Laser angle space intensity distribution curve determination method, micro lens design method and micro lens

Abstract

The invention relates to the technical field of optics, and discloses a laser angle space intensity distribution curve determination method, device and equipment, a computer readable storage medium, a micro lens design method, a micro lens and a laser transmitter, and the laser angle space intensity distribution curve determination method comprises the steps: obtaining a detection region of a light source in a target working scene; determining the relationship between the divergence angle theta corresponding to the laser and the detection distance L; based on the relationship between the minimum transmitting power P of the laser and the corresponding detection distance L and the relationship between the divergence angle theta corresponding to the laser and the detection distance L, determining the relationship between the minimum transmitting power P and the divergence angle theta corresponding to each laser; and determining an angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum transmitting power P corresponding to each laser and the divergence angle theta. By means of the mode, the problems that a laser transmitter is high in cost, and energy consumption and resources are wasted are solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of optical technology, and specifically to a method, device, equipment, computer-readable storage medium, and microlens design method, microlens, and laser emitter for determining a laser angular spatial intensity distribution curve. Background Art

[0002] With the rapid development of science and technology, the application of lasers is becoming more and more extensive. In the field of laser ranging, different detection scenarios have different requirements for the energy distribution of lasers.

[0003] At present, technicians usually design laser transmitters that can completely cover target detection scenarios based on relevant experience. In order to ensure the reliability of the detection results, the detection range of the designed laser transmitter is generally much larger than the detection range required in the target detection scenario. A large detection range also means that the power of the laser transmitter is high, which leads to increased costs and waste of energy. Summary of the invention

[0004] In view of the above problems, the embodiments of the present application provide a method, device, equipment, computer-readable storage medium, microlens design method, microlens and laser emitter for determining a laser angular spatial intensity distribution curve, which are used to solve the problems of high cost and waste of energy resources of laser emitters in the prior art.

[0005] According to one aspect of an embodiment of the present application, a method for determining an angular spatial intensity distribution curve of a laser is provided, the method comprising: obtaining a detection area of ​​a light source in a target working scene; determining a relationship between a divergence angle θ corresponding to the laser and a detection distance L, wherein the laser is emitted by the light source and intersects with a contour of the detection area, and the detection distance L is a distance between a point where the corresponding laser intersects with the contour of the detection area and the light source; based on a relationship between a minimum emission power P of the laser and a corresponding detection distance L, and a relationship between a divergence angle θ corresponding to the laser and the detection distance L, determining a relationship between a minimum emission power P corresponding to each laser and the divergence angle θ; based on the relationship between the minimum emission power P corresponding to each laser and the divergence angle θ, determining an angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene.

[0006] According to another aspect of an embodiment of the present application, a method for designing a microlens structure is provided, comprising: designing a microlens structure according to an angular spatial intensity distribution curve of a laser emitted by a light source in a target working scene, wherein the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene is obtained by the above-mentioned method for determining the laser angular spatial intensity distribution curve.

[0007] According to another aspect of an embodiment of the present application, a microlens is provided. The microlens is obtained by the above-mentioned microlens structure design method.

[0008] According to another aspect of an embodiment of the present application, a laser emitter is provided, comprising a light source and the above-mentioned microlens, wherein the microlens is used to shape the laser emitted by the light source.

[0009] According to another aspect of an embodiment of the present application, a device for determining an angular space intensity distribution curve of a laser is provided, the device comprising: an acquisition module for acquiring a detection area of ​​a light source in a target working scene; a first determination module for determining a relationship between a divergence angle θ corresponding to a laser and a detection distance L, wherein the laser is emitted by the light source and intersects with a contour of the detection area, and the detection distance L is a distance between a point where the corresponding laser intersects with the contour of the detection area and the light source; a second determination module for determining a relationship between a minimum emission power P corresponding to each laser and a divergence angle θ based on a relationship between a minimum emission power P of the laser and a detection distance L corresponding thereto, and a relationship between a divergence angle θ corresponding to the laser and the detection distance L; a third determination module for determining an angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to a relationship between the minimum emission power P corresponding to each laser and the divergence angle θ.

[0010] According to another aspect of an embodiment of the present application, a computing device is provided, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store executable instructions, and the executable instructions enable the processor to execute the operations of the above-mentioned method for determining the laser angular spatial intensity distribution curve.

[0011] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which executable instructions are stored. When the executable instructions are executed on a computing device, the computing device executes the operations of the above-mentioned method for determining the laser angular spatial intensity distribution curve.

[0012] In the method for determining the laser angular space intensity distribution curve provided in the embodiment of the present application, the relationship between the divergence angle θ and the detection distance L corresponding to the laser emitted by the light source in the target working scene is first determined, and then based on the relationship and the physical relationship between the minimum emission power P of the laser in the laser emission system and its detection distance L, the relationship between the minimum emission power P and the divergence angle θ corresponding to the laser can be determined. Finally, from the relationship between the minimum emission power P and the divergence angle θ corresponding to the laser, the angular space energy distribution curve of the laser emitted by the light source in the target working scene can be determined.

[0013] The angular space energy distribution curve obtained by this method is the relationship between the divergence angle θ and the minimum emission power P. Therefore, it can intuitively and clearly reflect the minimum intensity required for the laser emitted by the light source in each direction in the target working scene, and can help technicians to design the laser light path based on the angular space intensity distribution requirements, so that the final designed product can meet the operating requirements of the target working scene under limited power conditions. And compared with the laser transmitter with a large detection range and high power designed by technicians based on relevant experience, it can effectively reduce the waste of cost and energy consumption.

[0014] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0016] Figure 1 A schematic diagram of a process for determining a laser angular spatial intensity distribution curve provided in an embodiment of the present application;

[0017] Figure 2 A schematic flow chart of sub-steps of step 130, step 150 and step 170 in the method for determining the laser angular spatial intensity distribution curve provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of a detection area model provided in an embodiment of the present application;

[0019] Figure 4 A schematic flow chart of sub-steps of step 130, step 150 and step 170 in a method for determining a laser angular spatial intensity distribution curve provided in another embodiment of the present application;

[0020] Figure 5 A schematic diagram of another detection area model provided in an embodiment of the present application;

[0021] Figure 6 A schematic flow chart of sub-steps of step 130, step 150 and step 170 in a method for determining a laser angular spatial intensity distribution curve provided in another embodiment of the present application;

[0022] Figure 7 A schematic diagram of a rectangular detection area provided in an embodiment of the present application;

[0023] Figure 8 A schematic diagram of a rectangular detection area model provided in an embodiment of the present application;

[0024] Fig. 9 A schematic flow chart of sub-steps of step 230 in the microlens structure design method provided in an embodiment of the present application;

[0025] Fig.10 Schematic diagrams of several light intensity distribution curves provided in the embodiments of the present application;

[0026] Fig.11 A schematic diagram of an optimized light intensity distribution curve provided in an embodiment of the present application;

[0027] Fig.12 A schematic diagram of establishing a straight line on an optimized light intensity distribution curve provided in an embodiment of the present application;

[0028] Fig.13 A schematic diagram of the structure of a microlens provided in an embodiment of the present application;

[0029] Fig.14 A schematic diagram of the structure of a sub-lens in a micro-lens provided in an embodiment of the present application;

[0030] Fig.15 A schematic diagram of the structure of a microlens provided in another embodiment of the present application;

[0031] Fig.16 A schematic diagram of the structure of a laser transmitter provided in an embodiment of the present application;

[0032] Fig.17 This is a schematic structural diagram of a laser transmitter according to another embodiment of the present application;

[0033] Fig.18 A schematic diagram of the modular structure of a device for determining a laser angular spatial intensity distribution curve provided in an embodiment of the present application;

[0034] Fig.19 A schematic diagram of the modular structure of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0036] For laser emitters designed by technical personnel based on relevant experience, since it is necessary to ensure the reliability of detection results, the detection range of the laser emitter is required to completely cover the target detection scene. In order to prevent the designed product from failing to meet the needs of the target scene, the detection range of the laser emitter is generally required to be much larger than the detection range required in the target detection scene. This results in higher power of the laser emitter, resulting in increased costs and waste of energy.

