Optical scanning device and radar system

Abstract

The invention discloses an optical scanning device and a radar system. The optical scanning device includes: at least one optical lens; the driving part drives the optical lens to rotate around at least one preset axis; wherein at least one optical lens comprises a curved surface, the curved surface has a positive curvature in the first direction and has a negative curvature in the second direction, and the first direction intersects with the second direction. The radar system comprises a light emitting assembly which sequentially emits a plurality of groups of emitted light; the receiving end assembly is used for receiving reflected light obtained after the emitted light is reflected by a target object in a target scene and converting the reflected light into a receiving electric signal; and the light scanning device is used for sequentially deflecting the directions of the multiple groups of emitted light emitted by the light emitting assembly and then projecting the light to the target object, and / or deflecting the directions of the reflected light reflected by the target object and then projecting the reflected light to the receiving end assembly.

Description

Technical Field

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

[0002] Radar is an electronic device that uses electromagnetic waves to detect target objects. Radar transmits electromagnetic waves to the target object and receives its echo. After processing, it can obtain information such as the distance, direction, and altitude from the target object to the electromagnetic wave emission point.

[0003] A radar that uses laser as its working light is called a laser radar, and the optical scanner is the core component of the laser radar. Compared with other optical scanners such as high-speed rotating mirrors, large mirrors, and micro-vibration mirrors, low-speed multi-faceted rotating prisms or swing mirrors have small loads and are easy to process. They have the advantages of long service life, simple structure, and wide scanning range, and are widely used in laser radars. Taking a multi-faceted rotating prism as an example, a multi-faceted rotating prism usually includes a rotating shaft and a plurality of plane mirrors arranged around the rotating shaft. The plane mirrors can rotate synchronously with the rotating shaft to reflect the incident light at different angles. The plane mirrors of some multi-faceted rotating prisms are tilted relative to the rotating shaft. Although this setting can obtain a larger scanning range, it will also cause the pitch angles of the light reflected when the plane mirror is rotated to different angles to be different, resulting in uneven distribution of the light finally scanned. Summary of the invention

[0004] The optical scanning device and radar system provided in the embodiments of the present application can solve or partially solve the above-mentioned deficiencies in the prior art or other deficiencies in the prior art.

[0005] The optical scanning device provided according to the first aspect of the present application includes:

[0006] at least one optical lens; and

[0007] A driving member, driving the optical lens to rotate around at least one preset axis;

[0008] Wherein, at least one of the optical lenses includes a curved surface having a positive curvature along a first direction and a negative curvature along a second direction, and the first direction intersects with the second direction.

[0009] According to one embodiment of the present application, the surface shape of the curved surface satisfies: z=x*tan(f(y)); wherein x, y and z are the coordinates of any point on the curved surface on the x-axis, y-axis and z-axis respectively, z is the vector height of the curved surface, f(y) is a function with y as the independent variable, and the x-axis, the y-axis and the z-axis are perpendicular to each other.

[0010] According to one embodiment of the present application, f(y)=k1*y+k2*y 2 +k3*y3 +c, k1, k2, k3 and c are all preset constants, and at least one of k1, k2 and k3 is not equal to zero.

[0011] According to one embodiment of the present application, the optical lens is a first reflector, and the reflective surface of the first reflector is the curved surface.

[0012] According to one embodiment of the present application, the optical lens is a first lens or a liquid crystal lens, and the incident surface and / or the exit surface of the first lens or the liquid crystal lens is the curved surface.

[0013] According to one embodiment of the present application, there are multiple optical lenses, and the multiple optical lenses are adjacent to each other end to end and are arranged around the preset axis.

[0014] According to one embodiment of the present application, at least two of the optical lenses include the curved surface, and at least two of the curved surfaces have different surface shapes.

[0015] According to one embodiment of the present application, at least one of the optical lenses is parallel to the preset axis.

[0016] According to one embodiment of the present application, at least one of the optical lenses is tilted relative to the preset axis.

[0017] According to one embodiment of the present application, the plurality of optical lenses are all tilted relative to the preset axis, and at least two of the optical lenses have different inclination angles relative to the preset axis.

[0018] The radar system provided according to the second aspect of the present application includes:

[0019] A light emitting component emits a plurality of groups of emission lights in sequence;

[0020] a receiving end component, receiving reflected light after the emitted light is reflected by a target object in a target scene and converting the reflected light into a received electrical signal; and

[0021] The optical scanning device described in the first aspect of the present application deflects the multiple groups of emission lights emitted by the optical emitting component in sequence and projects them to the target object, and / or deflects the reflected light after the emission light is reflected by the target object and projects it to the receiving end component.

[0022] According to one embodiment of the present application, from the start moment of emission of the emission light, the emission field of view of the light emitting component is located in the current receiving field of view within the preset receiving duration, wherein the emission field of view is the projection area of ​​each group of the emission light within the target scene, and the receiving field of view is the area within the target scene corresponding to all the light that can be received by the receiving end component within the preset receiving duration.

[0023] According to one embodiment of the present application, at least one optical element is provided on the optical path between the optical emitting component and the optical scanning device and / or on the incident optical path of the receiving end component, and the optical element includes a second lens, a second reflector or an aperture.

