Configurable light emission by selective beam sweeping

Abstract

An optoelectronic system includes a laser operable to generate a laser beam; an optical element comprising two or more beam shaping portions, each of the two or more beam shaping portions having a different optical property; a beam deflector arranged to cause the laser beam to sweep the optical element to produce output light; and electronics communicatively coupled with the laser, the beam deflector, or both the laser and the beam deflector. The electronics are configured to cause the laser beam to selectively irradiate onto a proper subset of the two or more beam shaping portions of the optical element to modify one or more optical parameters of the output light.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority to U.S. Provisional Application No. 63 / 314,304, filed on February 25, 2022. Technical Field

[0003] Techniques are described for producing light having desired optical properties by selectively illuminating optical elements with a swept laser beam. Background Art

[0004] Laser light is projected onto an object to form a pattern for imaging. The optical properties of the laser light (e.g., intensity, polarization, focal length, and pattern) depend on the application in which the laser light is used. For example, to perform depth sensing on an object, an array of dots is projected onto the object. Illuminating lines (e.g., from a fan-shaped laser beam) can be used for applications such as mapping, calibration, leveling, and three-dimensional (3D) imaging. Because different applications may require different optical properties, multiple laser projection systems may be provided, each corresponding to a different use case. Summary of the invention

[0005] The technology described herein uses a laser in combination with a beam deflector to sweep a laser beam across an optical element having a plurality of beam shaping sections. The laser, the beam deflector, or both are controlled so that the laser beam is irradiated on a proper subset of the plurality of beam shaping sections to produce output light having desired properties corresponding to the proper subset of the plurality of beam shaping sections. By appropriately adjusting various laser beam properties and / or sweep properties, output light having a variety of optical properties can be obtained.

[0006] According to one aspect of the disclosed technology, an optoelectronic system includes: a laser operable to generate a laser beam; an optical element including two or more beam shaping portions, each of the two or more beam shaping portions having different optical properties; a beam deflector arranged to sweep the laser beam across the optical element to generate output light; and an electronic device communicatively coupled to the laser, the beam deflector, or both the laser and the beam deflector. The electronic device is configured to selectively impinge the laser beam onto a proper subset of the two or more beam shaping portions of the optical element to modify one or more optical parameters of the output light.

[0007] The foregoing and other embodiments according to the present disclosure may each optionally include one or more of the following features, alone or in combination.The following features may be included, alone or in combination, in embodiments of the subsequently cited aspects of the present disclosure describing methods.

[0008] In some embodiments, the two or more beam shaping sections comprise different beam shaping sections.

[0009] In some embodiments, the different beam shaping sections are arranged in two dimensions.

[0010] In some implementations, the electronics is configured to obtain data indicative of the proper subset of the two or more beam shaping portions. The proper subset of the two or more beam shaping portions has optical properties that provide selected optical parameters. The electronics is configured to selectively impinge the laser beam onto the proper subset of the two or more beam shaping portions by controlling the laser, the beam deflector, or both the laser and the beam deflector.

[0011] In some embodiments, the electronic device includes a laser controller configured to switch the laser on when the beam deflector is in a configuration to deflect the laser beam onto the proper subset of the two or more beam shaping sections, and to switch the laser off when the beam deflector is in a configuration to deflect the laser beam onto another beam shaping section of the optical element that is different from the proper subset of the two or more beam shaping sections.

[0012] In some implementations, another beam shaping portion is arranged between different segments of the proper subset of the two or more beam shaping portions.

[0013] In some implementations, the electronics include a laser controller configured to change an emission power of the laser between different on-state powers as the beam deflector sweeps the laser beam such that different segments of the proper subsets of the two or more beam shaping portions are illuminated with different laser beam powers.

[0014] In some implementations, the electronics include a deflector controller configured to change a sweep range of the beam deflector from a first sweep range to a second, different sweep range. The second sweep range deflects the laser beam onto the proper subset of the two or more beam shaping portions.

[0015] In some implementations, the optoelectronic system includes a lens disposed between the beam deflector and the optical element, the lens configured to collimate the laser beam deflected by the beam deflector to generate parallel laser beams for different deflection directions, the parallel laser beams being directed toward the optical element.

[0016] In some embodiments, the optical element comprises a single printed optic comprising the two or more beam shaping portions.