[0037] Furthermore, for laser ranging technology, such as automotive laser radar ranging, it is difficult to produce or manufacture laser radars with high transmission power due to industrial bottlenecks. Therefore, the maximum detection distance of laser radars is often limited by the power of the laser transmitter. In order to obtain a longer detection distance under limited power conditions, it is necessary to shape the laser through an optical shaping element so that the final emitted laser can meet the ranging requirements.

[0038] Optical shaping elements generally need to be designed specifically based on the angular spatial intensity distribution requirements of the final emitted laser. Therefore, in order to obtain an emitted laser that can meet the target working scenario under limited power conditions, it is critical to determine the angular spatial intensity distribution requirements of the target working scenario for the emitted laser.

[0039] Based on this, the present application proposes a method for determining the angular space intensity distribution curve of a laser. By combining the relationship between the divergence angle and the detection distance corresponding to the laser emitted by the light source in the target working scenario with the physical relationship between the minimum emission power of the laser in the laser emission system and its detection distance, the relationship between the minimum emission power and the divergence angle corresponding to the laser is determined. Finally, from the relationship between the minimum emission power and the divergence angle corresponding to the laser, the angular space energy distribution curve of the laser emitted by the light source in the target working scenario can be determined.

[0040] The method for determining the laser angular spatial intensity distribution curve provided in the embodiments of the present application includes but is not limited to use in the fields of laser ranging, intelligent manufacturing, industrial processing, material processing, scientific research, medical cosmetology, etc. The following specific embodiments are mainly described using laser ranging as an example.

[0041] See also Figure 1 , the figure shows the steps of the method for determining the laser angular spatial intensity distribution curve provided by the embodiment of the present application, which can be executed by a computing device, such as a computer, a server, etc. As shown in the figure, the method includes the following steps:

[0042] Step 110: Acquire the detection area of ​​the light source in the target working scene.

[0043] Specifically, a detection area model of the light source in the target working scene can be established according to the requirements of the target working scene for the detection area. The detection area can be a regular rectangle, circle, ellipse, etc., or an irregular shape, such as a shape formed by curves of different curvatures. For some working scenes where it is difficult to determine the complete outline of the detection area, it is also possible to first determine a part of the key points on the outline of the detection area, and then obtain a detection area with a complete outline by fitting the key points.

[0044] Step 130: Determine the relationship between the divergence angle θ corresponding to the laser and the detection distance L, wherein the laser is emitted by a light source and intersects with the contour of the detection area, and the detection distance L is the distance between the point where the corresponding laser intersects with the contour of the detection area and the light source.

[0045] In this step, each laser beam has a corresponding divergence angle and detection distance, so the divergence angle and detection distance of each laser beam have a one-to-one correspondence.

[0046] It should be noted that the divergence angle of the laser parallel to the optical axis after rotating 0-90° clockwise is a positive value, and the divergence angle of the laser parallel to the optical axis after rotating 0-90° counterclockwise is a negative value.

[0047] Step 150: Based on the relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, determine the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser.

[0048] In step 140, the relationship between the divergence angle of each laser beam and the detection distance is determined, and in a certain laser emission module, there is an objective physical relationship between the minimum emission power of each laser beam and its corresponding detection distance. Therefore, combined with the relationship between the minimum emission power P of the laser and the detection distance L and the relationship between the divergence angle θ of the laser and the detection distance L, the relationship between the minimum emission power P of the laser and the divergence angle θ can be determined.

[0049] Step 170: Determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser.

[0050] In the coordinate system corresponding to the angular space energy distribution curve of light, the divergence angle of light is used as the horizontal coordinate, and the intensity of light (that is, the power of light) is used as the vertical coordinate. Therefore, after determining the relationship between the minimum emission power P of the laser and the divergence angle θ in step 160, in this step, the angular space intensity distribution curve of the laser emitted by the light source in the target working scene can be determined based on this relationship.

[0051] In the method for determining the laser angular space intensity distribution curve provided in the embodiment of the present application, the relationship between the divergence angle θ and the detection distance L corresponding to the laser emitted by the light source in the target working scene is first determined, and then based on the relationship and the physical relationship between the minimum emission power P of the laser in the laser emission system and its detection distance L, the relationship between the minimum emission power P and the divergence angle θ corresponding to the laser can be determined. Finally, from the relationship between the minimum emission power P and the divergence angle θ corresponding to the laser, the angular space energy distribution curve of the laser emitted by the light source in the target working scene can be determined.

[0052] The angular space energy distribution curve obtained by this method is the relationship between the divergence angle θ and the minimum emission power P. Therefore, it can intuitively and clearly reflect the minimum intensity required for the laser emitted by the light source in each direction in the target working scene, and can help technicians to design the laser light path based on the angular space intensity distribution requirements, so that the final designed product can meet the operating requirements of the target working scene under limited power conditions. And compared with the laser transmitter with a large detection range and high power designed by technicians based on relevant experience, it can effectively reduce the waste of cost and energy consumption.

[0053] For determining the relationship between the divergence angle θ corresponding to the laser and the detection distance L, this application proposes an implementation method, please refer to Figure 2 , the figure shows the sub-step process of step 130 provided in the embodiment of the present application. As shown in the figure, step 130 includes the following steps:

[0054] Step 1311: Establish a rectangular coordinate system with the light source as the origin and the optical axis direction as the x-axis direction.

[0055] The rectangular coordinate system established in this step is as follows Figure 3 As shown in the figure, the area indicated by the hatched line represents the detection area, the dotted line represents the outline of the detection area, and the straight line represents the laser.

[0056] Step 1313: Determine the point A where the laser i intersects the contour of the detection area i The coordinates (x i ,y i ).

[0057] like Figure 3 As shown in FIG. 1 , the point A where the laser i (laser 1 and laser 2 in the figure) intersects with the outline of the detection area is shown i (Points A1 and A2 in the figure), in the rectangular coordinate system, point A can be determined i The coordinates of Figure 3 For example, the coordinates (x1, y1) of point A1 and the coordinates (x2, y2) of point A2 in the figure can be determined.

[0058] Understandably, Figure 3 In the figure, only two laser beams and the points where they intersect with the contour of the detection area are schematically shown for illustration. In actual implementation, all points where the lasers intersect with the contour of the detection area may be traversed, or a portion of the intersection points may be uniformly selected, or a portion of the key intersection points may be selected, which is not limited here. The following is an example of the intersection points A1 and A2 of the contour of the detection area with laser 1 and laser 2.

[0059] Step 1315: Determine the divergence angle θ corresponding to laser i i .