[0024] According to one embodiment of the present application, the radar system also includes a processing device, which is electrically connected to the optical transmitting component, the optical scanning device and the receiving end component respectively, and the processing device is configured to determine at least one of the distance and angle of the target object relative to the radar system, the contour of the target object or the reflectivity of the target object based on the received electrical signal.

[0025] According to one embodiment of the present application, the processing device includes: at least one comparator, which compares the received electrical signal with the voltage value of a preset comparison input to determine the trigger start time, the trigger end time and the pulse width; wherein the trigger start time and the trigger end time are respectively the start time and the end time when the intensity of the received electrical signal is higher than the voltage value of the comparison input, and the pulse width is the difference between the trigger end time and the trigger start time; a duration determination module, which corresponds to the comparator one by one, and determines the light flight time according to the emission start time of each group of the emitted light and the trigger start time corresponding to the comparator output; and a processor, which determines the distance and angle of the target object relative to the radar system, the contour of the target object or the reflectivity of the target object according to at least one of the light flight time, the pulse width and the speed of light.

[0026] According to one embodiment of the present application, each group of the emitted light includes multiple light pulses, and the processing device is configured to adjust the energy of the emitted light emitted by the optical emitting component within a preset energy range at least according to the received electrical signal, and / or adjust the number of the light pulses of each group of the emitted light within a preset pulse number range, the preset energy range is 0.1*E~10*E, E is a preset initial energy, and the preset pulse number range is 1~10.

[0027] According to one embodiment of the present application, the receiving end component includes at least one photoelectric conversion unit, and the processing device is configured to adjust the gain of the photoelectric conversion unit within a preset gain range at least according to the received electrical signal, and the preset gain range is 0.01G to 100G, where G is a preset initial gain.

[0028] According to one embodiment of the present application, at least one of the optical lenses of the light scanning device has a first inclination angle with the preset axis; wherein the light emitting component includes a plurality of light emitting units, at least two of the light emitting units are arranged in sequence along a third direction parallel to the preset axis, and the angle of the light pulses emitted by any two light emitting units arranged along the third direction and deflected by the light scanning device along the third direction is different from the first inclination angle.

[0029] According to one embodiment of the present application, light pulses emitted by two adjacent light-emitting units arranged along the third direction and deflected by the light scanning device have a first preset angle along the third direction, and the first inclination angle is smaller than the first preset angle.

[0030] According to one embodiment of the present application, the light pulses emitted by the two light-emitting units at both ends along the third direction and deflected by the light scanning device have a second preset angle along the third direction, and the first inclination angle is greater than the second preset angle.

[0031] According to one embodiment of the present application, at least two of the light-emitting units are arranged in sequence along a fourth direction intersecting the third direction, and the light pulses emitted by two adjacent light-emitting units arranged along the fourth direction and deflected by the light scanning device have a third preset angle along the fourth direction.

[0032] According to one embodiment of the present application, the optical transmission component includes multiple light-emitting units, and the receiving end component includes at least one photoelectric conversion unit, and the ratio of the receiving field angle of the photoelectric conversion unit to the divergence angle of the emitted light emitted by the light-emitting unit is 0.01 to 100.

[0033] According to one embodiment of the present application, an aperture is arranged on the optical path between the optical scanning device and the receiving end component, and the receiving end component includes at least one photoelectric conversion unit, and the receiving field angle of the photoelectric conversion unit is determined by at least one of the aperture, the photosensitivity area of ​​the photoelectric conversion unit and the enable signal of the photoelectric conversion unit.

[0034] The optical scanning device and radar system provided in the embodiments of the present application adopt an optical lens having a curved surface with a positive curvature along a first direction and a negative curvature along a second direction in the optical scanning device. The curved surface can be used to correct the pitch angle of the light during the rotation of the optical scanning device around a preset axis, thereby not only ensuring that the optical scanning device has a larger scanning range, but also improving the problem of uneven scanning light.

[0035] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it configured to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, purposes and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments made with reference to the following drawings. The drawings are configured to better understand the present solution and do not constitute a limitation of the present application.

[0037] In the attached picture:

[0038] Figure 1 It is a schematic diagram of the working principle of a multi-faceted rotating prism in the prior art;

[0039] Figure 2 It is the scanning trajectory of the light reflected by the plane reflector of the multi-faceted rotating prism at different tilt angles on the vertical cylindrical surface in the prior art;

[0040] Figure 3 is a schematic diagram of a curved surface of an optical lens according to an embodiment of the present application;

[0041] Figure 4 is a schematic structural diagram of a radar system according to an embodiment of the present application;

[0042] Figure 5 is a schematic structural diagram of another radar system according to an embodiment of the present application;

[0043] Figure 6 is a schematic diagram of the structure of a light emitting component according to an embodiment of the present application;

[0044] Figure 7 is a schematic diagram of light emitted by a light scanning device according to an embodiment of the present application; and

[0045] Figure 8 is a schematic diagram of another light beam emitted by a light scanning device according to an embodiment of the present application.