[0017] In some implementations, the different optical properties of the two or more beam shaping portions include different focal lengths.

[0018] In some implementations, the one or more optical parameters include a shape of the output light projected onto an object.

[0019] In some implementations, the one or more optical parameters include a projection direction of the output light.

[0020] In some implementations, the one or more optical parameters include a fan angle of the output light.

[0021] In some implementations, the one or more optical parameters include a pattern of structured light in the output light.

[0022] In some implementations, the pattern includes at least one of a two-dimensional phase-shift pattern, a two-dimensional dot pattern, or a stripe pattern.

[0023] In some implementations, the one or more optical parameters include polarization of the output light.

[0024] In some embodiments, the output light is configured to form one or more illumination lines, and the one or more optical parameters include at least one of the number of the one or more illumination lines, the position of the one or more illumination lines, the length of the one or more illumination lines, or the spacing between adjacent ones of the one or more illumination lines.

[0025] In some embodiments, the two or more beam shaping portions comprise diffractive optical elements.

[0026] In some embodiments, the two or more beam shaping portions comprise an optical diffuser.

[0027] In some implementations, the beam deflector comprises a microelectromechanical system (MEMS) mirror.

[0028] In some implementations, the optoelectronic system includes a camera sensor arranged to image an object onto which the output light is projected.

[0029] In some implementations, the electronic device includes: an image processor configured to receive an image captured by the camera sensor; determine a pattern of the output light projected onto the object; and based on the pattern, determine a surface topology of the object.

[0030] In some implementations, the electronics include a deflector controller configured to adjust at least one of a sweep frequency or a sweep speed of the beam deflector.

[0031] In some implementations, the electronic device includes a deflector controller configured to adjust a sweep range of the beam deflector from a first sweep range to a second, different sweep range, wherein the first sweep range deflects the laser beam onto a first illumination path on a first beam shaping portion, and wherein the second sweep range deflects the laser beam onto a second, different illumination path on the first beam shaping portion.

[0032] In some implementations, the optical element includes a beam blocking element disposed between the first beam shaping portion and the second beam shaping portion.

[0033] A second aspect of the present disclosure describes a method. The method includes: controlling a laser to emit a laser beam; controlling a beam deflector to sweep the laser beam across an optical element to produce output light; and obtaining data indicating a proper subset of two or more beam shaping parts of the optical element to be illuminated with the laser beam. Each of the two or more beam shaping parts has a different optical property, and the proper subset of the two or more beam shaping parts has an optical property that provides selected optical parameters of the output light. The method includes controlling the laser, the beam deflector, or both the laser and the beam deflector to selectively irradiate the laser beam onto the proper subset of the two or more beam shaping parts.

[0034] The foregoing and other embodiments according to the present disclosure may each optionally include one or more of the following features, alone or in combination.

[0035] In some implementations, obtaining the data indicative of the proper subset includes: receiving data indicative of the selected optical parameters; and determining the proper subset based on the selected optical parameters.

[0036] In some implementations, obtaining the data indicative of the proper subset includes: receiving data indicative of a current application in which the output light is to be used; determining the selected optical parameters based on the current application; and determining the proper subset based on the selected optical parameters.

[0037] In some embodiments, the method includes: controlling a camera sensor to capture an image of an object onto which the output light is projected; determining a pattern of the output light projected onto the object based on the image; and determining a surface topology of the object based on the pattern.

[0038] Certain aspects of the disclosed technology can be implemented to achieve one or more of the following potential advantages. In some embodiments, the number of separate optical elements used to provide different types of output light can be reduced because the optical element has multiple beam shaping portions that can modify the light in different ways to provide different types of output light. In some embodiments, the compactness and simplicity of the light emitting system can be improved because laser light emitted from a single laser can be transmitted along substantially the same (except for different deflection angles) beam paths to impinge on a common optical element to produce light with different optical properties. In some embodiments, precise temporal alignment can be used for flexible optical light output, providing improved system simplicity and reliability compared to spatial optical alignment with more complex optical systems. In some embodiments, output light control can be improved because collimating lenses result in orthogonal illumination of laser beams deflected at different angles. In some embodiments, speckle in the projected pattern can be reduced and eye safety can be improved because direct and indirect light interference is averaged out as the laser beam is swept along one or more beam shaping portions of the optical element. In some embodiments, complex overlays of optical patterns can be generated in a highly configurable manner, as beam deflector adjustments, synchronized laser switching, or both can provide highly controllable selective illumination of laser light on specific portions of the optical element. In some embodiments, the output light can be configured for interoperability with imaging and image analysis processes, thereby improving the accuracy and reliability of the analysis.