[0060] Specifically, based on the trigonometric function relationship, the divergence angle θ corresponding to laser i can be determined: i The following formula (1):

[0061]

[0062] Among them, Figure 3 As shown in the figure, the positive direction of the y-axis is the vertical downward direction, the horizontal coordinate x1 of the point A1 corresponding to the laser 1 is a positive value, and the vertical coordinate y i is a negative value, so the divergence angle θ1 of laser 1 is a negative value, the horizontal coordinate x2 of point A2 corresponding to laser 2 is a positive value, and the vertical coordinate y2 is a positive value, so the divergence angle θ2 of laser 2 is a positive value.

[0063] Step 1317: Determine the detection distance L corresponding to the laser i i .

[0064] Similarly, based on the trigonometric function relationship, the detection distance L corresponding to the laser i can be determined: i The following formula (2):

[0065]

[0066] like Figure 3 As shown in , based on the above formula (2), the relationship between L1 and x1, y1, and the relationship between L2 and x2, y2 can be determined.

[0067] Step 1319: Determine the divergence angle θ corresponding to laser i i With detection distance L i relationship.

[0068] Specifically, by combining the above formulas (1) and (2), the following formula (3) can be determined:

[0069]

[0070] Based on formula (3), the relationship between L1 and θ1, x1 and y1, and the relationship between L2 and θ2, x2 and y2 can be determined.

[0071] In this embodiment, by introducing a rectangular coordinate system and using coordinate values ​​to represent the coordinates of the intersection of the laser and the contour of the detection area, the divergence angle and detection distance of the laser can be accurately expressed based on the trigonometric function relationship. Moreover, by combining the relationship between the divergence angle and the coordinate value and the relationship between the detection distance and the coordinate value, the corresponding relationship between the detection distance and the divergence angle can be accurately determined, providing an accurate parameter basis for the subsequent determination of the laser angular space intensity distribution curve.

[0072] For further information, see Figure 2 The figure also shows the sub-step process of step 150 and step 160 provided in the embodiment of the present application. As shown in the figure, in some embodiments, step 150 includes the following steps:

[0073] Step 1511: Based on the minimum transmission power P of laser i i And the corresponding detection distance L i The relationship exists, combined with the divergence angle θ corresponding to the laser i determined in step 1319 i With detection distance L i The relationship between the minimum emission power P corresponding to laser i is determined i With divergence angle θ i The relationship between.

[0074] Specifically, the minimum emission power P of laser i i And the corresponding detection distance L i The relationship is as follows (4) and (5):

[0075]

[0076]

[0077] Among them, L i is the detection distance of laser i; P i is the laser i detection distance L i The minimum transmission power required; D is the aperture of the laser receiving module optical system; τ air is the transmission distance L of laser i in air i The transmittance R obj is the reflectivity of the surface of the object being measured; Ω is the divergence angle of the laser emitted by the light source in the other direction perpendicular to the direction of the divergence angle θ, which can be taken as Ω = 2tan(Ω / 2); P d is the minimum detectable power value of the laser receiving module. For a certain ranging system, σ s is a constant.

[0078] It should be pointed out that the direction of the divergence angle θ can be the direction of the slow axis or the direction of the fast axis, that is, the method for determining the laser angular spatial intensity distribution curve provided in the embodiment of the present application can be used to determine the angular spatial intensity distribution curve of the laser in the slow axis direction, and can also be used to determine the angular spatial intensity distribution curve of the laser in the fast axis direction, and the determination methods of the two are the same. The above Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the direction of the divergence angle θ, that is, when θ is the divergence angle in the slow axis direction, Ω is the divergence angle in the fast axis direction; when θ is the divergence angle in the fast axis direction, Ω is the divergence angle in the slow axis direction.

[0079] Based on the above formulas (3), (4) and (5), the minimum emission power P corresponding to laser i can be determined: i With divergence angle θ i The relationship between is as follows:

[0080]

[0081] Step 170 includes the following steps:

[0082] Step 1711: Using the least squares method, fit the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene.

[0083] In step 1511, the relationship between the minimum emission power P and the divergence angle θ corresponding to a series of lasers can be obtained, that is, multiple formulas (6) can be obtained. Since the coordinates of the intersection points of each laser with the contour of the detection area and their divergence angles are known, the coordinates of the intersection points of each laser with the contour of the detection area and their divergence angles are substituted into formula (6) to obtain the specific value of the minimum emission power corresponding to each laser.

[0084] At present, the relationship between the divergence angle and the minimum detection power corresponding to each laser is a discrete point. In order to fully express the intensity distribution of the laser in the angular space, a complete expression is needed to represent the angular space energy distribution curve of the laser. In this regard, the least squares method is introduced. Based on the least squares method, each discrete point (that is, the relationship between the divergence angle and the minimum detection power corresponding to each laser) is fitted to obtain the expression of the angular space energy distribution curve of the laser. According to this expression, the angular space energy distribution curve of the laser emitted by the light source in the target working scene can be obtained.

[0085] The fitting of the least squares method can be understood as taking the calculated divergence angle and minimum emission power of each laser as the horizontal and vertical coordinates respectively in the angular space intensity distribution coordinate system (the horizontal coordinate represents the divergence angle, and the vertical coordinate represents the minimum emission power, that is, the vertical coordinate represents the light intensity), marking the points corresponding to each laser in the angular space intensity distribution coordinate system, and then drawing a smooth curve that falls on as many points as possible or is as close to as many points as possible. This curve is the angular space energy distribution curve of the laser emitted by the light source in the target working scene. In other words, the expression obtained by the least squares method is the expression of this curve.

[0086] In this embodiment, the divergence angle θ corresponding to the laser i determined by the rectangular coordinate system in the above step 1319 is i And the detection distance L i The relationship between the minimum emission power of the laser and the detection distance in the laser ranging system is combined with the physical relationship between the minimum emission power of the laser and its detection distance. The relationship between the minimum emission power and the divergence angle corresponding to each laser can be accurately obtained. Then, based on the relationship between the minimum emission power and the divergence angle corresponding to each laser, the least squares method is used for fitting to obtain the angular space energy distribution curve of the laser in the target working scene.

[0087] For determining the relationship between the divergence angle θ corresponding to the laser and the detection distance L, this application also proposes an implementation method, please refer to Figure 4 , the figure shows the sub-step process of step 130 provided in another embodiment of the present application. As shown in the figure, step 130 includes the following steps:

[0088] Step 1321: Establish a polar coordinate system with the light source as the pole and the optical axis direction as the polar axis.

[0089] Specifically, see Figure 5 , as shown in the figure, the figure shows the established polar coordinate system and the related contents in the coordinate system, Figure 5 In the polar coordinate system Figure 3 The parts that represent the same content (laser, detection area and its outline) are used in the same Figure 3 The same lines represent the same meanings as in the figure and will not be described in detail here.

[0090] Step 1323: Determine the point A where the laser i intersects the contour of the detection area i The coordinates (L i ,θ i ), and θ i Determine the divergence angle corresponding to laser i, and set L i Determine the detection distance corresponding to laser i, and set θ i With L i Establish a corresponding relationship.

[0091] exist Figure 5 In the polar coordinate system shown, the coordinate value of point A3 where laser 3 intersects with the outline of the detection area is (L3, θ3), and the coordinate value of point A4 where laser 4 intersects with the outline of the detection area is (L4, θ4), where θ3 is a positive value and θ4 is a negative value. In the polar coordinate system, L3 is the detection distance corresponding to laser 3, and θ3 is the divergence angle corresponding to laser 3. The same is true for laser 4, which will not be repeated here. In this step, a corresponding relationship is established between L3 and θ3 to represent the relationship between the detection distance and the divergence angle of laser 3, and a corresponding relationship is established between L4 and θ4 to represent the relationship between the detection distance and the divergence angle of laser 4.