[0046] Reference numerals:

[0047] 100. optical scanning device; 101. preset axis; 102. curved surface;

[0048] 200, light emitting component; 201, light emitting unit; 301, photoelectric conversion unit;

[0049] 400, target object; 510, second reflector; 520, second lens; 530, aperture;

[0050] 600. Multi-faceted rotating prism; 601. Plane reflecting mirror. DETAILED DESCRIPTION

[0051] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc., indicating the position or state relationship, are based on the position or state relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", and "third" are configured only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0053] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0055] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] like Figure 1 As shown, the multi-faceted rotating prism 600 includes a rotating shaft and a plurality of plane reflectors 601 arranged around the rotating shaft. The plane reflectors 601 are arranged tilted relative to the rotating shaft. In other words, the plane reflectors 601 are not parallel to the axis of the rotating shaft. Figure 1 The orientation shown is taken as a reference, the axis of the rotating shaft is perpendicular to the paper surface, the rotating shaft rotates in the counterclockwise direction, and the plane reflector 601 rotates synchronously counterclockwise around the rotating shaft. Assume that at time t1, the incident light is projected onto position a of the plane reflector 601 and is reflected at position a. If the incident direction of the incident light remains unchanged, as the plane reflector 601 rotates, the incident light is projected onto different positions of the plane reflector 601. At time tn, the incident light is projected onto position b of the plane reflector 601 and is reflected. Since the plane reflector 601 is tilted relative to the rotating shaft, the pitch angles of the light reflected from different positions of the plane reflector 601 are different during the rotation of the plane reflector 601. As shown Figure 2 As shown in FIG. 1 , from time t1 to time tn, the pitch angles of the light reflected by the plane reflector 601 are different, and the trajectory of these light rays in the vertical cylinder is a curve rather than a straight line. The heights of the points in the above trajectory are different. In other words, the light rays scanned by the multi-faceted rotating prism 600 are unevenly distributed. If the plane reflector 601 is tilted upward relative to the rotation axis, then Figure 2 The orientation shown in FIG. 1 is taken as a reference. From time t1 to time tn, the trajectory of the light reflected by the plane reflector 601 in the vertical cylindrical surface is Figure 2 If the plane reflector 601 is tilted downward relative to the rotation axis, then Figure 2 The orientation shown in FIG. 1 is taken as a reference. From time t1 to time tn, the trajectory of the light reflected by the plane reflector 601 in the vertical cylindrical surface is Figure 2 If the plane reflector 601 is parallel to the axis of rotation, then Figure 2 The orientation shown in FIG. 1 is taken as a reference. From time t1 to time tn, the trajectory of the light reflected by the plane reflector 601 in the vertical cylindrical surface is Figure 2The straight line in the middle of the trajectory has the same height at each point, in other words, the pitch angle of the light rays corresponding to these points is the same.

[0057] Based on this, in order to at least solve some of the above problems, combined with Figures 3 to 8 As shown, the embodiment of the present application provides an optical scanning device 100, which includes a driving member and at least one optical lens, the driving member is used to drive the optical lens to rotate around at least one preset axis 101, and the at least one optical lens includes a curved surface 102 having a positive curvature along a first direction and a negative curvature along a second direction, and the first direction and the second direction intersect. The first direction may be perpendicular to the second direction, or may not be perpendicular to it. For example, Figure 3 The orientation shown is used as a reference, the curved surface 102 of the optical lens is a curved surface similar to a saddle surface, the intersection line of the first plane and the curved surface 102 between points A and D is an upward convex curve, the intersection line of the second plane and the curved surface 102 between points C and B is a downward concave curve, the first plane and the second plane are both perpendicular to the xoy plane, points A and D are located on the first plane, and points C and B are located on the second plane. Therefore, the curved surface 102 of the optical lens can be regarded as a curved surface formed by moving one of the two curves along the other curve. It should be noted that the "curved surface 102 similar to a saddle surface" mentioned above can generally be understood as the curved surface 102 being concave in the middle and convex on both sides, and the overall shape of the curved surface 102 is similar to a saddle shape, and is not formed by rotating a hyperbola.

[0058] In the implementation manner of the present application, the optical lens can realize the deflection of the direction of light by reflection or refraction. For example, the optical lens is a first reflector, and the reflective surface of the first reflector is a curved surface 102. In addition, the first reflector may also include a mounting surface arranged opposite to the reflective surface, the mounting surface facing the preset axis, and the reflective surface facing away from the preset axis. In order to facilitate assembly and fixation, the mounting surface may be a plane. Of course, the mounting surface may also be a curved surface, which is not limited in the present application. For another example, the optical lens is a first lens or a liquid crystal lens. Taking the first lens as an example, the incident surface of the first lens may be a curved surface 102, or the exit surface of the first lens may be a curved surface 102, or the incident surface and the exit surface of the first lens may both be curved surfaces 102.

