Lidar assembly and device having detection function

Abstract

The embodiment of the invention provides a laser radar assembly and equipment with a detection function, and the laser radar assembly comprises an emitter which is used for emitting first laser in a first direction; the input end of the first scanner is arranged opposite to the output end of the emitter, and the first scanner is used for controlling the first laser to deflect from the first direction to a plurality of different first deflection directions so as to emit the first laser in the plurality of first deflection directions to the target object; wherein at least one first deflection direction is different from the first direction. According to the technical scheme of the embodiment of the invention, the number of transmitters can be effectively reduced while the equivalent line number of the laser radar assembly is ensured, so that the cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of laser detection technology, and in particular to a laser radar component and a device with detection function. Background Art

[0002] The point cloud density of the LiDAR determines the resolution of the LiDAR. The higher the point cloud density, the higher the resolution of the LiDAR. The point cloud density of the LiDAR is positively correlated with the equivalent line number of the LiDAR. That is, the higher the equivalent line number of the LiDAR, the higher the point cloud density of the LiDAR. Current LiDARs usually increase the equivalent line number of the LiDAR by increasing the number of transmitters and receivers, which results in excessively high costs for LiDARs. Summary of the invention

[0003] The embodiments of the present application provide a laser radar component and a device with a detection function to solve or alleviate one or more technical problems in the prior art.

[0004] As one aspect of an embodiment of the present application, the embodiment of the present application provides a laser radar component, including: a transmitter, used to emit a first laser along a first direction; a first scanner, the input end of the first scanner is arranged opposite to the output end of the transmitter, and the first scanner is used to control the first laser to be deflected from the first direction to multiple different first deflection directions, so as to emit the first laser along multiple first deflection directions to the target object; wherein, at least one first deflection direction is different from the first direction.

[0005] In one embodiment, an angle between at least one first deflection direction and the first direction is 0.5° to 10°.

[0006] In one embodiment, the first scanner includes: a first optical element, arranged opposite to the output end of the transmitter, and used to convert the first laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state; a second optical element, arranged on the side of the first optical element away from the transmitter, and used to deflect the first laser from a first direction to multiple first deflection directions; a third optical element, arranged between the first optical element and the second optical element, and used to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0007] In one embodiment, the third optical element includes: a first substrate; a first transparent electrode layer, arranged on one side of the first substrate; a first orientation layer, arranged on the side of the first transparent electrode layer away from the first substrate; a second substrate, arranged on the side of the first orientation layer away from the first substrate; a second transparent electrode layer, arranged on the side of the second substrate facing the first substrate; a second orientation layer, arranged on the side of the second transparent electrode layer facing the first substrate; a first liquid crystal layer, arranged between the first orientation layer and the second orientation layer; wherein a first driving electric field is formed between the first transparent electrode layer and the second transparent electrode layer, and the first driving electric field is used to change the deflection state of the first liquid crystal layer to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0008] In one embodiment, the thickness of the first substrate and the second substrate are both 100 μm to 700 μm; and / or, the thickness of the first transparent electrode layer and the second transparent electrode layer are both 0.5 μm to 2 μm; and / or, the thickness of the first alignment layer and the second alignment layer are both 0.1 μm to 0.5 μm; and / or, the thickness of the first liquid crystal layer is 2 μm to 5 μm.

[0009] In one embodiment, the second optical element includes: a third substrate; a third alignment layer disposed on one side of the third substrate; an encapsulation structure disposed on a side of the third alignment layer away from the third substrate; and a second liquid crystal layer disposed between the encapsulation structure and the third alignment layer.

[0010] In one embodiment, the second optical element includes: a fourth substrate; a third transparent electrode layer, arranged on one side of the fourth substrate; a fourth orientation layer, arranged on the side of the third transparent electrode layer facing away from the fourth substrate; a fifth substrate, arranged on the side of the fourth orientation layer facing away from the fourth substrate; a fourth transparent electrode layer, arranged on the side of the fifth substrate facing the fourth substrate; a fifth orientation layer, arranged on the side of the fourth transparent electrode layer facing the fourth substrate; a third liquid crystal layer, arranged between the fourth orientation layer and the fifth orientation layer; wherein a second driving electric field is formed between the third transparent electrode layer and the fourth transparent electrode layer, and the second driving electric field is used to change the deflection state of the third liquid crystal layer to deflect the first laser from the first direction to multiple first deflection directions.

[0011] In one embodiment, the laser radar component further includes: a transmitting optical component, wherein an input end of the transmitting optical component is arranged opposite to an output end of the first scanner, and a first laser along a plurality of first deflection directions is emitted to the target object through the transmitting optical component.

[0012] In one embodiment, the emitting optical component includes a first collimating lens, a first prism and a first reflector arranged in sequence along the optical path direction of the first laser, and the first reflector is used to emit the first laser to the target object; or, the emitting optical component includes a second collimating lens, a second reflector and a rotating mirror rotating around a rotation axis arranged in sequence along the optical path direction of the first laser, and the rotating mirror is used to emit the first laser to the target object; or, the emitting optical component includes a galvanometer, and the galvanometer is used to emit the first laser to the target object; or, the emitting optical component includes a divergent lens, and the divergent lens is used to emit the first laser to the target object.

[0013] In one embodiment, the laser radar component also includes: a second scanner and a receiver, the second scanner is used to control the second laser to be deflected from a plurality of different second deflection directions to a second direction, so that the second laser along the second direction is sent to the receiver; wherein the second laser is the reflected light of the target object to the first laser; and at least one second deflection direction is different from the second direction.

[0014] In one embodiment, the second scanner includes: a fourth optical element, arranged close to the target object, for deflecting the second laser from a plurality of second deflection directions to a second direction; a fifth optical element, arranged between the fourth optical element and the receiver, for changing the polarization state of the second laser or maintaining the polarization state of the second laser.

[0015] In one embodiment, the second scanner further includes: a sixth optical element, disposed between the fifth optical element and the receiver, for converting the second laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state.

[0016] In one embodiment, the laser radar component further includes: a receiving optical component, which is disposed between the second scanner and the target object, and the second laser reflected by the target object is sent to the second scanner through the receiving optical component.

[0017] As another aspect of an embodiment of the present application, an embodiment of the present application provides a device with a detection function, including a laser radar component of any of the above-mentioned embodiments.

[0018] The embodiment of the present application adopts the above-mentioned technical solution to effectively reduce the number of transmitters while ensuring the equivalent line number of the laser radar component, thereby reducing costs.