[0092] In this embodiment, it is simpler and more convenient to determine the relationship between the divergence angle of the laser and the detection distance by establishing a polar coordinate system.

[0093] For further information, please refer to Figure 4 The figure also shows the sub-steps of step 150 and step 170. As shown in the figure, in some embodiments, step 150 includes the following steps:

[0094] Step 1521: Based on the minimum transmission power P of laser i i And the corresponding detection distance L i The relationship exists, combined with the divergence angle θ corresponding to the laser i determined in step 1323 i With detection distance L i The relationship between the minimum emission power P corresponding to laser i is determined i With divergence angle θ i The relationship between.

[0095] Specifically, the minimum emission power P of laser i i And the corresponding detection distance L i The relationship is as follows:

[0096]

[0097]

[0098] The meanings of the parameters in formulas (7) and (8) are consistent with the meanings of the corresponding parameters in the above formulas (4) and (5), and will not be elaborated here.

[0099] Based on formulas (7) and (8), combined with θ determined in step 1323 i With L i The corresponding relationship between them can determine the relationship between the minimum emission power P and the divergence angle θ of each laser as follows:

[0100] P=L(θ)

[0101] where θ = θ i hour,

[0102] by Figure 5 For example, in this step, the coordinates (L3, θ3) of the intersection point A3 of the laser 3 and the contour of the detection area can be obtained from the polar coordinate system, which can determine the specific values ​​of the detection distance L3 of the laser 3 and its divergence angle θ3. Therefore, according to formula (9), it can be further determined that among the lasers emitted by the light source, the laser with a divergence angle of θ3 (that is, laser 3) has a minimum emission power P3 = L3 / σ s . Figure 5 The minimum emission power of the laser 4 with an emission angle of θ4 is P4 = L4 / σ s .

[0103] Step 170 includes the following steps:

[0104] Step 1721: Using the least squares method, fit the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene.

[0105] The relationship between the minimum emission power and the divergence angle of each laser determined in step 1521 is also a discrete point. In order to obtain a complete angular space energy distribution curve of the laser, in this step, each discrete point is fitted by the least squares method to determine the angular space energy distribution curve of the laser emitted by the light source in the target working scene. For the specific description of the least squares fitting, please refer to the relevant description of step 1711 above. The fitting methods of the two are the same and will not be repeated here.

[0106] In this embodiment, by determining the relationship between the divergence angle and the detection distance of each laser based on the polar coordinate system and combining it with the relationship between the minimum emission power of the laser and the detection distance, the relationship between the minimum emission power and the divergence angle of each laser can also be determined. Then, by fitting through the least squares method, the angular space energy distribution curve of the laser emitted by the light source in the target working scenario can be obtained.

[0107] It should be noted that Figure 3 and Figure 5 The detection areas shown in the figure are only two exemplary descriptions. Figure 2 The relationship between the minimum emission power and the divergence angle corresponding to each laser is determined by using a rectangular coordinate system as shown in the embodiment. Figure 4The polar coordinate system shown in the embodiments is used to determine the relationship between the minimum emission power and the divergence angle corresponding to each laser. They can process detection areas of regular shapes (such as circles, ellipses, triangles, trapezoids, rectangles, etc.) and irregular shapes (such as areas enclosed by irresponsible curves).

[0108] for Figure 2 and Figure 4 In the embodiment shown, it is considered that in the process of fitting discrete points using the least squares method, it is inevitable that the angular space intensity distribution curve finally obtained will not fall into all discrete points, and thus the determined angular space intensity distribution curve will have a certain deviation from the actual curve. Since the detection area in most target working scenes is rectangular, in order to ensure that the obtained angular space intensity distribution is more accurate, this application also proposes an implementation method based on the rectangular detection area. In this implementation method, the optical axis direction of the light source in the target working scene is horizontal, and the outline of the detection area is rectangular. For details, please refer to Figure 6 , the figure shows the sub-step flow of step 130. As shown in the figure, step 130 includes the following steps:

[0109] Step 1331: Determine point A on the contour of the detection area i The divergence angle θ corresponding to the intersecting laser i i And the detection distance L i The relationship between.

[0110] Please refer to Figure 7 , the figure takes the vehicle-mounted laser radar as an example, schematically showing the detection area and the light source. As shown in the figure, when the laser emitted by the light source is not shaped, the detection distance of the laser emitted in each direction is basically the same, and each laser is composed of a solid line located in the detection area and a dashed line located outside the detection area in the figure. In the actual working process, it is only necessary to ensure that the laser can reach the outline of the boundary of the rectangular detection area, that is, the part represented by the solid line in the figure. The laser that exceeds the detection area (that is, the part shown by the dashed line in the figure) will be consumed in the air at a higher angle or hit the ground. This part of the laser energy is actually invalid in the actual working process, resulting in a waste of energy resources. The core idea of ​​this application is to determine the minimum emission power required for the laser to just reach the boundary of the detection area, so as to design the optical path shaping in a targeted manner.

[0111] Based on the above problems, we have established the working conditions of the light source in the target working scene according to the requirements of each laser detection distance. Figure 8As shown, the detection distance of the light source along the optical axis direction is l0, the vertical height between the light source and the lowest point of the contour of the detection area is h0, and the vertical height between the light source and the highest point of the contour of the detection area is h1.

[0112] according to Figure 8 In the working scenario shown, based on the trigonometric function relationship, the divergence angle θ corresponding to the laser i can be determined i And the detection distance L i The relationship between is as follows:

[0113]

[0114]

[0115] Specifically, Figure 8 The divergence angle θ5 of the laser 5 is -90°≤θ5<-tan -1 (h1 / l0), its detection distance L5 = -h1 / sinθ5; the divergence angle θ6 of laser 6 is -tan -1 (h1 / l0)≤θ6<0°, its detection distance L6=-l0 / cosθ6; the divergence angle θ7 of laser 7 is 0°≤θ7≤tan -1 (h0 / l0), its detection distance L7=l0 / cosθ7; the divergence angle θ8 of laser 8 is tan -1 (h0 / l0)<θ7≤90°, and its detection distance L8=h0 / sinθ8.

[0116] It should be noted that Figure 8 Only four lasers are used as an example to illustrate the intersection with the detection area contour. Figure 8 The detection distance of the laser at the upper edge of the detection area can be expressed by L = -h1 / sinθ. Correspondingly, for the intersection with the contour of the detection area, Figure 8 The detection distance of the laser whose detection area is at the right edge above the optical axis can be expressed as L = -l0 / cosθ. Figure 8 The detection distance of the laser whose detection area is at the right edge below the optical axis can be expressed as L = l0 / cosθ. Figure 8 The detection distance of the laser at the lower edge of the detection area can be expressed by L=h0 / sinθ.

[0117] Therefore, for a target working scenario in which the optical axis of the light source is horizontal, the contour of the detection area is rectangular, and the detection distance l0 of the light source along the optical axis, the vertical height h0 between the light source and the lowest point of the contour of the detection area, and the vertical height h1 between the light source and the highest point of the contour of the detection area are determined, the relationship between the divergence angle and the measurement distance corresponding to all lasers emitted by the light source can be accurately determined by the above formulas (10) and (11), which are continuous expressions.