[0039] The details of one or more implementations of the disclosed technology are set forth in the following drawings and description. Other features, aspects, descriptions, and potential advantages will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a diagram illustrating an example of an optoelectronic system that uses a beam deflector to selectively illuminate an optical element.

[0041] Figure 2 is a diagram illustrating an example of an optoelectronic system including a collimating lens for collimating a deflected laser beam.

[0042] Figures 3A to 3B is a diagram illustrating an example of a configuration of an optoelectronic system for providing superimposed light patterns for imaging.

[0043] Figures 4A to 4B is a side view illustrating an example of an optical element including a plurality of beam shaping portions.

[0044] Figures 5 to 7 is a diagram illustrating an example of an optoelectronic system having optical elements that can modify light in different ways.

[0045] Figures 8A to 8Cis a diagram illustrating an example of a configuration of an optoelectronic system including beam deflection along a plurality of axes to irradiate on a two-dimensional pattern of a beam shaping portion.

[0046] Figures 9A to 9B is a diagram illustrating an example of a configuration of an optoelectronic system that includes beam deflection along multiple axes to translate a projected light pattern.

[0047] Fig.10 is a side view illustrating an example of an optical element.

[0048] Fig.11 is a diagram illustrating an example of an optoelectronic system having one or more optical components.

[0049] Fig.12 It is a diagram illustrating an example of a control system.

[0050] Figures 13 to 14 is a diagram illustrating an example of a process that may be performed using the optoelectronic systems described herein.

[0051] Certain illustrative aspects of the disclosed technology are described herein in conjunction with the following description and accompanying drawings. However, these aspects are only indicative of a few of the various ways in which the principles of the disclosed technology may be employed, and the disclosed technology is intended to include all such aspects and their equivalents. Other advantages and novel features of the disclosed technology may become apparent from the following detailed description when considered in conjunction with the drawings. DETAILED DESCRIPTION

[0052] Figure 1 FIG. 1A shows an example of an optoelectronic system 100 that uses a selectively swept laser beam to generate light having one or more desired characteristics. The optoelectronic system 100 includes a laser 102 that is arranged and configured to emit laser light as an input laser beam 104 toward a beam deflector 106. The beam deflector 106 is arranged and configured to receive the input laser beam 104 and reflect it as a reflected laser beam 108 toward an optical element 110. The angular configuration of the beam deflector 106 can be adjusted by reciprocating (e.g., rotating) motion along one or more axes to sweep the reflected laser beam 108 within a certain angular range θ.

[0053] The optical element 110 includes a plurality of beam shaping portions, such as optical element portions 112a, 112b, and 112c, collectively referred to as beam shaping portions 112. The beam shaping portions 112, which may be arranged in a line (beam shaping portions are positioned in a row), a two-dimensional array (beam shaping portions are positioned over a certain area), or other arrangements, include two or more beam shaping portions 112 (and in some embodiments, all beam shaping portions 112) having different respective optical properties that cause modification of one or more optical properties of the reflected laser beam 108. Thus, the optoelectronic system 100 generates an output light 114 representing the reflected laser beam 108 modified by the optical element 110, wherein parameters of the output light 114 depend on which beam shaping portion(s) are illuminated by the reflected laser beam 108. For example, beam shaping portion 112a modifies reflected laser beam 108 to produce output light 114a, while beam shaping portion 112b modifies reflected laser beam 108 to produce output light 114b, wherein output lights 114a and 114b may differ in one or more optical parameters.

[0054] The optoelectronic system 100 includes a control system 116, such as a microcontroller, a programmed field programmable gate array, a microprocessor, another computing system, or a combination of the foregoing. The control system 116 is communicatively coupled to the laser 102 and the beam deflector 106 so as to control the laser 102 and / or the beam deflector 106 by transmitting appropriate signals (e.g., current and / or voltage signals) to the laser 102 and / or the beam deflector 106. For example, the control system 116 can be configured to turn the laser 102 on and off, to control the intensity of the input laser beam 104, to control the sweep angle range θ to make it smaller / larger and / or to aim at different beam shaping portions 112 of the optical element 110, and / or to control the sweep rate (cycle frequency) of the beam deflector 106. In some implementations, the control system 116 is communicatively coupled to a camera sensor, as described in more detail below. In some implementations, the control system 116 is configured to perform image analysis operations, as described in more detail below.