[0059] As can be seen from the above, the embodiment of the present application sets a curved surface 102 having a positive curvature along the first direction and a negative curvature along the second direction on at least one optical lens, and the curved surface 102 can be used to correct the pitch angle of the emitted light during the rotation of the optical scanning device 100 around the preset axis 101, which can not only ensure that the optical scanning device 100 has a larger scanning range, but also improve the problem of uneven scanning light. After the correction of the curved surface 102, the pitch angle of the light emitted by the optical scanning device 100 of the embodiment of the present application remains basically unchanged, the trajectory scanned in the vertical cylinder is a straight line, the height of each point in the trajectory remains unchanged, and the scanning light is evenly distributed.

[0060] In some embodiments, the surface shape of the curved surface 102 satisfies: z=x*tan(f(y)), where x, y and z are the coordinates of any point on the curved surface 102 on the x-axis, y-axis and z-axis respectively, z is the vector height of the curved surface, f(y) is a function with y as the independent variable, and the x-axis, y-axis and z-axis are perpendicular to each other. As an example, f(y)=k1*y+k2*y 2 +k3*y 3 +c, k1, k2, k3 and c are all preset constants, and at least one of k1, k2 and k3 is not equal to zero; for example, k1≠0, k2=k3=c=0, f(y)=k1*y. Figure 3 As shown, from the perspective of differentiation, the above-mentioned surface 102 can be formed in the following manner: a rectangular plane has four vertices A, B, C, and D, point A is located on the x-axis, point D is located on the y-axis, and point C is located at the intersection O of the x-axis and the y-axis; first, the rectangular plane is divided into countless rectangular strips along the y-axis; then, the above-mentioned rectangular strips are deflected around the y-axis one by one by a certain angle, and the deflection angle of each rectangular strip along the positive direction of the y-axis gradually increases, so that these deflected rectangular strips can be surrounded to form a saddle-shaped surface 102.

[0061] It should be noted that the number of optical lenses in the implementation manner of the present application can be one or more, and the number of optical lenses can be determined according to actual needs. If only one optical lens is provided, the rotation angle of the optical lens around the preset axis 101 can be less than ±90°. In other words, the optical lens swings around the preset axis 101. If the optical scanning device 100 is provided with multiple optical lenses, the multiple optical lenses can be adjacent to each other end to end and arranged around the preset axis 101, and all optical lenses rotate 360° around the preset axis 101 under the drive of the driving member. Among them, one or more optical lenses in the optical scanning device 100 can be arranged at an angle relative to the preset axis 101, or can be arranged parallel to the preset axis 101. Taking the optical lens as a reflector as an example, when the optical lens is tilted relative to the preset axis 101, if the reflective surface of the optical lens is a plane, the plane has a non-zero angle with the preset axis 101, in other words, the normal of the plane is not perpendicular to the preset axis 101; if the reflective surface of the optical lens is a curved surface 102, then the curved surface 102 is tilted as a whole relative to the preset axis 101, in other words, the x-axis corresponding to the surface shape of the curved surface 102 has a non-zero angle with the preset axis. When the optical lens is parallel to the preset axis 101, if the reflective surface of the optical lens is a plane, then the plane is parallel to the preset axis 101, in other words, the normal of the plane is perpendicular to the preset axis 101; if the reflective surface of the optical lens is a curved surface 102, then the curved surface 102 is parallel to the preset axis 101 as a whole, in other words, the x-axis corresponding to the surface shape of the curved surface 102 is parallel to the preset axis.

[0062] In addition, when the optical scanning device 100 is provided with a plurality of optical lenses, at least two optical lenses include the above-mentioned curved surface 102. The above-mentioned at least two optical lenses have different inclination angles relative to the preset axis 101, so that each optical lens can deflect the light projected thereon at different horizontal angles and / or vertical angles and then project it toward the target scene. The surface shapes of the above-mentioned curved surfaces 102 can be completely the same or different, or the surface shapes of some curved surfaces 102 are the same, and the surface shapes of the remaining curved surfaces 102 are different. For example, the optical scanning device 100 includes four optical lenses, one of which has a flat reflective surface, and the other three optical lenses have curved reflective surfaces 102. The surface shapes of two of the three curved surfaces 102 satisfy z=x*tan(k1*y), and the two curved surfaces 102 have different inclination angles relative to the preset rotation axis, that is, the angles between the x-axis corresponding to the surface shapes of the two curved surfaces 102 and the preset rotation axis are different, and the surface shape of the remaining curved surface 102 satisfies x*tan(k1*y+k2*y^2). Wherein, k1 and k2 are both non-zero constants.

[0063] In some embodiments, in addition to the curved surface 102, the optical lens may also include a mounting surface, which may be a plane, and may be arranged tilted relative to the preset axis 101, or may be arranged parallel to the preset axis 101. If the mounting surface of the optical lens is arranged tilted relative to the preset axis 101, then the entire optical lens is usually tilted relative to the preset axis 101; if the mounting surface of the optical lens is parallel to the preset axis 101, then the entire optical lens is usually parallel to the preset axis.