[0118] For further information, please refer to Figure 6 The figure also shows the sub-step process of step 150. As shown in the figure, in some embodiments, step 150 includes the following steps:

[0119] Step 1531: Based on the minimum transmission power P of laser i i And the corresponding detection distance L i The relationship between the point A and the contour of the detection area determined in step 1331 i The divergence angle θ corresponding to the intersecting laser i i And the detection distance L i The relationship between the minimum emission power P corresponding to laser i is determined i With divergence angle θ i The relationship between.

[0120] Specifically, the minimum emission power P of laser i i And the corresponding detection distance L i The relationship between them is as follows:

[0121]

[0122]

[0123] The meanings of the parameters in formulas (12) and (13) are the same as those of the corresponding parameters in the above formulas (4) and (5), and are not further elaborated here.

[0124] Combining the above formulas (12), (13) and formulas (10) and (11) obtained in step 1331, the minimum emission power P corresponding to laser i can be determined: i With divergence angle θ i The relationship between is as follows:

[0125]

[0126] Step 170 includes the following steps:

[0127] Step 1731: According to the minimum emission power P corresponding to the laser i determined in step 1531 i With divergence angle θ i The relationship between them is used to determine the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene.

[0128] Specifically, according to the above formula (14), the complete angular space intensity distribution curve of the laser emitted by the light source in the target working scene can be determined. Formula (14) is the expression of the angular space intensity distribution curve.

[0129] In this embodiment, for the rectangular detection area used in most working scenarios, based on the relationship between the position, distance and other parameters between the light source and the detection area in the established model, the relationship between the minimum emission power and the divergence angle corresponding to all lasers can be obtained by using trigonometric functions, and the angular space intensity distribution curve of the laser emitted by the light source in the target working scenario can be accurately and completely obtained without fitting, providing a reliable reference for technicians in the subsequent product design.

[0130] According to another aspect of the embodiments of the present application, a method for designing a microlens structure is also provided, the method comprising the following steps:

[0131] The microlens structure is designed according to the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene, wherein the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene is obtained by the laser angular spatial intensity distribution curve determination method in any of the above embodiments.

[0132] In this step, any existing method for designing a microlens structure based on an angular space intensity distribution curve may be used, which will not be described in detail here.

[0133] In the microlens structure design method provided in the embodiment of the present application, by adopting the laser angular space intensity distribution curve determination method in the above embodiment to design the microlens structure, the minimum intensity required for the laser emitted by the light source in each direction under the target working scene can be intuitively and clearly reflected, so that the laser light source can emit laser light under limited power conditions. After passing through the designed microlens, it can meet the operational requirements of the target working scene, effectively reducing costs and energy waste.

[0134] Regarding the specific design of the microlens structure, this application proposes an implementation method. For details, please refer to Fig. 9 , the figure shows the sub-step flow of the step of designing the microlens structure according to the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene. As shown in the figure, the step includes the following steps:

[0135] Step 231: In the coordinate system corresponding to the angular space intensity distribution curve, establish a plurality of straight lines parallel to the abscissa axis and arranged at equal intervals along the ordinate axis, wherein the abscissa is used to represent the divergence angle θ, and the ordinate is used to represent the minimum transmission power P.

[0136] For laser radar, the main factor restricting its detection distance is the emission power of the laser. In order to obtain a longer detection distance, its intensity distribution curve needs to be optimized. At present, the laser intensity distribution curves on the market (taking the intensity distribution curve of the laser in the slow axis direction as an example) include Gaussian distribution curve, medium-intensity distribution curve and average distribution curve. For details, please refer to Fig.10 As can be seen from the figure, under the condition of the same detection distance, that is, under the condition of the same peak power, the average distribution curve has the largest integral area, followed by the medium-strong distribution and Gaussian distribution. The larger the integral area, the greater the required laser emission power. Based on this, the present application proposes an optimization curve, as follows Fig.10 The patent optimization curve shown in the figure has the smallest integral area under the same detection distance, that is, the required laser emission power is the smallest. Correspondingly, under the same emission power, the patent optimization curve has the longest detection distance.

[0137] Specifically, in this step, take the above-mentioned patent optimization curve as an example (see Fig.11 ), after setting multiple straight lines on their corresponding coordinate systems, Fig.12 shown.

[0138] Step 233: Using the distance between the two intersection points of each straight line and the angular space intensity distribution curve as the width, and using the distance between two adjacent straight lines along the ordinate direction as the height, a plurality of rectangles are established.

[0139] Specifically, by Fig.12 It can be seen that in a rectangle, the distance between the two intersection points of the upper straight line and the angular space intensity distribution curve is not equal to the distance between the two intersection points of the lower straight line and the angular space intensity distribution curve. In this embodiment, the distance between the two intersection points of the upper straight line and the angular space intensity distribution curve is taken as the width. In other embodiments, the distance between the two intersection points of the lower straight line and the angular space intensity distribution curve can also be taken as the width.

[0140] Step 235: Calculate the area of ​​each rectangle.

[0141] Specifically, each rectangle is Fig.12 θ1, θ2, θ3, θ4...θ shown in n-2 ,θ n-1 ,θ n , their areas are calculated as follows:

[0142] P j =θ j ′·ΔP (15)

[0143]

[0144] Among them, P j represents the area of ​​rectangle j, θ j ' represents half of the width of rectangle j in the coordinate system, ΔP represents the height of each rectangle in the coordinate system, P max represents the peak value of the angular space intensity distribution curve on the ordinate axis, and n represents the number of straight lines.

[0145] It can be understood that when the height of each rectangle is small enough, the area of ​​each rectangle can be approximately regarded as the integral area of ​​the intensity distribution curve in the area. Therefore, the number of established straight lines can be adjusted according to the required accuracy. The more straight lines there are, the smaller the height of each rectangle is. Correspondingly, the closer the area of ​​each rectangle is to the integral area of ​​the intensity distribution curve in the area, the higher the calculated accuracy.

[0146] Step 237: Based on the relationship between the semi-aperture d, focal length f' of each sub-lens in the microlens and the divergence angle θ' of the light beam passing therethrough, determine the semi-aperture and focal length of the sub-lens corresponding to each rectangle.

[0147] Each sub-lens in the microlens 300 is as follows Fig.13 L1, L2, L3, L4, ... L shown in n-2 , L n-1 , L n , which are in turn Fig.12 The rectangles θ1, θ2, θ3, θ4...θ in n-2 ,θ n-1 ,θ n One-to-one correspondence. The relationship between the semi-aperture d, focal length f' of each sub-lens in the microlens and the divergence angle θ' of the light beam passing through it is as follows:

[0148]

[0149] Based on formula (17), the relationship between the semi-aperture and focal length of the sub-lens corresponding to each rectangle can be determined as follows:

[0150]

[0151] Among them, θ j ' represents half of the width of rectangle j in the coordinate system, and also represents the divergence angle of the light beam passing through the sub-lens corresponding to rectangle j, d j represents the semi-aperture of the sub-lens corresponding to rectangle j, f j' represents the focal length of the sub-lens corresponding to rectangle j.

[0152] Please refer to Fig.14 , the sub-lens corresponding to rectangle j is taken as an example, and d j represents its semi-diameter, f j ' represents its focal length, θ j ' represents its divergence angle.