[0019] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0021] Figure 1 A schematic diagram showing laser emission of a first laser radar assembly;

[0022] Figure 2 A schematic diagram showing laser reception of a first laser radar assembly;

[0023] Figure 3 A schematic diagram showing laser emission and laser reception of a second laser radar assembly;

[0024] Figure 4 A schematic diagram showing laser emission of a third laser radar assembly;

[0025] Figure 5 A schematic diagram showing laser reception of a third laser radar assembly;

[0026] Figure 6 A schematic diagram showing laser emission of a fourth laser radar assembly;

[0027] Figure 7 A schematic diagram showing laser reception of a fourth laser radar assembly;

[0028] Figure 8 A schematic structural diagram of a laser radar assembly according to an embodiment of the present application is shown;

[0029] Fig. 9 Show Figure 8 A schematic diagram of the operation of the laser radar assembly shown in;

[0030] Fig.10 A schematic structural diagram of a laser radar assembly according to another embodiment of the present application is shown;

[0031] Fig.11 Show Fig.10 A schematic diagram of the operation of the laser radar assembly shown in;

[0032] Figure 12-Figure 15 A schematic diagram showing the structure of a first scanner according to an embodiment of the present application is shown;

[0033] Figure 16-18 A schematic diagram showing the structure of a third optical element according to an embodiment of the present application is shown;

[0034] Fig.19 A flowchart showing the preparation of a third optical element according to an embodiment of the present application is shown;

[0035] Figure 20-Figure 25 A schematic diagram showing the structure of a second optical element according to an embodiment of the present application is shown;

[0036] Fig.26 and Fig. 27 A flowchart showing the preparation of a second optical element according to an embodiment of the present application is shown;

[0037] Fig.28 and Fig.29 A schematic diagram showing laser emission of a laser radar assembly according to a first embodiment of the present application is shown;

[0038] Fig.30 and Fig.31 A schematic diagram showing laser reception of a laser radar assembly according to a first embodiment of the present application is shown;

[0039] Fig.32 and Fig.33 A schematic diagram showing laser emission and laser reception of a laser radar assembly according to a second embodiment of the present application is shown;

[0040] Fig.34 and Fig.35 A schematic diagram showing laser emission of a laser radar assembly according to a third embodiment of the present application is shown;

[0041] Fig.36 and Fig.37 A schematic diagram showing laser reception of a laser radar assembly according to a third embodiment of the present application is shown;

[0042] Fig.38 A schematic diagram showing laser emission of a laser radar assembly according to a fourth embodiment of the present application is shown;

[0043] Fig.39 A schematic diagram showing laser reception of a laser radar assembly according to a fourth embodiment of the present application is shown;

[0044] Fig.40 A schematic diagram showing laser emission of a laser radar assembly according to a fifth embodiment of the present application is shown;

[0045] Fig.41 A diagram showing an application example of a device with a detection function according to an embodiment of the present application.

[0046] Description of reference numerals:

[0047] 10: laser radar assembly; 100: transmitter; 200: first scanner; 210: first optical element; 220: second optical element; 221: third substrate; 222: third alignment layer; 223: packaging structure; 224: second liquid crystal layer; 225: fourth substrate; 226: third transparent electrode layer; 227: fourth alignment layer; 228: fifth substrate; 229: fourth transparent electrode layer; 22a: fifth alignment layer; 22b: third liquid crystal layer; 22c third anti-reflection anti-reflection film; 22d: fourth anti-reflection anti-reflection film; 22e: fifth anti-reflection anti-reflection film; 22f: sixth anti-reflection anti-reflection film; 22g: second spacer; 230: third optical element; 231: first substrate; 232: a transparent electrode layer; 233: a first orientation layer; 234: a second substrate; 235: a second transparent electrode layer; 236: a second orientation layer; 237: a first liquid crystal layer; 23a: a first anti-reflection and anti-reflection film; 23b: a second anti-reflection and anti-reflection film; 23c: a first spacer; 31a: a first collimating lens; 31b: a first prism; 31c: a first reflector; 31d: a second collimating lens; 31e: a second reflector; 31f: a rotating mirror; 31g: a rotating shaft; 31h: a galvanometer; 31i: a diverging lens; 400: a second scanner; 410: a fourth optical element; 420: a fifth optical element; 430: a sixth optical element; 500: a receiver; 700: a scanning module; 800: a focusing lens;

[0048] 20: Target object. DETAILED DESCRIPTION

[0049] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0050] At present, there are two solutions for laser radar to achieve large-angle detection. One solution is to use a laser radar component with a scanning device to perform rapid beam scanning in a large angle range to achieve target detection in a large angle range, such as mechanical laser radar components, rotating mirror laser radar components and micro-electro-mechanical-system (MEMS) laser radar components. Another solution is to use a flash laser radar, which simultaneously emits a beam of laser through a vertical-cavity surface emitting laser (VCSEL) array, expands the beam through a divergent lens, and forms a surface light that irradiates the target object. The reflected light is received by the receiver, i.e., the detector, through the signal processing backend, and the distance and shape of the target object are calculated by the time-of-flight method. In order to achieve precise 3D measurement, the above two solutions have very high requirements for point cloud density, and usually require a large number of transmitters and detectors.

[0051] Figure 1 A schematic diagram showing laser emission of a first laser radar assembly; Figure 2 A schematic diagram showing laser reception of the first laser radar assembly. Figure 1 and Figure 2 The laser radar assembly shown in the figure is a mechanical laser radar assembly. The laser emission process is as follows Figure 1 As shown, the transmitter 100 emits laser light, which is focused and collimated by the collimating lens and then reflected by the prism to the rotating reflector. The rotating reflector then emits the laser light to the target object. Figure 2 As shown, the reflected light of the laser emitted by the target object reaches the prism through the rotating reflector. After passing through the prism, the reflected light is focused by the collimating lens and received by the receiver 500. Finally, the processing chip performs data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0052] Figure 3 A schematic diagram showing laser emission and laser reception of a second laser radar assembly. Figure 3 The laser radar assembly shown is a rotating mirror laser radar assembly. Figure 3 As shown, the transmitter 100 emits a laser, which is focused and collimated by a collimating lens, and then the fixed reflector reflects the light through the light hole to the surface of the rotating mirror 31f, and the rotating mirror 31f emits the laser to the target object. The laser receiving process is opposite to the laser emitting process. The reflected light of the emitted laser from the target object passes through the rotating mirror, reaches the reflector through the light hole, and then is reflected by the reflector and reaches the collimating lens for focusing and collimation. Finally, it is received by the receiver 500, and after converting the optical signal into an electrical signal, it enters the processing unit for data processing to determine the distance and shape of the target object.

