to receive the row and / or column light beams reflected by the target object.

15. A laser radar, characterized in that: An optical system as described in any one of claims 12-13 is used.

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