[0153] Step 239: Based on the semi-aperture and focal length of each sub-lens, design the structure of the microlens.

[0154] Based on the semi-aperture and focal length of each sub-lens in the micro-lens determined in step 237, the structure of the micro-lens can be designed. It should be noted that in the finally designed micro-lens, each sub-lens L1, L2, L3, L4, ... L n-2 , L n-1 , L n You can Fig.13 As shown, they can be arranged in sequence along a predetermined direction, or they can be arranged randomly without following a sequence, and they can also make the passing laser form the required intensity distribution.

[0155] Furthermore, in some embodiments, the focal lengths of all sub-lenses can be set to be equal, and then based on the above formula (18), the semi-aperture of each sub-lens can be determined, and finally based on the determined focal lengths and semi-apertures of each sub-lens, the structure of the microlens can be designed.

[0156] In this embodiment, a plurality of straight lines are established to split the integral area of ​​the angular space intensity distribution curve into multiple parts. The area of ​​the rectangle formed by the straight lines is calculated as the approximate integral area of ​​the angular space intensity distribution curve in the area to realize the analysis of the angular space intensity distribution curve. Then, for each rectangle, a corresponding sub-lens is designed in the microlens, so that the laser finally formed by the designed microlens forms the intensity distribution required by the angular space intensity distribution curve, thereby meeting the needs of specific target working scenarios.

[0157] When the uniformly distributed light beam passes through the designed microlens, the required angular spatial intensity distribution will be formed. However, in actual engineering, it is difficult to achieve a uniformly distributed incident light beam. Based on this, the present application further proposes an implementation method. Specifically, step 239 includes the following steps:

[0158] Based on the semi-aperture and focal length of each sub-lens, the structure of each sub-lens is determined, the number of sub-lenses corresponding to each rectangle is set to an even number, and the sub-lenses corresponding to each rectangle are symmetrically arranged relative to the optical axis to obtain a microlens structure.

[0159] The designed microlens structure is as follows Fig.15As shown. In actual engineering, it is difficult to achieve an incident light beam with a rectangular intensity distribution. In this embodiment, it can be optimized by symmetrically distributing the sub-lenses of the microlens. Considering that the incident light beam is generally symmetrically distributed relative to the optical axis, the number of sub-lenses corresponding to each rectangle is set to an even number and symmetrically arranged relative to the optical axis, so that the sub-lenses are symmetrically distributed, thereby ensuring that the incident light beam is evenly distributed relative to the microlens, and ensuring that the light beam passing through the microlens can form the required angular space intensity distribution.

[0160] According to another aspect of the embodiment of the present application, a micro lens is also provided. Fig.13 or Fig.15 The microlens 300 is obtained by the microlens structure design method in any of the above embodiments.

[0161] The microlens provided in the embodiment of the present application is obtained by adopting the microlens structure design method in the above embodiment, so that the light beam passing through the microlens can finally form the required angular space energy distribution to meet the needs of the characteristic target working scene.

[0162] According to another aspect of the embodiment of the present application, a laser transmitter is also provided. Fig.16 or Fig.17 , the figure shows the structure of the laser transmitter provided by two embodiments of the present application. As shown in the figure, the laser transmitter 400 includes a light source 410 and the microlens 300 in the above embodiment, and the microlens 300 is used to shape the laser emitted by the light source 410.

[0163] exist Fig.16 In the specific embodiment shown, a light source 410, a collimator 420, a first microlens 430, a focusing lens 440 and the microlens 300 provided in the above embodiment are sequentially arranged along the forward direction of the optical path. The light source 410 can be a point light source, a line light source, a surface light source, etc. The laser emitted by the light source 410 forms a collimated light beam after passing through the collimator 420. The first microlens 430 is formed by a plurality of identical sub-lenses arranged. The first microlens 430 is used to homogenize the collimated light beam passing through it. The light beam homogenized by the first microlens 430 forms a far-field uniform intensity distribution and is focused by the focusing lens 440. The focused light beam forms a near-field uniform intensity distribution on the incident surface of the microlens 300, thereby achieving the intensity distribution requirement required by the microlens 300. Finally, after being processed by the designed microlens 300, the light beam forms the required angular space intensity distribution.

[0164] exist Fig.17 In the specific embodiment shown, compared with Fig.16The embodiment shown is different in that a waveguide 450 is used instead of the first microlens 430 to homogenize the light beam, and the waveguide 450 is arranged at one end of the exit surface of the light source 410. After the light beam emitted by the light source 410 is coupled into the waveguide 450, a uniform intensity distribution is formed on the exit surface of the waveguide 450, and then reaches the incident surface of the microlens 300 after passing through the collimator 420 and the focusing lens 440. The light beam forms a near-field uniform intensity distribution on the incident surface of the microlens 300, achieving the intensity distribution requirement of the microlens 300. Finally, after being processed by the designed microlens 300, the light beam forms the required angular space intensity distribution.

[0165] It should be noted that Fig.16 and Fig.17 These are merely two optical path schemes for realizing a near-field uniform intensity distribution of the laser at the incident surface of the microlens 300, and do not constitute a limitation on the structure of the laser emitter 400. Any existing scheme that can enable the laser in the laser emitter 400 to form a near-field uniform intensity distribution at the incident surface of the microlens 300 should fall within the protection scope of this application.

[0166] The laser emitter 400 provided in the embodiment of the present application uses the microlens 300 provided in the above embodiment to shape the laser emitted by the light source 410, so that the final emitted light beam forms the required angular space intensity distribution, thereby meeting the requirements of the target working scene while reducing the cost and waste of energy resources.

[0167] According to another aspect of the embodiment of the present application, a device for determining the laser angular spatial intensity distribution curve is also provided. For details, please refer to 19, which shows the structure of the device for determining the laser angular spatial intensity distribution curve provided in the embodiment of the present application. Fig.18 As shown, the laser angular space intensity distribution curve determination device 500 includes: an acquisition module 510, a first determination module 520, a second determination module 530 and a third determination module 540. The acquisition module 510 is used to acquire the detection area of ​​the light source in the target working scene. The first determination module 520 is used to determine the relationship between the divergence angle θ corresponding to the laser and the detection distance L, wherein the laser is emitted by the light source and intersects with the outline of the detection area, and the detection distance L is the distance between the point where the corresponding laser intersects with the outline of the detection area and the light source. The second determination module 530 is used to determine the relationship between the minimum emission power P corresponding to each laser and the divergence angle θ based on the relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L. The third determination module 540 is used to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum emission power P corresponding to each laser and the divergence angle θ.

[0168] In some embodiments, the first determining module 520 is configured to perform the following steps:

[0169] A rectangular coordinate system is established with the light source as the origin and the optical axis as the x-axis direction;

[0170] Determine the point A where the laser i intersects the contour of the detection area i The coordinates (x i ,y i );

[0171] Determine the divergence angle θ corresponding to laser i i as follows:

[0172]

[0173] Determine the detection distance L corresponding to laser i i as follows:

[0174]

[0175] Determine the divergence angle θ corresponding to laser i i With detection distance L i The relationship is as follows:

[0176]

[0177] In some embodiments, the second determining module 530 is configured to perform the following steps:

[0178] Based on the minimum emission power P of laser i i And the corresponding detection distance L i The following relationship exists:

[0179]

[0180]

[0181] Combining formulas (3), (4) and (5), determine the minimum emission power P corresponding to laser i: i With divergence angle θ i The relationship between them is as follows:

[0182]

[0183] Among them, L i is the detection distance of laser i, P i is the laser i detection distance L i The minimum transmission power required, D is the aperture of the laser receiving module optical system, π air is the transmission distance L of laser i in air i The transmittance, R objis the reflectivity of the surface of the object being measured, Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the divergence angle θ, P d It is the minimum detectable power value of the laser receiving module.