[0064] In some embodiments, the optical scanning device 100 may further include a bracket, the interior of which is formed with a receiving cavity for installing a driving member, and the outer wall of the bracket includes at least one fixed surface, and each fixed surface is fixed with an optical lens. Among them, the driving member can be a motor, and the rotor of the motor can be fixed to the inner wall of the receiving cavity of the bracket by bolts or welding. Since the rotor of the motor is fixedly connected to the bracket, when the rotor of the motor rotates relative to its stator, the bracket rotates synchronously therewith, and all the optical lenses are fixed to the outer wall of the bracket around the receiving cavity, so that each optical lens will also rotate synchronously with the bracket relative to the stator of the motor. It should be noted that the cross-sectional shape of the bracket can be a triangle, a quadrilateral, a pentagon, a hexagon or a special shape, etc., and this application is not limited to this. In the embodiment of the present application, the "cross-sectional shape of the bracket" generally refers to the shape of the cross section of the bracket in the direction perpendicular to the height of the bracket, and the special shape generally refers to an irregular polygon.

[0065] like Figure 4 and Figure 5 As shown, the embodiment of the present application further provides a radar system, which includes a light emitting component 200, a receiving end component and the above-mentioned light scanning device 100. The light emitting component 200 sequentially emits multiple groups of emission lights, the receiving end component receives the reflected light after the emission light is reflected by the target object 400 in the target scene and converts the reflected light into a received electrical signal, and the light scanning device 100 sequentially deflects the multiple groups of emission lights emitted by the light emitting component 200 and irradiates them to the target object 400, and / or deflects the reflected light reflected by the target object 400 and irradiates it to the receiving end component.

[0066] In some embodiments, from the start time of the emission of the self-transmitted light, the emission field of view of the optical transmission component 200 is located in the current receiving field of view of the receiving end component within the preset receiving time length; wherein the emission field of view is the projection area of ​​each group of emission light in the target scene, and the receiving field of view is the area corresponding to all the light that can be received by the receiving end component within the preset receiving time length in the target scene. Since the emission field of view of the optical transmission component 200 is located in the current receiving field of view within the preset receiving field of view from the start time of the emission of the self-transmitted light, the optical scanning device 100 does not need to accurately and quickly synchronize the emission field of view with the receiving field of view, thereby reducing the complexity and cost of the entire radar system while ensuring the resolution.

[0067] In some embodiments, at least one optical element is disposed on the optical path between the optical emitting component 200 and the optical scanning device 100 and / or on the incident optical path of the receiving end component, and the optical element includes a second lens 520, a second reflector 510, or an aperture 530. The second lens 520 may be, but is not limited to, a spherical lens, an aspherical lens, a cylindrical lens, a free-form surface lens, or a composite lens. As an example, Figure 5 As shown, a second reflector 510 is arranged on the optical path between the optical emitting component 200 and the optical scanning device 100, and two second lenses 520 and an aperture 530 located between the two second lenses 520 are arranged on the optical path between the optical scanning device 100 and the receiving end component. Thus, the emission light emitted by the optical emitting component 200 is first emitted to the second reflector 510, and the emission light is reflected by the second reflector 510 and then emitted to the optical scanning device 100, and the optical scanning device 100 deflects the emission light and then emits it to the target object 400. The reflected light reflected by the target object 400 is then deflected by the optical scanning device 100 and then emitted to one of the second lenses 520, and the reflected light is focused by the second lens 520 and then emitted to the other second lens 520 through the aperture 530, and then the reflected light is focused again by the second lens 520 and then emitted to the receiving end component, and the receiving end component converts the reflected light into a received electrical signal.

[0068] It should be noted that only one second lens 520 may be provided between the optical scanning device 100 and the receiving end component, or no second lens 520 may be provided. The second lens 520 provided on the incident light path of the receiving end component mainly focuses the reflected light of the target object 400, so that the number of the second lens 520 can be determined according to the size of the light spot projected to the receiving end component. In addition, at least one lens may be provided on the light path between the optical transmitting component 200 and the optical scanning device 100, and the emitted light emitted by the optical transmitting component 200 is expanded and collimated by the second lens 520 before being emitted to the optical scanning device 100. The second lens 520 provided on the outgoing light path of the optical transmitting component 200 mainly expands and collimates the emitted light, so that the number of the second lens 520 can be determined according to the volume of the radar system and the divergence angle of the emitted light transmitted to the optical scanning device 100.

[0069] In some embodiments, the radar system further includes a processing device, the processing device is electrically connected to the receiving end component, and the processing device is configured to determine at least one of the distance and angle of the target object 400 relative to the radar system, the outline of the target object 400, or the reflectivity of the target object 400 according to the received electrical signal. It should be noted that the processing device can determine the distance and angle of the target object 400 relative to the radar system, the outline or reflectivity of the target object 400 according to a variety of methods. For example, the processing device can determine the distance of the target object 400 based on methods such as time of flight method, phase method ranging or triangulation ranging method. Since the processing device is electrically connected to the receiving end component, the processing device can also adjust the photoelectric conversion performance of the receiving end component according to a preset algorithm or information such as the received electrical signal. For example, if the receiving end component includes at least one photoelectric conversion unit 301, the processing device can be configured to adjust the gain of the photoelectric conversion unit 301 within a preset gain range at least according to the received electrical signal, and the preset gain range is 0.01G to 100G, and G is a preset initial gain. For example, the gain of the photoelectric conversion unit 301 may be 0.01 times, 0.1 times, 1 times, 10 times or 100 times the initial gain. In addition, the processor may also be electrically connected to the optical emission component 200, and the processor is configured to adjust parameters such as the energy of the emitted light emitted by the optical emission component 200 according to a preset algorithm or information such as a received electrical signal. For example, if each group of emitted light includes a plurality of light pulses, the processing device may be configured to adjust the energy of the emitted light emitted by the optical emission component 200 within a preset energy range at least according to the received electrical signal, and / or adjust the number of light pulses of each group of emitted light within a preset pulse number range, the preset energy range being 0.1*E to 10*E, E being the preset initial energy, and the preset pulse number range being 1 to 10. For example, the energy of the emitted light emitted by the optical emission component 200 may be 1%, 5%, 10%, 15%, 20%, 40%, 50%, 80%, 100%, 200% or 1000% of the preset initial energy. The processing device may also be electrically connected to the optical scanning device 100 , and the processing device is configured to control the driving member of the optical scanning assembly according to a preset algorithm or information such as a received electrical signal, so as to adjust the rotation speed of the optical scanning device 100 in real time.