[0055] The laser 102 may be a solid-state, diode-based device or another suitable unit that can be controlled to emit a temporally and spatially coherent input laser beam 104. The wavelength of the laser light emitted by the laser 102 may be in the range of 400 to 2000 nm, such as visible light, near-visible ultraviolet light, and / or infrared light. In some implementations, the laser 102 may be controlled by the control system 116 to transmit a variable wavelength input laser beam 104. In some implementations, the laser 102 is a single-mode or multi-mode laser. In some implementations, the laser 102 is an on-chip light source. In some implementations, the laser 102 is a discrete light source attached to an optical printed circuit board or other mount for optical coupling to other components of the optoelectronic system 100.

[0056] The beam deflector 106 may include any suitable mechanical or solid-state mechanism for steering the reflected path of the input laser beam 104. For example, the beam deflector 106 may be a microelectromechanical system (MEMS) mirror, a galvanometer mirror, an acousto-optic modulator (AOM), a piezoelectrically operated mirror, and / or another system configured to repeatedly and continuously sweep back and forth to direct the reflected laser beam 108 within an angular range θ (or a subset thereof). In some implementations, the beam deflector 106 includes lithium niobate (LiNbO3), lithium tantalate (LiTaO3), or another material that can be used for linear and nonlinear optical applications.

[0057] The possible angular range θ within which the reflected laser beam 108 sweeps may depend on the specific design and type of the beam deflector 106. In some implementations, the beam deflector 106 is configured to sweep within an angular range of up to 20°, up to 30°, up to 40°, or another range. In some implementations, the central angle about which the beam deflector 106 is configured to sweep may be adjusted within a range of up to 70°, up to 60°, up to 50°, or another angular range. As a non-limiting example, the beam deflector 106 may have a mirror of approximately 1.0 mm (e.g., in a MEMS implementation of the beam deflector 106) or another size. In various implementations, the cycling frequency of the beam deflector 106 may vary and may be adjusted by the control system 116. As a non-limiting example, the beam deflector 106 may have a resonant frequency of 20 kHz. As an example, the beam deflector 106 may be a MEMS mirror with a multi-axis (two degrees of freedom) design, which is available from Opus Microsystems of Taiwan as a non-limiting example. Certain models (such as the OP-6111) have a fixed scan frequency of 22,000 Hz in the fast direction (+ / - 20 degrees) and a fixed scan frequency of 1,400 Hz in the slow direction (+ / - 15 degrees). Other mirrors (such as the OP-6200) support a fast scan frequency of 18,500 Hz (+ / - 22 degrees) and a controllable slow scan frequency (+ / - 12 degrees) using a voltage waveform signal.

[0058] As described below in various examples, different beam shaping portions 112 have different optical properties that modify the reflected laser beam 108 differently to impart different optical properties to the output light 114. For example, the different beam shaping portions 112 may have different respective combinations of material, thickness, refractive index, absorption coefficient, lens properties (e.g., the number of microlenses, the pitch of microlenses in a microlens array, and / or the focal length of the lens / microlens), feature patterns, up-conversion / down-conversion characteristics, polarization properties (e.g., polarization filtering and / or polarization rotation—which may include a wave plate that changes the polarization state of the laser beam), diffusion properties, or combinations thereof. The effects of these optical properties of the beam shaping portions 112 are predictable and known (e.g., stored), so that the desired optical properties of the output light 114 can be obtained by controlling the laser 102 and / or the beam deflector 106 to direct the reflected laser beam 108 to a proper subset of the beam shaping portions 112 that will provide the desired optical properties, and to prevent impingement on other beam shaping portions other than the proper subset.