[0184] The third determination module 540 is used to fit the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser using the least squares method, and determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene.

[0185] In some embodiments, the first determination module 520 is used to establish a polar coordinate system with the light source as the pole and the optical axis direction as the polar axis; determine the point A where the laser i intersects with the contour of the detection area. i The coordinates (L i ,θ i ), and θ i Determine the divergence angle corresponding to laser i, and set L i Determine the detection distance corresponding to laser i, and set θ i With L i Establish a corresponding relationship.

[0186] In some embodiments, the second determining module 530 is configured to perform the following steps:

[0187] Based on the minimum emission power P of laser i i And the corresponding detection distance L i The following relationship exists:

[0188]

[0189]

[0190] Combined with θ i With L i The corresponding relationship between the minimum emission power P and the divergence angle θ of the laser is determined as follows:

[0191] P=L(θ)

[0192] where θ = θ i hour,

[0193] Among them, L i is the detection distance of laser i, P i is the laser i detection distance L i The minimum transmission power required, D is the aperture of the laser receiving module optical system, π air is the transmission distance L of laser i in air i The transmittance, R objis the reflectivity of the surface of the object being measured, Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the divergence angle θ, P d It is the minimum detectable power value of the laser receiving module.

[0194] The third determination module 540 is used to fit the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser using the least squares method, and determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene.

[0195] In some embodiments, the optical axis direction of the light source is horizontal in the target working scene, the outline of the detection area is rectangular, and the light source is located on one side of the outline of the detection area. The first determination module 520 is used to perform the following steps:

[0196] Determine point A on the contour of the detection area i The divergence angle θ corresponding to the intersecting laser i i And the detection distance L i The relationship between them is as follows:

[0197]

[0198]

[0199] Among them, l0 is the detection distance of the light source along the optical axis, h0 is the vertical height between the light source and the lowest point of the contour of the detection area, and h1 is the vertical height between the light source and the highest point of the contour of the detection area.

[0200] In some embodiments, the second determining module 530 is configured to perform the following steps:

[0201] Based on the minimum emission power P of laser i i And the corresponding detection distance L i The following relationship exists:

[0202]

[0203]

[0204] Combine formulas (10), (11), (12) and (13) to determine the minimum emission power P corresponding to laser i: i With divergence angle θ i The relationship between them is as follows:

[0205]

[0206] Among them, L i is the detection distance of laser i, P i is the laser i detection distance L iThe minimum transmission power required, D is the aperture of the laser receiving module optical system, π air is the transmission distance L of laser i in air i The transmittance, R obj is the reflectivity of the surface of the object being measured, Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the divergence angle θ, P d It is the minimum detectable power value of the laser receiving module.

[0207] The third determination module 540 is used to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to formula (14).

[0208] According to another aspect of the embodiment of the present application, a computing device is also provided. Fig.19 , the figure shows a schematic diagram of the structure of the computing device provided in an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the computing device.

[0209] like Fig.19 As shown, the computing device may include: a processor (processor) 602 , a communication interface (Communications Interface) 606 , a memory (memory) 606 , and a communication bus 608 .

[0210] The processor 602, the communication interface 606, and the memory 606 communicate with each other via a communication bus 608. The communication interface 606 is used to communicate with other devices such as a client or other server network elements. The processor 602 is used to execute a program 610, which can specifically execute the relevant steps in the above-mentioned embodiment of the method for determining the laser angular spatial intensity distribution curve.

[0211] Specifically, the program 610 may include program code including computer executable instructions.

[0212] The processor 602 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the computing device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0213] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0214] The program 610 may be specifically invoked by the processor 602 to cause the computing device to perform the following operations:

[0215] Obtain the detection area of ​​the light source in the target working scene;

[0216] Determine the relationship between the divergence angle θ corresponding to the laser and the detection distance L, wherein the laser is emitted by the light source and intersects with the outline of the detection area, and the detection distance L is the distance between the point where the corresponding laser intersects with the outline of the detection area and the light source;

[0217] Based on the relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, determine the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser;

[0218] According to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser, the angular space intensity distribution curve of the laser emitted by the light source in the target working scene is determined.

[0219] An embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores executable instructions. When the executable instructions are executed on a computing device, the computing device executes the method for determining the laser angular spatial intensity distribution curve in any of the above method embodiments.

[0220] The executable instructions may be specifically used to cause the computing device to perform the following operations:

[0221] Obtain the detection area of ​​the light source in the target working scene;

[0222] Determine the relationship between the divergence angle θ corresponding to the laser and the detection distance L, wherein the laser is emitted by the light source and intersects with the outline of the detection area, and the detection distance L is the distance between the point where the corresponding laser intersects with the outline of the detection area and the light source;

[0223] Based on the relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, determine the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser;

[0224] According to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser, the angular space intensity distribution curve of the laser emitted by the light source in the target working scene is determined.

[0225] The algorithm or display provided here are not inherently related to any specific computer, virtual system or other equipment. Various general systems can also be used together with the teaching based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the present application described here, and the above description of specific languages ​​is to disclose the best mode of implementation of the present application.

[0226] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0227] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various aspects of the invention, in the above description of exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof.

[0228] Those skilled in the art will appreciate that the modules in the devices in the embodiments can be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and they can be divided into multiple submodules or subunits or subassemblies. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying abstract and drawings) and all processes or units of any method or device disclosed in this manner can be combined in any combination. Unless otherwise explicitly stated, each feature disclosed in this specification (including the accompanying abstract and drawings) can be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0229] The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. The use of the words first, second, and third, etc. does not imply any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for determining a laser angular spatial intensity distribution curve, characterized in that: The method comprises: Obtain the detection area of ​​the light source in the target working scene; Determine the relationship between the divergence angle θ corresponding to the laser and the detection distance L, wherein the laser is emitted by the light source and intersects with the contour of the detection area, and the detection distance L is the distance between the point where the corresponding laser intersects with the contour of the detection area and the light source; Based on the relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, determine the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser; According to the relationship between the minimum emission power P corresponding to each laser and the divergence angle θ, the angular space intensity distribution curve of the laser emitted by the light source in the target working scene is determined.

2. The method for determining the laser angular space intensity distribution curve according to claim 1, characterized in that: The determining of the relationship between the divergence angle θ corresponding to the laser and the detection distance L includes: A rectangular coordinate system is established with the light source as the origin and the optical axis direction as the x-axis direction; Determine the point A where the laser i intersects the contour of the detection area i The coordinates (x i ,y i ); Determine the divergence angle θ corresponding to the laser i i as follows: Determine the detection distance L corresponding to the laser i i as follows: Determine the divergence angle θ corresponding to the laser i i With detection distance L i The relationship is as follows:

3. The method for determining the laser angular space intensity distribution curve according to claim 2, characterized in that: The relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, is determined, including: Based on the minimum emission power P of the laser i i And the corresponding detection distance L i The following relationship exists: Combining formulas (3), (4) and (5), the minimum emission power P corresponding to the laser i is determined as follows: i With divergence angle θ i The relationship between them is as follows: Among them, L i is the detection distance of the laser i, P i is the detection distance L of the laser i i The minimum transmission power required, D is the aperture of the laser receiving module optical system, τ air is the transmission distance L of the laser i in the air i The transmittance, R obj is the reflectivity of the surface of the object being measured, Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the direction of the divergence angle θ, and P d It is the minimum detectable power value of the laser receiving module; Determining the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser includes: The relationship between the minimum emission power P and the divergence angle θ corresponding to each laser is fitted by using the least squares method to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene.