[0070] As an example, the processing device may include at least one comparator, a duration determination module corresponding to the comparator one by one, and a processor. The comparator determines the trigger start time, the trigger end time, and the pulse width according to the preset comparison input and the received electrical signal. The comparison input may be a dynamic voltage curve input from the outside to the comparator, or a dynamic voltage curve pre-stored in the comparator. The duration determination module may determine the light flight time according to the emission start time of each group of emitted light and the trigger start time output by the corresponding comparator. The processor may determine at least one of the distance and angle of the target object 400 relative to the radar system, the contour of the target object 400, or the reflectivity of the target object 400 according to at least one of the light flight time, the pulse width, and the speed of light. The duration determination module may be, but is not limited to, a TDC (time to digital converter, full name: time to digital converter), and the duration determination module and the processor may be independent components or integrated into one component.

[0071] In some embodiments, the receiving end component may include a plurality of photoelectric conversion units 301. The plurality of photoelectric conversion units 301 may be distributed in an array, and the photoelectric conversion unit 301 may be, but is not limited to, at least one of APD (Avalanche PhotoDiode), SPAD (Single Photon Avalanche Diode), SIPM (Silicon photomultiplier), PIN diode and PD (Photo-Diode). The receiving field of view of the photoelectric conversion unit 301 is determined by at least one of the photosensitive area of ​​the photoelectric conversion unit 301 and the enable signal of the photoelectric conversion unit 301. In addition, when an aperture 530 is provided on the optical path between the optical scanning device 100 and the receiving end component, the receiving field of view of the photoelectric conversion unit 301 may be determined by the aperture 530 in addition to the area of ​​the photoelectric conversion unit 301 and the enable signal.

[0072] It should be noted that, in addition to at least one photoelectric conversion unit, the receiving end component may also include an electrical amplification module. For example, the photoelectric conversion unit 301 converts the reflected light of the target object 400 into an original electrical signal, and the electrical amplification module amplifies the original electrical signal output by the photoelectric conversion unit 301 into a received electrical signal. Among them, the electrical amplification module may include a plurality of amplifiers connected in series or in parallel, and the intensity of the amplified electrical signal output by at least one of the plurality of amplifiers is less than half the intensity of the amplified electrical signal output by another amplifier. The output end of at least the amplifier that outputs the largest amplified electrical signal is connected to the input end of at least one comparator, and the comparison input of the comparator corresponds to the amplifier one-to-one. For example, when multiple amplifiers are connected in series in sequence, the amplified electrical signal output by the last amplifier is the largest. Therefore, if the number of comparators is one, then the comparator is connected to the duration determination module through the last amplifier; if the number of comparators is multiple, then the output ends of the plurality of amplifiers are all connected to comparators, and the voltage value of the comparison input of each comparator is different. The comparator is connected to the comparison input, and is used to compare the voltage value of the comparison input with the electrical signal output by the corresponding amplifier to determine the trigger start time, the trigger end time and the pulse width; wherein the trigger start time and the trigger end time are respectively the start time and the end time when the intensity of the electrical signal output by the amplifier is higher than the voltage value of the comparison input, and the pulse width is the difference between the trigger end time and the trigger start time; the duration determination module corresponds to the comparator one by one, and the duration determination module is used to determine the light flight time according to the emission start time and the trigger start time output by the corresponding comparator. The processor determines at least one of the distance and angle of the target object 400 relative to the radar system, the outline of the target object 400, or the reflectivity of the target object 400 according to at least one of the light flight time, the pulse width and the speed of light.

[0073] In some embodiments, Figure 6As shown, the light emitting component 200 includes a plurality of light emitting units 201, and the light emitting unit 201 emits a light pulse to the target object 400. In order to expand the projection range of the light pulse, all the light emitting units 201 can be distributed in an array, the third direction is the column direction of the array, and the fourth direction is the row direction of the array. In addition to being distributed in the above manner, all the light emitting units 201 can also be arranged in sequence along a third direction parallel to the preset axis 101, or all the light emitting units 201 are arranged in sequence along a fourth direction intersecting the third direction, which is not limited in the present application. Among them, the light emitting unit 201 can be, but is not limited to, an edge emitting laser, i.e., EEL, a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, referred to as VCSEL), a fiber laser, or a semiconductor-pumped solid-state laser. As an example, in the case where the receiving end component includes a plurality of photoelectric conversion units 301, the ratio of the receiving field angle of the photoelectric conversion unit 301 to the divergence angle of the emitted light emitted by the light emitting unit 201 is 0.01 to 100.