[0053] Figure 4 A schematic diagram showing laser emission of a third laser radar assembly; Figure 5 A schematic diagram showing laser reception of the third laser radar assembly. Figure 4 and Figure 5 The laser radar component shown is a MEMS laser radar component. The laser emission process is as follows Figure 4 As shown, the transmitter 100 emits laser light, which is focused and collimated by the collimating lens, and then the vibrating MEMS galvanometer emits the laser light to the target object. Figure 5 As shown, the reflected light of the laser emitted by the target object is reflected by the MEMS galvanometer, focused and collimated by the collimating lens, and then received by the receiver 500. Finally, the processing chip performs data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0054] Figure 6 A schematic diagram showing laser emission of a fourth laser radar assembly; Figure 7 A schematic diagram showing laser reception of the fourth laser radar assembly. Figure 6 and Figure 7 The laser radar component shown is a FLASH laser radar component. The laser emission process is as follows Figure 6 As shown, the transmitter 100 emits laser light, which is focused and collimated by the collimating lens and then reaches the diverging lens. The emission angle of the emitted light beam is increased, and the power of the laser light per unit area will decrease. The laser receiving process is as follows: Figure 7 As shown, the reflected light of the laser emitted by the target object is focused and collimated by the collimating lens, received by the receiver 500 and converted into an electrical signal, and finally the processing chip performs data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0055] The above four laser radar components are all single-line. For example, in order to achieve the point cloud effect of a 128-line laser radar component, 128 sets of transmitters 100 and 128 sets of receivers are required. Therefore, it is necessary to increase the number of equivalent lines of the laser radar by increasing the number of transmitters 100 and receivers 500, which will result in excessively high costs for the laser radar.

[0056] Figure 8 FIG. 1 is a schematic diagram showing the structure of a laser radar assembly 10 according to an embodiment of the present application. Figure 8 As shown, the laser radar assembly 10 includes a transmitter 100 and a first scanner 200 .

[0057] Specifically, the transmitter 100 is used to emit a first laser along a first direction. The input end of the first scanner 200 is arranged opposite to the output end of the transmitter 100, and the first scanner 200 is used to control the first laser to be deflected from the first direction to a plurality of different first deflection directions, so as to emit the first laser along a plurality of first deflection directions toward the target object 20; wherein at least one first deflection direction is different from the first direction. In the description of the present application, "plurality" means two or more.

[0058] It should be noted that “emitting a first laser along multiple first deflection directions toward the target object 20” means that the direction of the first laser when emitted from the output end of the first scanner 200 is multiple first deflection directions, rather than that the direction of the first laser when reaching the target object 20 is multiple first deflection directions.

[0059] Fig. 9 Show Figure 8 Schematic diagram of the operation of the laser radar assembly 10 shown in FIG. Figure 8 and Fig. 9 , the laser radar assembly 10 may also include a signal transmitting unit, a laser driver and a scanning module 700. The signal transmitting unit transmits an electrical signal, and the laser driver and the transmitter 100 convert the electrical signal into a laser signal for transmission. The emitted first laser passes through the first scanner 200, which can realize a small angle deflection of the first laser, so that the first laser is deflected from the first direction to multiple different first deflection directions, for example: the angle between at least one first deflection direction and the first direction can be 0.5°~10° (including the endpoint value); and then passes through the scanning module 700 to realize a large angle deflection of the first laser, and finally transmits it to the target object 20. For example: in the case where the first scanner 200 is used to control the first laser to deflect from the first direction to two different first deflection directions, a beam of the first laser can be converted into two beams of the first laser with different directions after passing through the first scanner 200. In the case of realizing the point cloud effect of a 128-line laser radar assembly, only 64 sets of transmitters and 64 sets of receivers are needed. Compared with a single-line laser radar assembly, the number of transmitters and receivers can be reduced by half, thereby effectively reducing costs. The transmitter 100 may be a laser.

[0060] Fig.10 A schematic structural diagram of a laser radar assembly 10 according to another embodiment of the present application is shown; Fig.11 Show Fig.10The working diagram of the laser radar assembly 10 shown in . Exemplarily, the transmitter 100 is a VCSEL array. The laser radar assembly 10 may also include a signal transmitting unit and a divergent lens. The signal transmitting unit transmits an electrical signal to drive the VCSEL array to simultaneously emit a beam of first laser. The first laser passes through the first scanner 200, which can achieve a small angle deflection of the first laser, so that the first laser is deflected from the first direction to multiple different first deflection directions, for example: the angle between at least one first deflection direction and the first direction is 0.5° to 10°; and then the first laser is expanded through the divergent lens so that the first laser presents surface light to irradiate the target object 20.

[0061] According to the laser radar component 10 of the embodiment of the present application, by setting the first scanner 200 and making the input end of the first scanner 200 relatively arranged to the output end of the transmitter 100, while ensuring the number of equivalent lines of the laser radar component 10, the number of transmitters 100 can be effectively reduced, thereby reducing costs.

[0062] Figure 12-Figure 15 FIG. 2 is a schematic diagram showing the structure of the first scanner 200 according to an embodiment of the present application. Figure 8 , Figure 12-Figure 15 The first scanner 200 includes a first optical element 210, a second optical element 220 and a third optical element 230. The first optical element 210 is arranged opposite to the output end of the transmitter 100, and is used to convert the first laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state. The second optical element 220 is arranged on a side of the first optical element 210 away from the transmitter 100, and is used to deflect the first laser from a first direction to a plurality of first deflection directions. The third optical element 230 is arranged between the first optical element 210 and the second optical element 220, and is used to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0063] Exemplarily, the first laser emitted from the output end of the transmitter 100 first enters the first optical element 210, and after being converted from a linear polarization state to a circular polarization state by the first optical element 210, enters the third optical element 230. After passing through the third optical element 230, the left-handed circular polarization state is converted into a right-handed circular polarization state, or the right-handed circular polarization state is converted into a left-handed polarization state, or the current circular polarization state is maintained. Then, it enters the second optical element 220, deflects the first direction into a plurality of first deflection directions, and causes the second optical element 220 to emit the first laser along the plurality of first deflection directions. Among them, the first optical element may be a 1 / 4 wave plate.

[0064] Optionally, the wavelength of the first laser emitted from the output end of the emitter 100 may be 250 nm to 1550 nm (including the end values), but is not limited thereto.

[0065] In this embodiment, by providing the above-mentioned first optical element 210, second optical element 220 and third optical element 230, the equivalent line beam of the laser radar assembly 10 can be improved, thereby reducing the number of transmitters 100 and reducing costs.