4. The method for determining the laser angular space intensity distribution curve according to claim 1, characterized in that: The determining of the relationship between the divergence angle θ corresponding to the laser and the detection distance L includes: A polar coordinate system is established with the light source as the pole and the direction of its optical axis as the polar axis; Determine the point A where the laser i intersects the contour of the detection area i The coordinates (L i ,θ i ), and θ i Determine the divergence angle corresponding to the laser i, and set L i Determine the detection distance corresponding to the laser i, and set θ i With L i Establish a corresponding relationship.

5. The method for determining the laser angular space intensity distribution curve according to claim 4, characterized in that: The relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, is determined, including: Based on the minimum emission power P of the laser i i And the corresponding detection distance L i The following relationship exists: Combined with θ i With L i The corresponding relationship between the minimum emission power P and the divergence angle θ of the laser is determined as follows: P=L(θ) where θ = θ i hour, Among them, L i is the detection distance of the laser i, P i is the detection distance L of the laser i i The minimum transmission power required, D is the aperture of the laser receiving module optical system, τ air is the transmission distance L of the laser i in the air i The transmittance, R obj is the reflectivity of the surface of the object being measured, Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the direction of the divergence angle θ, and P d It is the minimum detectable power value of the laser receiving module; Determining the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser includes: The relationship between the minimum emission power P and the divergence angle θ corresponding to each laser is fitted by using the least squares method to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene.

6. The method for determining the laser angular space intensity distribution curve according to claim 1, characterized in that: The optical axis direction of the light source is horizontal in the target working scene, the outline of the detection area is rectangular, and the light source is located on one side of the outline of the detection area; The determining of the relationship between the divergence angle θ corresponding to the laser and the detection distance L includes: Determine point A on the contour of the detection area i The divergence angle θ corresponding to the intersecting laser i i And the detection distance L i The relationship between them is as follows: Wherein, l0 is the detection distance of the light source along the optical axis direction, h0 is the vertical height between the light source and the lowest point of the contour of the detection area, and h1 is the vertical height between the light source and the highest point of the contour of the detection area.

7. The method for determining the laser angular spatial intensity distribution curve according to claim 6, characterized in that: The relationship between the minimum emission power P of the laser and the corresponding detection distance L, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L, is determined, including: Based on the minimum emission power P of the laser i i And the corresponding detection distance L i The following relationship exists: Combining formulas (10), (11), (12) and (13), the minimum emission power P corresponding to the laser i is determined as follows: i With divergence angle θ i The relationship between them is as follows: Among them, L i is the detection distance of the laser i, P i is the detection distance L of the laser i i The minimum transmission power required, D is the aperture of the laser receiving module optical system, τ air is the transmission distance L of the laser i in the air i The transmittance, R obj is the reflectivity of the surface of the object being measured, Ω is the divergence angle of the laser emitted by the light source in another direction perpendicular to the direction of the divergence angle θ, and P d It is the minimum detectable power value of the laser receiving module; Determining the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser includes: According to the formula (14), the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene is determined.

8. A method for designing a microlens structure, characterized in that: include: A microlens structure is designed according to an angular spatial intensity distribution curve of the laser emitted by the light source in a target working scene, wherein the angular spatial intensity distribution curve of the laser emitted by the light source in the target working scene is obtained by the laser angular spatial intensity distribution curve determination method described in any one of claims 1 to 7.

9. The microlens structure design method according to claim 8, characterized in that: The method of designing a microlens structure according to an angular spatial intensity distribution curve of laser light emitted by a light source in a target working scene includes: In the coordinate system corresponding to the angular space intensity distribution curve, a plurality of straight lines are established which are parallel to the abscissa axis and are arranged at equal intervals along the ordinate axis, wherein the abscissa axis is used to represent the divergence angle θ, and the ordinate axis is used to represent the minimum transmit power P; The distance between two intersection points of each straight line and the angular space intensity distribution curve is used as the width, and the distance between two adjacent straight lines along the ordinate direction is used as the height to establish a plurality of rectangles; Calculate the area of ​​each rectangle as follows: P j =θ j ′·ΔP (15) Among them, P j represents the area of ​​rectangle j, θ j ' represents half of the width of rectangle j in the coordinate system, ΔP represents the height of each rectangle in the coordinate system, P max represents the peak value of the angular space intensity distribution curve on the ordinate axis, and n represents the number of the straight lines; Based on the semi-aperture d, focal length f' of each sub-lens in the microlens and the divergence angle θ' of the light beam passing through it, there is the following relationship: The semi-aperture and focal length of the sub-lens corresponding to each rectangle are determined as follows: Among them, θ j ' represents half of the width of rectangle j in the coordinate system, and also represents the divergence angle of the light beam passing through the sub-lens corresponding to rectangle j, d j represents the semi-aperture of the sub-lens corresponding to rectangle j, f j ' represents the focal length of the sub-lens corresponding to rectangle j; The structure of the microlens is designed based on the semi-aperture and focal length of each sub-lens.

10. The microlens structure design method according to claim 9, characterized in that: The structure of the microlens is designed based on the semi-aperture and focal length of each sub-lens, including: Based on the semi-aperture and focal length of each sub-lens, the structure of each sub-lens is determined, the number of sub-lenses corresponding to each rectangle is set to an even number, and the sub-lenses corresponding to each rectangle are symmetrically arranged relative to the optical axis to obtain the structure of the microlens.

11. A microlens, characterized in that: The microlens is obtained by the microlens structure design method according to any one of claims 8 to 10.

12. A laser transmitter, characterized in that: It comprises a light source and the microlens as claimed in claim 11, wherein the microlens is used for shaping the laser light emitted by the light source.

13. A device for determining a laser angular spatial intensity distribution curve, characterized in that: The device comprises: An acquisition module, used to acquire the detection area of ​​the light source in the target working scene; A first determination module is used to determine the relationship between the divergence angle θ corresponding to the laser and the detection distance L, wherein the laser is emitted by the light source and intersects with the outline of the detection area, and the detection distance L is the distance between the point where the corresponding laser intersects with the outline of the detection area and the light source; A second determination module is used to determine the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser based on the relationship between the minimum emission power P of the laser and the detection distance L corresponding thereto, and the relationship between the divergence angle θ corresponding to the laser and the detection distance L; The third determination module is used to determine the angular space intensity distribution curve of the laser emitted by the light source in the target working scene according to the relationship between the minimum emission power P and the divergence angle θ corresponding to each laser.

14. A computing device, characterized in that include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store executable instructions, and the executable instructions enable the processor to perform the operation of the method for determining the laser angular space intensity distribution curve according to any one of claims 1 to 7.

15. A computer-readable storage medium, characterized in that: The storage medium stores executable instructions, and when the executable instructions are executed on a computing device, the computing device executes the operation of the method for determining the laser angular space intensity distribution curve according to any one of claims 1 to 7.

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