[0074] In some embodiments, at least one optical lens of the optical scanning device 100 has a first inclination angle (not shown) with respect to the preset axis 101, and the optical emitting assembly 200 includes a plurality of light emitting units 201, at least two of which are arranged in sequence along a third direction parallel to the preset axis 101, and the angle of light pulses emitted by any two light emitting units 201 arranged in the third direction and deflected by the optical scanning device 100 along the third direction is different from the first inclination angle. If the number of light emitting units 201 is greater than 2, at least two light emitting units 201 may also be arranged in sequence along a fourth direction intersecting the third direction, and the light pulses emitted by two adjacent light emitting units 201 arranged in the fourth direction and deflected by the optical scanning device 100 along the fourth direction have a third preset angle (not shown). The relative size of the above-mentioned angle and the first inclination angle directly affects the form in which the light pulse is projected to the target scene.

[0075] For example, Figure 6 and Figure 7 As shown, if at least one optical lens of the optical scanning device 100 has a first inclination angle with the preset axis 101, and the light pulses emitted by two adjacent light emitting units 201 arranged along the third direction and deflected by the optical scanning device 100 have a first preset angle along the third direction. When the emission light emitted by the light emitting component 200 irradiates the optical lens, if the first inclination angle is less than the first preset angle and the first inclination angle is greater than zero, then the light pulses are along the third direction. Figure 7 If at least one optical lens of the optical scanning device 100 is parallel to the preset axis 101, when the light pulse emitted by the light emitting component 200 hits the optical lens, the light pulse will be reflected along the direction indicated by the dotted arrow in (a). Figure 7(b) is reflected to the target scene in the direction indicated by the solid arrow in FIG. If at least one optical lens of the optical scanning device 100 has a first inclination angle with the preset axis 101, when the light pulse emitted by the light emitting component 200 irradiates the optical lens, if the first inclination angle is less than the first preset angle and the first inclination angle is less than zero, then the light pulse is reflected along Figure 7 (c) The light is reflected to the target scene in the direction indicated by the dotted arrow. Further, half of the first inclination angle may be smaller than the first preset angle.

[0076] For example, Figure 6 and Figure 8 As shown, if at least one optical lens of the optical scanning device 100 has a first inclination angle with the preset axis 101, and the light pulses emitted by the two light emitting units 201 at both ends along the third direction and deflected by the optical scanning device 100 have a second preset angle along the third direction. When the light pulse emitted by the light emitting component 200 irradiates the optical lens, if the first inclination angle is greater than the second preset angle and the first inclination angle is greater than zero, then the light pulse is along the third direction. Figure 8 If at least one optical lens of the optical scanning device 100 is parallel to the preset axis 101, when the light pulse emitted by the light emitting component 200 hits the optical lens, the light pulse will be reflected along the direction indicated by the dashed arrow. Figure 8 If at least one optical lens of the optical scanning device 100 has a first inclination angle with the preset axis 101, when the light pulse emitted by the light emitting component 200 irradiates the optical lens, if the first inclination angle is greater than the second preset angle and the first inclination angle is less than zero, then the light pulse is reflected to the target scene in the direction indicated by the solid arrow. Figure 8 The direction indicated by the dotted arrow is reflected to the target scene.

[0077] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An optical scanning device, characterized in that: include: at least one optical lens; as well as A driving member, driving the optical lens to rotate around at least one preset axis; Wherein, at least one of the optical lenses includes a curved surface having a positive curvature along a first direction and a negative curvature along a second direction, and the first direction intersects with the second direction.

2. The optical scanning device according to claim 1, wherein: The surface shape of the curved surface satisfies: z = x * tan(f(y)); Among them, x, y and z are the coordinates of any point on the surface on the x-axis, y-axis and z-axis respectively, z is the vector height of the surface, f(y) is a function with y as the independent variable, and the x-axis, y-axis and z-axis are perpendicular to each other.

3. The optical scanning device according to claim 2, wherein: f(y)=k1*y+k2*y 2 +k3*y 3 +c, k1, k2, k3 and c are all preset constants, and at least one of k1, k2 and k3 is not equal to zero.

4. The optical scanning device according to claim 1, wherein: The optical lens is a first reflector, and the reflective surface of the first reflector is the curved surface.

5. The optical scanning device according to claim 1, wherein: The optical lens is a first lens or a liquid crystal lens, and the incident surface and / or the exit surface of the first lens or the liquid crystal lens is the curved surface.

6. The optical scanning device according to any one of claims 1 to 5, wherein: There are multiple optical lenses, and the multiple optical lenses are adjacent to each other end to end and arranged around the preset axis.

7. The optical scanning device according to claim 6, wherein: At least two of the optical lenses include the curved surface, and at least two of the curved surfaces have different surface shapes.