[0066] Figure 16-18 FIG. 2 is a schematic diagram showing the structure of the third optical element 230 according to an embodiment of the present application. Figure 8 , Fig.12 , Figure 16-Figure 18 As shown, the third optical element 230 includes a first substrate 231, a first transparent electrode layer 232, a first alignment layer 233, a second substrate 234, a second transparent electrode layer 235, a second alignment layer 236, and a first liquid crystal layer 237. The first transparent electrode layer 232 is disposed on one side of the first substrate 231. The first alignment layer 233 is disposed on the side of the first transparent electrode layer 232 that is away from the first substrate 231. The second substrate 234 is disposed on the side of the first alignment layer 233 that is away from the first substrate 231. The second transparent electrode layer 235 is disposed on the side of the second substrate 234 that faces the first substrate 231. The second alignment layer 236 is disposed on the side of the second transparent electrode layer 235 that faces the first substrate 231. The first liquid crystal layer 237 is disposed between the first alignment layer 233 and the second alignment layer 236. A first driving electric field is formed between the first transparent electrode layer 232 and the second transparent electrode layer 235 , and the first driving electric field is used to change the deflection state of the first liquid crystal layer 237 to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0067] Exemplarily, the material of the first substrate 231 and the second substrate 234 may be high-transmittance glass. The material of the first transparent electrode layer 232 and the second transparent electrode layer 235 may be indium tin oxide (ITO). Depending on the preparation process, the first orientation layer 233 and the second orientation layer 236 may be a rubbing orientation layer or a light-controlled orientation layer. In the case where the first orientation layer 233 and the second orientation layer 236 are rubbing orientation layers, the material of the first orientation layer 233 and the second orientation layer 236 may be polyimide (PI); in the case where the first orientation layer 233 and the second orientation layer 236 are light-controlled orientation layers, the material of the first orientation layer 233 and the second orientation layer 236 may be azobenzene (SD1), polyethylene 4-methoxycinnamate (PVMC) or photosensitive polyimide. The molecular orientation of the first liquid crystal layer 237 is consistent. The third optical element 230 may further include a first anti-reflection and anti-reflection film 23a, a second anti-reflection and anti-reflection film 23b and a first spacer 23c, wherein the first anti-reflection and anti-reflection film 23a is disposed on the side of the first substrate 231 away from the first transparent electrode layer 232, and the second anti-reflection and anti-reflection film 23b is disposed on the side of the second substrate 234 away from the second transparent electrode layer 235. The first spacer 23c is located at the first orientation layer 233 and the second orientation layer 236, and the diameter of the first spacer 23c may be consistent with the thickness of the box, and plays a role in supporting and uniformizing the thickness of the box. The first spacer 23c may be a frame sealant mixed with polystyrene beads.

[0068] Fig.19 FIG. 2 shows a preparation flow chart of the third optical element 230 according to an embodiment of the present application, wherein the material of the first alignment layer 233 and the second alignment layer 236 can be PI. Fig.16 and Fig.19 As shown, during preparation, the first substrate 231 is first cleaned with deionized water and then dried, and then ITO is deposited by magnetron sputtering process to prepare the first transparent electrode layer 232. Subsequently, the PI layer is spin-coated, dried, and oriented by flannel friction to obtain the first orientation layer 233. The above-prepared structure is matched with the structure including the second substrate 234 and the second transparent electrode layer 235 plated on the second substrate 234, so that the first transparent electrode layer 232 and the second transparent electrode layer 235 are arranged oppositely, and the first spacer 23c is used to determine the thickness of the liquid crystal box. After that, vacuum filling is performed to form the first liquid crystal layer 237, and finally encapsulation is performed to complete the preparation of the third optical element 230. In the case where the third optical element 230 is a single-layer nematic liquid crystal half-wave plate, the liquid crystal in the first liquid crystal layer 237 is a nematic liquid crystal. In the case where the third optical element 230 is a double-layer twisted nematic liquid crystal half-wave plate, the liquid crystal in the first liquid crystal layer 237 is a clockwise / counterclockwise spiral arrangement of liquid crystals formed by adding chiral polymers.

[0069] Among them, the thickness of the first substrate 231 and the second substrate 234 can be 100μm~700μm (including endpoint values); the thickness of the first transparent electrode layer 232 and the second transparent electrode layer 235 can be 0.5μm~2μm (including endpoint values); the thickness of the first orientation layer 233 and the second orientation layer 236 can be 0.1μm~0.5μm (including endpoint values); the thickness of the first liquid crystal layer 237 can be 2μm~5μm (including endpoint values); the thickness of the first anti-reflection and anti-reflection film 23a and the second anti-reflection and anti-reflection film 23b can be 0.2μm~1μm (including endpoint values).

[0070] Optionally, the third optical element 230 may be a single-layer nematic liquid crystal half-wave plate or a double-layer twisted nematic liquid crystal half-wave plate.

[0071] In the case where the third optical element 230 is a single-layer nematic liquid crystal half-wave plate, the thickness of the first liquid crystal layer 237 is controlled to be d=λ / 2Δn, where λ is the wavelength of the first laser entering the third optical element 230, and Δn is the refractive index difference of the liquid crystal in the first liquid crystal layer 237. When the voltage V1=0V applied between the first transparent electrode layer 232 and the second transparent electrode layer 235, the liquid crystal of the first liquid crystal layer 237 does not deflect. At this time, the third optical element 230 is a half-wave plate, which can change the polarization state of the first laser. When the first laser entering the third optical element 230 is left-handed circularly polarized light, the first laser emitted from the third optical element 230 is right-handed circularly polarized light; when the first laser entering the third optical element 230 is right-handed circularly polarized light, the first laser emitted from the third optical element 230 is right-handed circularly polarized light. When the voltage V2 applied between the first transparent electrode layer 232 and the second transparent electrode layer 235 is a saturation voltage, a first driving electric field is formed between the first transparent electrode layer 232 and the second transparent electrode layer 235. The liquid crystal molecules of the first liquid crystal layer 237 are rearranged under the action of the first driving electric field, and the long axis of the liquid crystal turns to the direction of the electric field. At this time, the third optical element 230 is a full-wave plate, which can maintain the polarization state of the first laser. When the first laser entering the third optical element 230 is left-handed circularly polarized light, the first laser emitted from the third optical element 230 is still left-handed circularly polarized light; when the first laser entering the third optical element 230 is right-handed circularly polarized light, the first laser emitted from the third optical element 230 is still right-handed circularly polarized light.

[0072] When the third optical element 230 is a double-layer twisted nematic liquid crystal half-wave plate, the difference from the single-layer nematic liquid crystal half-wave plate is that the structure of the first liquid crystal layer 237 is different. In this case, the first liquid crystal layer 237 is a mirror-symmetrical structure. The upper half of the liquid crystal in the first liquid crystal layer 237 is oriented in a clockwise spiral, and the lower half of the liquid crystal in the first liquid crystal layer 237 is oriented in a counterclockwise spiral. The first liquid crystal layer 237 is a half-wave plate functional layer, which is used to change the polarization state of the first laser.