[0059] In some embodiments, optical element 110 is a printed optical element. Figure 4A4 , the optical element 400 includes beam shaping portions 402a to 402f (collectively referred to as beam shaping portions 402). The optical element 400 may be a single printed optical device 400. Each beam shaping portion 402 includes a structure formed by printing on a common substrate 404. For example, a printing process used to manufacture the optical element may include depositing a liquid film (e.g., a polymer film), stamping the film to form a structure corresponding to the shape of the printed stamp, and curing to solidify the liquid. Alternatively or in addition, the printing process may include additive manufacturing, such as printing (e.g., inkjet printing) of a polymer and subsequent curing. Multiple printing stages may be used to manufacture multiple layers of beam shaping portions and / or to manufacture beam shaping portions made of different materials from each other. The substrate 404 may be a glass substrate, a sapphire substrate, or another substrate. In some implementations, the substrate 404 is transparent to one or more wavelengths of light emitted by a laser of the optoelectronic system.

[0060] In the example optical element 400, the beam shaping portions 402a and 402b include microstructures 406, such as columns of different lattice arrangements (e.g., square, circular, and / or rectangular columns) or walls of different geometries, such as forming closed loops, dashed lines, or waveguides. The spacing, size, and / or shape of the microstructures 406 differ between the beam shaping portions 402a and 402b, such that the beam shaping portions 402a and 402b modify light differently from each other. The arrangement of the microstructures 406 may be regular or irregular / varied. The microstructures 406 may have micrometer and / or nanometer-scale dimensions, such as less than 100 μm, less than 10 μm, less than 1 μm, less than 100 nm, or less than 10 nm. Suitable types and arrangements of microstructures may perform polarization modification / filtering, pattern generation, focusing lensing (metasurface lensing), optical diffusion, beam deflection, and other optical operations. In some implementations, the microstructures 406 form one or more diffractive optical elements (DOEs). For example, the DOE may be a diffractive beam splitter, such as for structured light generation; a diffractive diffuser; or a diffractive beam shaper. Furthermore, the DOE may include integrated focusing properties.

[0061] In some implementations, the microstructures or structures included in the beam shaping portion form anamorphic and / or free-form optical elements. Anamorphic optical elements can provide non-spherical light projection, for example, to "squeeze" an optical pattern onto an object. In some implementations, anamorphic optical elements include spherical, aspherical, and / or toroidal surfaces. Free-form optics have little or no symmetry (e.g., no rotational symmetry) and can be used to modify light in a highly customizable manner, often with the aid of computer simulations to determine the shape of the surface.

[0062] The beam shaping portion 402c includes a random cylinder array of cylinders 408. As described in further detail below, the random cylinder array can act as a linear diffuser to project diffuse light (e.g., an illumination line) from the optical element 400. The beam shaping portion 402d includes a single printed lens 410 configured to focus light. In various implementations, the beam shaping portion can be configured to provide focused and / or divergent light, for example, by including concave lenses, convex lenses, Powell lenses, cylindrical lenses, and other lens types. In some implementations, the beam shaping portion includes a Fresnel structure, such as a plurality of concentric annular segments forming a Fresnel lens. The beam shaping portion 402e includes an array of microlenses 412. The microlenses 412 together modify the illuminating laser beam to produce structured light, such as an array of dots (one-dimensional (1D) or two-dimensional (2D)). In various implementations, various arrangements of printed structures can be provided to form a beam shaping portion that produces a pattern, such as a 2D stripe (Gray code) pattern or a 2D phase shift pattern. The beam shaping portion 402f includes a multilayer structure 414 having different layers made of different materials. The multilayer structure 414 can be configured to perform one or more optical functions, such as polarization modification / filtering, pattern generation, focusing lensing (metasurface lensing), optical diffusion, beam deflection, and other optical operations. For example, a multilayer or single layer structure (e.g., formed of birefringent materials) can form a wave plate that changes the polarization of a laser beam.

[0063] The size of each beam shaping portion 402 and the optical element 400 can vary in various implementations. In some implementations, each beam shaping portion 402 has a size between 1 mm and 10 mm, for example, about 5 mm. For an optical element 400 that includes a one-dimensional row of beam shaping portions 402, the optical element 400 can have a width between 1 mm and 10 mm and a length defined by the row of beam shaping portions 402.