8. The optical scanning device according to claim 6, wherein: At least one of the optical lenses is parallel to the preset axis.

9. The optical scanning device according to claim 6, wherein: At least one of the optical lenses is inclined relative to the preset axis.

10. The optical scanning device according to claim 9, wherein: The plurality of optical lenses are all tilted relative to the preset axis, and at least two of the optical lenses have different inclination angles relative to the preset axis.

11. A radar system, characterized in that: include: A light emitting component emits a plurality of groups of emission lights in sequence; A receiving end component receives reflected light after the emitted light is reflected by a target object in a target scene and converts the reflected light into a received electrical signal; as well as The optical scanning device as described in any one of claims 1 to 10, wherein the multiple groups of emission lights emitted by the optical emitting component are deflected in sequence and then projected to the target object, and / or the reflected light after the emission light is reflected by the target object is deflected and then projected to the receiving end component.

12. The radar system according to claim 11, wherein: From the start moment of emission of the emission light, the emission field of view of the light emitting component is located in the current receiving field of view of the receiving end component within the preset receiving duration, wherein the emission field of view is the projection area of ​​each group of the emission light within the target scene, and the receiving field of view is the area within the target scene corresponding to all the light that can be received by the receiving end component within the preset receiving duration.

13. The radar system according to claim 11, wherein: At least one optical element is provided on the optical path between the optical emitting component and the optical scanning device and / or on the incident optical path of the receiving end component, and the optical element includes a second lens, a second reflector or an aperture.

14. The radar system according to claim 11, wherein: The radar system also includes a processing device, which is electrically connected to the optical transmitting component, the optical scanning device and the receiving end component respectively, and the processing device is configured to determine at least one of the distance and angle of the target object relative to the radar system, the outline of the target object or the reflectivity of the target object based on the received electrical signal.

15. The radar system of claim 14, wherein: The processing device comprises: At least one comparator compares the received electrical signal with a preset voltage value of a comparison input to determine a trigger start time, a trigger end time, and a pulse width; wherein the trigger start time and the trigger end time are respectively the start time and the end time when the intensity of the received electrical signal is higher than the voltage value of the comparison input, and the pulse width is the difference between the trigger end time and the trigger start time; a duration determination module, corresponding one-to-one with the comparator, and determining the light flight duration according to the emission start time of each group of the emission light and the trigger start time corresponding to the comparator output; and A processor determines at least one of the distance and angle of the target object relative to the radar system, the profile of the target object, or the reflectivity of the target object based on at least one of the light flight time, the pulse width, and the speed of light.

16. The radar system of claim 14, wherein: Each group of emitted light includes multiple light pulses, and the processing device is configured to adjust the energy of the emitted light emitted by the optical emitting component within a preset energy range at least according to the received electrical signal, and / or adjust the number of light pulses in each group of emitted light within a preset pulse number range, wherein the preset energy range is 0.1*E~10*E, E is a preset initial energy, and the preset pulse number range is 1~10.

17. The radar system of claim 14, wherein: The receiving end component includes at least one photoelectric conversion unit, and the processing device is configured to adjust the gain of the photoelectric conversion unit within a preset gain range at least according to the received electrical signal, and the preset gain range is 0.01G to 100G, where G is a preset initial gain.

18. The radar system according to any one of claims 11 to 17, wherein: There is a first inclination angle between at least one of the optical lenses of the optical scanning device and the preset axis; Wherein, the light emitting component includes a plurality of light emitting units, at least two of the light emitting units are arranged in sequence along a third direction parallel to the preset axis, and the angle of the light pulses emitted by any two of the light emitting units arranged along the third direction and deflected by the light scanning device along the third direction is different from the first inclination angle.

19. The radar system of claim 18, wherein: The light pulses emitted by two adjacent light emitting units arranged along the third direction and deflected by the light scanning device have a first preset angle along the third direction, and the first inclination angle is smaller than the first preset angle.

20. The radar system of claim 18, wherein: The light pulses emitted by the two light emitting units at two ends along the third direction and deflected by the light scanning device have a second preset angle along the third direction, and the first inclination angle is greater than the second preset angle.

21. The radar system according to any one of claims 18, wherein: At least two of the light emitting units are arranged in sequence along a fourth direction intersecting the third direction, and light pulses emitted by two adjacent light emitting units arranged along the fourth direction and deflected by the light scanning device have a third preset angle along the fourth direction.

22. A radar system according to any one of claims 11 to 17, wherein: The optical transmission component includes a plurality of light-emitting units, and the receiving end component includes at least one photoelectric conversion unit. The ratio of the receiving field angle of the photoelectric conversion unit to the divergence angle of the emitted light emitted by the light-emitting unit is 0.01-100.

23. A radar system according to any one of claims 11 to 17, wherein: An aperture is arranged on the optical path between the optical scanning device and the receiving end component. The receiving end component includes at least one photoelectric conversion unit. The receiving field angle of the photoelectric conversion unit is determined by at least one of the aperture, the photosensitive area of ​​the photoelectric conversion unit and the enable signal of the photoelectric conversion unit.

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