[0073] In an application example, the second optical element 220 may be a liquid crystal polarization grating. The liquid crystal polarization grating uses the periodic arrangement of liquid crystal directors to adjust the polarization state of the incident light and achieve the light splitting effect. Taking the periodic distribution of directors on the x-axis as an example, the directors of the liquid crystal molecules can be described as: Where Λ is the period of the liquid crystal polarization grating, and α0 is the initial azimuth angle of the liquid crystal. The transmittance of the liquid crystal polarization grating is described using the Jones matrix: The rotation matrix is the dynamic phase of light in the liquid crystal, and the transmittance

[0074] The diffraction angle θ is calculated using the grating equation. Where λ is the wavelength of the incident light, and Λ is the period of the liquid crystal polarization grating. Therefore, by changing the period of the liquid crystal polarization grating, the preparation of liquid crystal polarization gratings with different deflection angles can be achieved.

[0075] Figure 20-Figure 25 FIG. 2 is a schematic diagram showing the structure of the second optical element 220 according to an embodiment of the present application. Fig. 20 and Fig.21 As shown, the second optical element 220 includes a third substrate 221, a third alignment layer 222, an encapsulation structure 223 and a second liquid crystal layer 224. The third alignment layer 222 is disposed on one side of the third substrate 221. The encapsulation structure 223 is disposed on a side of the third alignment layer 222 that is away from the third substrate 221. The second liquid crystal layer 224 is disposed between the encapsulation structure 223 and the third alignment layer 222.

[0076] For example, Fig. 20 and Fig.21The second optical element 220 in the embodiment may be a binary liquid crystal polarization grating. The material of the third substrate 221 may be high-transmittance glass, and the thickness of the third substrate 221 may be 100 μm to 700 μm (including the endpoint values). Since the liquid crystal orientation in the liquid crystal polarization grating is periodically deflected, the third orientation layer 222 may be a light-controlled orientation layer, and the material of the third orientation layer 222 may be azobenzene (SD1), polyethylene 4-methoxycinnamate (PVMC) or photosensitive polyimide, etc. The thickness of the third orientation layer 222 may be 0.1 μm to 0.5 μm (including the endpoint values). The material of the encapsulation structure 223 may be silicon dioxide, carbon tetrachloride, polymethyl methacrylate (PMMA), etc. The second optical element 220 may further include a third anti-reflection and anti-reflection film 22c and a fourth anti-reflection and anti-reflection film 22d. The third anti-reflection and anti-reflection film 22c is disposed on the side of the packaging structure 223 away from the third orientation layer 222, and the fourth anti-reflection and anti-reflection film 22d is disposed on the side of the third substrate 221 away from the third orientation layer 222. The thickness of the second liquid crystal layer 224 can be 2 μm to 5 μm (including the end value). In the case where the second optical element 220 is a single-layer nematic binary liquid crystal polarization grating (such as Fig. 20 As shown), the liquid crystal director of the second liquid crystal layer 224 changes periodically; in the case where the second optical element 220 is a double-layer twisted nematic binary liquid crystal polarization grating (as shown Fig.21 As shown), the liquid crystal of the second liquid crystal layer 224 is in a chiral spiral orientation along the z-axis, and left-handed / right-handed chiral molecules need to be added to the nematic phase liquid crystal molecules to form clockwise and counterclockwise spiral orientations. The pitch is related to the added concentration of the chiral molecules. The higher the added concentration, the smaller the pitch.

[0077] After the first laser passes through the second optical element 220, it can be binary deflected to deflect the first laser from the first direction into two different first deflection directions, wherein the two first deflection directions are different from the first direction, and the angles between the two first deflection directions and the first direction can be equal.

[0078] Fig.26 FIG. 2 shows a flow chart of preparing a second optical element according to an embodiment of the present application. Fig. 20 and Fig.26As shown, during preparation, the third substrate 221 is first cleaned with deionized water and then dried, and then an azobenzene photo-orientation material is coated and dried. Patterned orientation is achieved by polarized light to form a third orientation layer 222. Then the liquid crystal and polymer intermediate are coated by multiple spin coatings. After reaching the desired thickness, the polymer is cured by ultraviolet light to form a second liquid crystal layer 224. Finally, the encapsulation structure 223 is coated to isolate water and oxygen, and the preparation of the second optical element 220 is completed. In the case where the second optical element 220 is a single-layer nematic binary liquid crystal polarization grating, the liquid crystal in the second liquid crystal layer 224 is a nematic liquid crystal. In the case where the second optical element 220 is a double-layer twisted nematic binary liquid crystal polarization grating, the liquid crystal in the second liquid crystal layer 224 is a clockwise / counterclockwise spirally arranged liquid crystal formed by a nematic liquid crystal with a chiral polymer added.

[0079] In one embodiment, if Figure 22-Figure 25 As shown, the second optical element 220 includes a fourth substrate 225, a third transparent electrode layer 226, a fourth alignment layer 227, a fifth substrate 228, a fourth transparent electrode layer 229, a fifth alignment layer 22a and a third liquid crystal layer 22b. The third transparent electrode layer 226 is disposed on one side of the fourth substrate 225. The fourth alignment layer 227 is disposed on the side of the third transparent electrode layer 226 that is away from the fourth substrate 225. The fifth substrate 228 is disposed on the side of the fourth alignment layer 227 that is away from the fourth substrate 225. The fourth transparent electrode layer 229 is disposed on the side of the fifth substrate 228 that faces the fourth substrate 225. The fifth alignment layer 22a is disposed on the side of the fourth transparent electrode layer 229 that faces the fourth substrate 225. The third liquid crystal layer 22b is disposed between the fourth alignment layer 227 and the fifth alignment layer 22a. A second driving electric field is formed between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 , and the second driving electric field is used to change the deflection state of the third liquid crystal layer 22 b to deflect the first laser from the first direction to multiple first deflection directions.

[0080] For example, Figure 22-Figure 25The second optical element 220 in the embodiment may be a three-value liquid crystal polarization grating. The fourth substrate 225 and the fifth substrate 228 may be made of high-transmittance glass. The third transparent electrode layer 226 and the fourth transparent electrode layer 229 may be made of ITO. Depending on the preparation process, the fourth orientation layer 227 and the fifth orientation layer 22a may be a rubbing orientation layer or a light-controlled orientation layer. In the case where the fourth orientation layer 227 and the fifth orientation layer 22a are rubbing orientation layers, the material of the fourth orientation layer 227 and the fifth orientation layer 22a may be PI; in the case where the fourth orientation layer 227 and the fifth orientation layer 22a are light-controlled orientation layers, the material of the fourth orientation layer 227 and the fifth orientation layer 22a may be SD1, PVMC or photosensitive polyimide. The liquid crystal director in the third liquid crystal layer 22b changes periodically. The second optical element 220 may further include a fifth anti-reflection and anti-reflection film 22e, a sixth anti-reflection and anti-reflection film 22f, and a second spacer 22g. The fifth anti-reflection and anti-reflection film 22e is disposed on the side of the fourth substrate 225 away from the third transparent electrode layer 226, and the sixth anti-reflection and anti-reflection film 22f is disposed on the side of the fifth substrate 228 away from the fourth transparent electrode layer 229. The second spacer 22g is located between the fourth orientation layer 227 and the fifth orientation layer 22a. The diameter of the second spacer 22g may be consistent with the thickness of the box, and plays a role in supporting and uniformizing the thickness of the box. The second spacer 22g may be a frame sealant mixed with polystyrene beads.