[0064] Including multiple beam shaping sections 402 on a shared substrate 404 can simplify the design and operation of the optoelectronic system 100 compared to systems that include separate, discrete optical components for modifying light in different ways. The shared substrate 404 can be configured so that the surface of the shared substrate 404 on which the beam shaping sections are arranged (e.g., arranged in a row or array) can be orthogonal to the propagation direction of the laser beam impinging on the surface. As described in further detail below, in some implementations, this can allow the laser beam to impinge perpendicularly on each beam shaping section, thereby regularizing the optical effects of the beam shaping sections. In addition, the common substrate 404 allows for adjacent and / or close placement of the beam shaping sections 402, thereby reducing space requirements and improving system compactness.

[0065] Additionally, the overall component count may be reduced by combining what might otherwise be separate, discrete optical elements into a combined optical element 400. For example, compared to a system that may use multiple lasers and / or multiple collimators (e.g., in combination with a beam combiner) to produce different types / patterns of output light, a system according to the present disclosure may use a single laser combined with a controlled beam deflector and / or controlled on / off switching of a single laser to achieve a reconfigurable optical output. This may improve system compactness and reduce cost and weight. Relatedly, integrating multiple beam shaping portions into a combined optical element allows laser beams that travel along substantially shared paths (except for variations caused by different deflection angles) to impinge on the optical element, thereby reducing the number of necessary beam splitters, beam combiners, and other beam steering components.

[0066] In some embodiments, manufacturing cost and complexity can be reduced by jointly manufacturing multiple beam shaping sections 402. For example, multiple beam shaping sections can be formed in a joint printing step using a stamp having structures forming multiple beam shaping sections.

[0067] Some embodiments according to the present disclosure include optical elements in which at least some of the beam shaping parts are separate from each other, such as on separate substrates, not attached to each other, or otherwise not combined into a unified printed optical element. In some embodiments, one or more beam shaping parts are combined into one printed optical element, and one or more other beam shaping parts are provided separately from the printed optical element.

[0068] According to some embodiments of the present disclosure, a collimating lens is optionally included. For example, Figure 2 1 includes a collimating lens 202. The other components of the optoelectronic system 200 may have characteristics as described for the corresponding components of the optoelectronic system 100. Here, the beam deflector 106 is configured and arranged to reflect the input laser beam 104 toward the collimating lens 202. The reflected laser beam 108 is collimated by the collimating lens 202, and for different reflection directions of the beam deflector 106, the reflected laser beam 108 can be represented as divergent light traveling from the beam deflector 106. The collimating lens 202 is configured and arranged to direct the resulting collimated laser beam 204 (a plurality of parallel laser beams corresponding to different reflection directions of the beam deflector 106) toward the optical element 110. For example, the collimating lens 202 may have a focal length that matches the distance between the collimating lens 202 and the beam deflector 106.

[0069] In some embodiments, due to the collimation provided by the collimating lens 202, the collimated laser beam 204 impinges substantially vertically on the optical element 110 even when emitted across the angular range θ. For example, in some embodiments where the beam shaping portions are arranged in one dimension (e.g., in a row), the beam shaping portions may extend in one dimension orthogonal to the direction in which the collimated laser beam is directed. Figure 2 , the beam shaping portions 112 are arranged in a row extending in a direction 230, which is orthogonal to the propagation direction of the collimated laser beam 204. In some embodiments where the beam shaping portions are arranged in a plane (e.g., in a two-dimensional array), the beam shaping portions may extend above a plane that is orthogonal to the direction in which the collimated laser beam is directed. Fig. 8A , the beam shaping portion 812 is arranged in an array in the xz plane, and the illumination laser beam 808 propagates in the -y direction orthogonal to the xz plane toward the optical element 810. The vertical illumination feature can simplify the design and operation of the optoelectronic system 200 and other systems described in the present disclosure because the modification of the collimated laser beam 204 by the optical element 110 is regularized across the angular range θ. In addition, in some embodiments, in the absence of light deflection caused by the optical element 110, the collimation performed by the collimating lens 202 causes the output light 114 to be provided in the same direction regardless of the reflection direction of the beam deflector 106, which can be used for the application of the output light 114.

[0070] In various implementations, the collimating lens 202 can be a convex lens, a plano-convex lens, a metasurface lens, a Fresnel lens, or any other suitable optical component configured to collimate light reflected by the beam deflector 106 across multiple angles. In some implementations, the collimating lens 202 is a discrete optical component, such as a coated or uncoated glass lens. In some implementations, the collimating lens 202 is a printed optical element. For example, the collimating lens 202 can be a printed optical element that is printed with one or more beam shaping portions and integrated into the optical element 110.