[0081] Fig.28 FIG. 2 shows a flow chart of preparing the second optical element 220 according to an embodiment of the present application. Fig. 22 and Fig.28 As shown, during preparation, the fourth substrate 225 is first cleaned with deionized water and then dried, and then ITO is deposited by magnetron sputtering process to prepare the third transparent electrode layer 226. Then SD1 is spin-coated, dried, and patterned orientation is achieved by polarized light. The structure prepared above is matched with the structure including the fifth substrate 228 and the fourth transparent electrode layer 229 plated on the fifth substrate 228, so that the third transparent electrode layer 226 and the fourth transparent electrode layer 229 are arranged relative to each other, and the second spacer 22g is used to determine the thickness of the liquid crystal box. After that, vacuum filling is performed to form the third liquid crystal layer 22b, and finally encapsulation is performed to complete the preparation of the second optical element 220. In the case where the second optical element 220 is a single-layer nematic phase liquid crystal polarization grating, the liquid crystal in the third liquid crystal layer 22b is a nematic phase liquid crystal. In the case where the second optical element 220 is a double-layer twisted nematic phase liquid crystal polarization grating, the liquid crystal in the third liquid crystal layer 22b is a clockwise / counterclockwise spiral arrangement of liquid crystals formed by adding chiral polymers.

[0082] Among them, the thickness of the fourth substrate 225 and the fifth substrate 228 can be 100μm~700μm (including endpoint values); the thickness of the third transparent electrode layer 226 and the fourth transparent electrode layer 229 can be 0.5μm~2μm (including endpoint values); the thickness of the fourth orientation layer 227 and the fifth orientation layer 22a can be 0.1μm~0.5μm (including endpoint values); the thickness of the third liquid crystal layer 22b can be 2μm~5μm (including endpoint values); the thickness of the fifth anti-reflection and anti-reflection film 22e and the sixth anti-reflection and anti-reflection film 22f can be 0.2μm~1μm (including endpoint values).

[0083] When the voltage V3=0V applied between the third transparent electrode layer 226 and the fourth transparent electrode layer 229, the liquid crystal director changes periodically along the X direction, and at this time, the first laser entering the second optical element 220 is deflected. The deflection angle is related to the period of the liquid crystal polarization grating. The smaller the grating period, the larger the deflection angle. When the voltage V4 applied between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 is a saturation voltage, a second driving electric field is formed between the third transparent electrode layer 226 and the fourth transparent electrode layer 229. The liquid crystal director is rearranged along the direction of the second driving electric field, and the long axes of the liquid crystal molecules in the third liquid crystal layer 22b are uniformly arranged along the Y axis. At this time, the second optical element 220 has no deflection effect on the first laser.

[0084] After the first laser passes through the second optical element 220, it can be deflected by three-value deflection, so that the first laser is deflected from the first direction to three different first deflection directions. One of the first deflection directions is the same as the first direction. The other two first deflection directions are different from the first direction, and the angles between the two first deflection directions and the first direction can be equal.

[0085] The second optical element 220 may be a single-layer nematic phase three-value liquid crystal polarization grating or a double-layer twisted nematic phase three-value liquid crystal polarization grating. In the case where the second optical element 220 is a double-layer twisted nematic phase three-value liquid crystal polarization grating, left-handed / right-handed chiral molecules need to be added to the nematic phase liquid crystal molecules to achieve a clockwise / counterclockwise spiral distribution of the liquid crystal in the third liquid crystal layer 22b along the z-axis.

[0086] In one embodiment, the laser radar assembly 10 further includes a transmitting optical assembly, the input end of which is arranged opposite to the output end of the first scanner 200, and the first lasers along a plurality of first deflection directions are transmitted to the target object 20 through the transmitting optical assembly. In this way, it can be ensured that the first lasers with the equivalent line number increased by the first scanner 200 can be correctly transmitted to the target object 20.

[0087] It should be noted that the direction of the first laser along the multiple first deflection directions may change after passing through the emission optical component, so the direction of the first laser emitted to the target object 20 is not necessarily the multiple first deflection directions.

[0088] Fig.28 and Fig.29 A schematic diagram of laser emission of a laser radar assembly according to a first embodiment of the present application is shown. Fig.28 and Fig.29 The emitting optical component includes a first collimating lens 31a, a first prism 31b and a first reflecting mirror 31c which are sequentially arranged along the optical path direction of the first laser. The first reflecting mirror 31c is used to emit the first laser to the target object.

[0089] Exemplarily, the laser radar assembly can be a mechanical laser radar assembly. The transmitter 100 emits a laser, and the first laser along the first direction is deflected into a plurality of different first deflection directions by the first scanner 200, so as to achieve accurate scanning of the laser. For example, when the first scanner 200 includes a binary liquid crystal polarization grating, the first scanner 200 can deflect the first laser along the first direction into two different first deflection directions; when the first scanner 200 includes a ternary liquid crystal polarization grating, the first scanner 200 can deflect the first laser along the first direction into three different first deflection directions. After the first laser emitted from the first scanner 200 is focused and collimated by the first collimating lens 31a, it is reflected by the first prism 31b to the rotating first reflector 31c, and the rotating first reflector 31c emits the first laser to the target object. Among them, the first reflector 31c is the above-mentioned scanning module 700.

[0090] Fig.32 and Fig.33 FIG. 1 is a schematic diagram showing laser emission and laser reception of a laser radar assembly according to a second embodiment of the present application. Fig.32 and Fig.33 The emitting optical component may include a second collimating lens 31d, a second reflecting mirror 31e and a rotating mirror 31f rotating around a rotating axis 31g, which are sequentially arranged along the optical path direction of the first laser. The rotating mirror 31f is used to emit the first laser to the target object 20.

[0091] Exemplarily, the laser radar assembly can be a rotating mirror laser radar assembly. The transmitter 100 emits laser light, and the first laser light along the first direction is deflected into a plurality of different first deflection directions by the first scanner 200, so as to realize accurate scanning of the laser light. The first laser light emitted from the first scanner 200 is focused and collimated by the second collimating lens 31d, and then reflected by the second reflector 31e to the rotating mirror 31f rotating around the rotating axis 31g, and the rotating rotating mirror 31f emits the first laser light to the target object 20. The rotating mirror 31f is the above-mentioned scanning module 700.

[0092] Fig.34 and Fig.35 FIG. 1 is a schematic diagram showing the laser emission of a laser radar assembly according to a third embodiment of the present application. Fig.34 and Fig.35 , the transmitting optical component includes a galvanometer 31h, and the galvanometer 31h is used to emit the first laser to the target object. Exemplarily, the laser radar component can be a MEMS laser radar component. The transmitter 100 emits the laser, which is focused and collimated by the collimating lens and then enters the first scanner 200 to achieve binary deflection or ternary deflection to obtain the first laser along multiple first deflection directions. Finally, the galvanometer 31h, such as a MEMS galvanometer, emits the first laser to the target object. Among them, the galvanometer 31h is the above-mentioned scanning module 700.

[0093] Fig.38 FIG. 4 is a schematic diagram showing the laser emission of a laser radar assembly according to a fourth embodiment of the present application. Fig.38 As shown, the laser radar assembly 10 may be a FLASH laser radar assembly 10. The emitter 100 emits laser light, which is focused and collimated by a collimating lens and then enters the first scanner 200 to achieve binary deflection or ternary deflection, thereby obtaining first laser light along multiple first deflection directions. Figure 6 The laser radar component 10 can use a first scanner 200 instead of a divergent lens to achieve electrically controlled deflection of the first laser, so that the power of the laser per unit area can be greatly increased, thereby improving the detection distance of the laser radar component 10.

[0094] Fig.40 FIG. 5 is a schematic diagram showing the laser emission of a laser radar assembly according to a fifth embodiment of the present application. Fig.40 As shown, the transmitting optical component includes a diverging lens 31i, and the diverging lens 31i is used to emit the first laser to the target object. Exemplarily, the first scanner 200 can be located between the collimating lens and the diverging lens 31i. In this way, while increasing the power of the laser per unit area, the field of view of the laser radar component 10 can be further increased, so that the laser radar component 10 can have the performance of long-distance measurement and large field of view.

[0095] In one embodiment, the laser radar assembly 10 also includes: a second scanner 400 and a receiver 500, the second scanner 400 is used to control the second laser to be deflected from a plurality of different second deflection directions to a second direction, so that the second laser along the second direction is sent to the receiver 500; wherein the second laser is the reflected light of the first laser by the target object 20; and at least one second deflection direction is different from the second direction.

[0096] In one example, if Figure 8 and Fig. 9 As shown, the laser radar assembly 10 also includes a signal processing unit. The second laser reflected by the target object 20 passes through the scanning module 700 and the second scanner 400 and is received by the receiver 500. The signal processing unit analyzes and calculates the received electrical signal to obtain the distance d and shape information of the target object 20, thereby realizing 3D modeling of the laser radar.

[0097] In another example, Fig.10 and Fig.11 As shown, the laser radar assembly 10 may include a focusing lens 800. The second light reflected by the target object 20 passes through the focusing lens 800 and the second scanner 400, is received by the receiver 500, and after the signal processing back end, the distance d and shape of the target object 20 are calculated by the time of flight method.

[0098] In this embodiment, by setting up a second scanner 400, the direction of the second laser of the second scanner 400 is converged into a second direction from multiple different second deflection directions. While ensuring the number of equivalent lines of the laser radar component 10, the number of receivers 500 can be effectively reduced, thereby further reducing costs.

[0099] In one embodiment, the second scanner 400 includes a fourth optical element 410 and a fifth optical element 420. The fourth optical element 410 is disposed near the target object 20, and is used to deflect the second laser from a plurality of second deflection directions to a second direction. The fifth optical element 420 is disposed between the fourth optical element 410 and the receiver 500, and is used to change the polarization state of the second laser or maintain the polarization state of the second laser. The structure of the fourth optical element 410 may be similar to that of the second optical element 220 described above; the structure of the fifth optical element may be similar to that of the third optical element 230 described above, and will not be described in detail herein.

[0100] Furthermore, the second scanner 400 may further include a sixth optical element 430, which is disposed between the fifth optical element 420 and the receiver 500 and is used to convert the second laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state. The structure of the sixth optical element 430 may be similar to that of the first optical element 210, and thus will not be described in detail herein.

[0101] In one embodiment, the laser radar assembly 10 further includes a receiving optical assembly, which is disposed between the second scanner 400 and the target object 20 , and the second laser reflected by the target object 20 is sent to the second scanner 400 through the receiving optical assembly.

[0102] Fig.30 and Fig.31 A schematic diagram of laser reception of a laser radar assembly according to the first embodiment of the present application is shown. Exemplarily, the laser radar assembly may be a mechanical laser radar assembly. The receiving optical assembly and the transmitting optical assembly may share the first reflector 31c and the first prism 31b. The second laser reflected by the target object reaches the first prism 31b through the first reflector 31c, passes through the first prism 31b, is focused by the collimating lens, reaches the second scanner 400, and finally reaches the receiver 500 from the second scanner 400. Finally, the processing chip performs data processing and three-dimensional environment modeling.

[0103] like Fig.32 and Fig.33 As shown, the laser radar assembly can also be a rotating mirror laser radar assembly. The receiving optical assembly and the transmitting optical assembly can share the rotating mirror 31f and the second reflector 31e. The second laser reflected by the target object passes through the rotating mirror 31f, the second reflector 31e, the collimating lens and the second scanner 400 in sequence and is received by the receiver 500. After the receiver 500 converts the optical signal into an electrical signal, it is connected to the processing unit for data processing.

[0104] Fig.36 and Fig.37 A schematic diagram of laser reception of a laser radar assembly according to a third embodiment of the present application is shown. Exemplarily, the laser radar assembly may be a MEMS laser radar assembly. The receiving optical assembly and the transmitting optical assembly may share a galvanometer 31h. The second laser reflected by the target object 20 is received by the receiver 500 after passing through the galvanometer 31h, the second scanner 400 and the collimating lens in sequence. Finally, the processing chip performs data processing and three-dimensional environment modeling.

[0105] Fig.39A schematic diagram of laser reception of a laser radar assembly 10 according to a fourth embodiment of the present application is shown. Exemplarily, the laser radar assembly may be a FLASH laser radar assembly. The laser reception process of the FLASH laser radar assembly is opposite to the laser emission process. The second laser reflected by the target object passes through the second scanner 400 and the collimating lens in sequence and is received by the receiver 500. Finally, the processing chip performs data processing and three-dimensional environment modeling.