[0071] Figures 3A to 3B To illustrate an example of an operating mode of optoelectronic system 300, components of optoelectronic system 300 may have characteristics as described for corresponding components of optoelectronic systems 100 and 200, unless otherwise indicated. Figure 3A3 , optical element 310 includes several beam shaping portions 312. In this example, beam shaping portion 312a is an optical diffuser configured to modify a laser beam to produce a substantially diffuse output illumination 314a over a solid angle, and beam shaping portions 312b through 312e are respective fan beam generators configured to modify a laser beam to produce a fan beam that results in one or more illumination lines being formed on a target object. For example, a laser beam passing through beam shaping portion 312b is transformed into fan beam 314b that forms illumination lines 316 on a surface of object 318. An image of object 318 including illumination lines 316 may be captured by camera sensor 320 of optoelectronic system 300. The image may then be analyzed (e.g., by control system 116 and / or by another computing system) to obtain a depth profile or other digital image of object 318, such as by a triangulation process. As a non-limiting example, in some implementations, the illumination line has a length of approximately one meter or less, depending on the distance between the optoelectronic system 300 and the object 318. The optoelectronic system 300 may be included in a displacement sensor having electronics configured to determine the distance between the object 318 and the displacement sensor based on the shape and / or length of the illumination lines 316 and / or 322 captured in an image by a camera sensor of the displacement sensor. The optoelectronic system 300 may be included in a 2D and / or 3D profiler having electronics configured to determine the surface profile of the object 318 based on the shape and / or length of the illumination lines 316 and / or 322 captured in an image by a camera sensor of the profiler.

[0072] In the context of diffuse beam shaping sections, fan beam generating beam shaping sections, and other types of beam shaping sections configured to output light having a pattern or shape (e.g., spot array generators and other types of structured light generators), the interference of random phase and amplitude variations of coherent light can result in "speckle" in the pattern, resulting in inaccuracies in subsequent analysis, such as reconstruction of the surface of an object. However, in some implementations of a system that sweeps a laser beam across a fan beam generator (e.g., optoelectronic system 300), speckle can be reduced because the speckle in the pattern varies rapidly compared to the exposure time of camera sensor 320, so that the speckle averages out over the course of the exposure. For example, in some implementations, beam deflector 106 and camera sensor 320 are configured so that, on a single exposure by camera sensor 320, collimated laser beam 204 (or reflected laser beam 108 in the absence of collimating lens 202) sweeps at least half of beam shaping section 312b or sweeps at least all of beam shaping section 312b. Averaging of direct and indirect interference may also allow for higher projected laser intensities without violating eye safety guidelines that limit the intensity of light incident on the retina. Further description of swept laser beams and fan beam generators for illumination line projection may be found in U.S. Patent Application Publications Nos. 2019 / 0227336 and 2021 / 0132403, each of which is incorporated herein by reference in its entirety.

[0073] In some embodiments, the optical diffuser beam shaping portion of the optical element (e.g., optical diffuser 312a) is a microstructured surface diffuser, such as a diffuse random cylinder array, a pseudo-random engineered cylinder array, or a holographic diffuser. The fan beam generator beam shaping portion of the optical element (e.g., fan beam generator 312b) itself can be a linear diffuser (e.g., a linear diffuse random cylinder array or a linear holographic diffuser). In some embodiments, the fan beam generator beam shaping portion is a Powell lens or a cylindrical lens. The microstructured optical element can be formed as a printed structure on a substrate, such as reference Figure 4A described.

[0074] In the optoelectronic system 300, the beam shaping portions 312b-312e have different optical properties. For example, the beam shaping portions 312b-312e can be configured to each produce one or more illumination lines with different configurations, such as a different number of lines (e.g., one line, two lines, three lines, or another number of lines); a different line density (e.g., spacing / angles between lines); a different line position (e.g., lines that are more or less deflected relative to the beam shaping portion); a different line length ("fan angle"); or a different focal length at which one or more focused illumination lines are produced from the beam shaping portions 312b-312e. These different optical effects correspond to different optical parameters of the beam shaping portions 312b-312e and can be provided by appropriate design of the beam shaping portions 312b-312e. For example, when the beam shaping portions 312 b to 312 e include a linear cylinder array, the characteristics of the cylinder array (e.g., values ​​of cylinder radius, numerical aperture, and depth) may be configured to set the respective fan angles of the beam shaping portions 312 b to 312 e. As another example, when each of the beam shaping portions 312 b to 312 e includes a diffractive optical element (DOE) or a computer generated holographic (CGH) optical element, the characteristics of the diffractive or holographic structure may be configured to set the respective line parameters of the respective generated illumination lines (e.g., length, position, length, and number of lines).