[0106] According to the laser radar component 10 of the embodiment of the present application, the binary scanning or ternary scanning of the first scanner 200 can be used to encrypt the point cloud density within a small angle range, thereby reducing the number of transmitters 100 and receivers 500 of the laser radar component 10 by 30% to 50%.

[0107] An embodiment of the present application also provides a device with a detection function, including a laser radar assembly 10 of any of the above-mentioned embodiments. Fig.41 FIG. 1 shows an example diagram of an application of a device with a detection function according to an embodiment of the present application. Fig.41 As shown, the equipment with electrical measurement function can be an autonomous driving vehicle, an intelligent robot, an automatic logistics vehicle, and surveying and mapping equipment, etc.

[0108] According to the device with detection function of the embodiment of the present application, by adopting the above-mentioned laser radar component 10, while ensuring the number of equivalent lines of the laser radar component 10, the number of transmitters 100 can be effectively reduced, thereby reducing costs.

[0109] The laser radar assembly 10 of the above-mentioned embodiment and other components of the device with detection function can adopt various technical solutions known to ordinary technicians in this field now and in the future, and will not be described in detail here.

[0110] In the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0111] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0112] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0113] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0114] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A laser radar component, characterized in that: include: A transmitter, configured to emit a first laser along a first direction; A first scanner, wherein an input end of the first scanner is arranged opposite to an output end of the transmitter, and the first scanner is used to control the first laser to be deflected from the first direction to a plurality of different first deflection directions, so as to emit the first laser along a plurality of the first deflection directions to the target object; wherein at least one of the first deflection directions is different from the first direction.

2. The laser radar assembly according to claim 1, characterized in that: The angle between the at least one first deflection direction and the first direction is 0.5° to 10°.

3. The laser radar assembly according to claim 1, characterized in that: The first scanner comprises: A first optical element, arranged opposite to the output end of the transmitter, for converting the first laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state; A second optical element, disposed on a side of the first optical element away from the emitter, and configured to deflect the first laser from the first direction into a plurality of first deflection directions; The third optical element is disposed between the first optical element and the second optical element, and is used to change the polarization state of the first laser or maintain the polarization state of the first laser.

4. The laser radar assembly according to claim 3, characterized in that: The third optical element comprises: a first substrate; A first transparent electrode layer is disposed on one side of the first substrate; A first alignment layer is disposed on a side of the first transparent electrode layer away from the first substrate; a second substrate, disposed on a side of the first alignment layer away from the first substrate; a second transparent electrode layer, disposed on a side of the second substrate facing the first substrate; A second alignment layer, disposed on a side of the second transparent electrode layer facing the first substrate; A first liquid crystal layer, disposed between the first alignment layer and the second alignment layer; A first driving electric field is formed between the first transparent electrode layer and the second transparent electrode layer, and the first driving electric field is used to change the deflection state of the first liquid crystal layer to change the polarization state of the first laser or maintain the polarization state of the first laser.

5. The laser radar assembly according to claim 4, characterized in that: The thickness of the first substrate and the second substrate are both 100μm to 700μm; and / or, the thickness of the first transparent electrode layer and the second transparent electrode layer are both 0.5μm to 2μm; and / or, the thickness of the first alignment layer and the second alignment layer are both 0.1μm to 0.5μm; and / or, the thickness of the first liquid crystal layer is 2μm to 5μm.

6. The laser radar assembly according to claim 3, characterized in that: The second optical element comprises: a third substrate; a third alignment layer, disposed on one side of the third substrate; A packaging structure, disposed on a side of the third alignment layer away from the third substrate; The second liquid crystal layer is arranged between the encapsulation structure and the third alignment layer.

7. The laser radar assembly according to claim 3, characterized in that: The second optical element comprises: a fourth substrate; a third transparent electrode layer, disposed on one side of the fourth substrate; a fourth alignment layer, disposed on a side of the third transparent electrode layer away from the fourth substrate; a fifth substrate, disposed on a side of the fourth alignment layer away from the fourth substrate; a fourth transparent electrode layer, disposed on a side of the fifth substrate facing the fourth substrate; a fifth alignment layer, disposed on a side of the fourth transparent electrode layer facing the fourth substrate; A third liquid crystal layer is disposed between the fourth alignment layer and the fifth alignment layer; A second driving electric field is formed between the third transparent electrode layer and the fourth transparent electrode layer, and the second driving electric field is used to change the deflection state of the third liquid crystal layer to deflect the first laser from the first direction to multiple first deflection directions.

8. The laser radar assembly according to any one of claims 1 to 7, characterized in that: Also includes: An emitting optical component, wherein an input end of the emitting optical component is arranged opposite to an output end of the first scanner, and the first lasers along a plurality of the first deflection directions are emitted to the target object through the emitting optical component.

9. The laser radar assembly according to claim 8, characterized in that: The emission optical component comprises a first collimating lens, a first prism and a first reflector which are sequentially arranged along the optical path direction of the first laser, and the first reflector is used to emit the first laser to a target object; or, The emission optical assembly comprises a second collimating lens, a second reflecting mirror and a rotating mirror rotating around a rotation axis, which are sequentially arranged along the optical path direction of the first laser, and the rotating mirror is used to emit the first laser to a target object; or, The emission optical component includes a galvanometer, and the galvanometer is used to emit the first laser to a target object; or, The emission optical assembly includes a diverging lens, and the diverging lens is used to emit the first laser to a target object.

10. The laser radar assembly according to any one of claims 1 to 7, characterized in that: Also includes: A second scanner and a receiver, wherein the second scanner is used to control the second laser to be deflected from a plurality of different second deflection directions to a second direction, so that the second laser along the second direction is sent to the receiver; wherein the second laser is the reflected light of the first laser by the target object; and at least one of the second deflection directions is different from the second direction.

11. The laser radar assembly according to claim 10, characterized in that: The second scanner comprises: a fourth optical element, disposed close to the target object, and configured to deflect the second laser from a plurality of the second deflection directions into the second direction; The fifth optical element is disposed between the fourth optical element and the receiver, and is used to change the polarization state of the second laser or maintain the polarization state of the second laser.

12. The laser radar assembly according to claim 11, characterized in that: The second scanner also includes: The sixth optical element is disposed between the fifth optical element and the receiver, and is used for converting the second laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state.

13. The laser radar assembly according to claim 10, characterized in that: Also includes: The receiving optical component is arranged between the second scanner and the target object, and the second laser reflected by the target object is sent to the second scanner through the receiving optical component.

14. A device with a detection function, characterized in that: Comprising a laser radar assembly according to any one of claims 1-13.

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