[0075] The control system 116 is configured to control the laser 102 and / or the beam deflector 106 to cause illumination of a proper subset of the beam shaping portions 312 (i.e., less than all of the beam shaping portions 312). Illumination of the proper subset may occur within each sweep cycle of the beam deflector 106, within less than a sweep cycle of the beam deflector 106 (e.g., within half a sweep cycle, such as over the course of the deflected laser beam 108 being swept from left to right or from right to left), or within multiple sweep cycles of the beam deflector 106 (e.g., illumination on a first beam shaping portion during one cycle and illumination on a second beam shaping portion during the next consecutive cycle).

[0076] exist Figure 3AIn the configuration of , the control system 116 controls the beam deflector 106 to sweep within the angle range θ', which causes the reflected laser beam 108 collimated by the collimating lens into the collimated laser beam 204 to impinge on the beam shaping portions 312a, 312b, but not on the other beam shaping portions. The reflected laser beam 108 impinges on the illumination path 309a extending along the beam shaping portions 312a, 312b by scanning. For example, in some embodiments, the beam deflector 106 includes a MEMS mirror supported by a torsion bar. When a magnetic field is applied to the mirror, a drive current (representing, for example, a control signal applied by the control system 116) flows through a coil (e.g., a voice coil) integrated into the mirror. The deflection of the mirror can be controlled by changing the amplitude and time-varying parameters (e.g., frequency) of the drive current. For example, the mirror can be held at a constant angle or can be caused to cycle within a configurable angle range at a configurable frequency, and the angle range and frequency can be configured by appropriate adjustment of the drive current. Other beam deflector 106 arrangements such as electrostatically controlled deflectors and piezoelectric deflectors are also within the scope of the present disclosure. Figure 3A In the configuration of , the control system 116 controls the current through the beam deflector 106 so that the beam deflector 106 is swept back and forth within the angular range θ′. In this example, the laser 102 remains on throughout the entire cycle of the beam deflector 106.

[0077] The combination of optical elements (e.g., optical elements 110, 310, and 400), a rapidly swept beam deflector (e.g., beam deflector 106), and an appropriately configured control system (e.g., control system 116) described herein can be used to produce output light that includes contributions from multiple beam shaping sections over the course of an exposure time of an imaging system (e.g., camera sensor 320). The beam deflector is swept at a speed (frequency) such that the laser beam impinges on each of the multiple beam shaping sections at least once during the exposure time of the imaging system. For example, in some embodiments, the half-cycle time of the beam deflector (the time required for the beam deflector to complete a rotation from left to right or right to left during its oscillation) is less than the exposure time of the imaging system. In some embodiments, the full cycle time of the beam deflector is less than the exposure time of the imaging system. Thus, the imaging system captures an image showing an object illuminated with light modified by each of the multiple beam shaping sections. For example, in Figure 3A, the camera sensor 320 is controlled (e.g., by the control system 116) to capture an image showing both diffuse illumination 314a (originating from light modification by the beam shaping portion 312a) that generally illuminates the object 318 and more intense illumination lines 316 (originating from light modification by the beam shaping portion 312b) on the object 318; the diffuse illumination 314a overlaps the illumination lines 316. This configuration may be used, for example, when it is desired to correlate a topological profile of the object 318 determined based on the illumination lines 316 with visual features of the object 318 as shown on other illuminated portions of the object 318. In general, individual properties may be selected or superimposed without affecting other properties, such as the orientation and spatial position of the projected light.

[0078] Figure 3B Another configuration of the optoelectronic system 300 is shown corresponding to different control signals provided by the control system 116. The control system 116 controls the beam deflector 106 to sweep within an angular range θ″ that would result in the collimated laser beam impinging on the beam shaping portions 312a, 312b, and 312c if the laser 102 remained continuously on. However, the control system 106 also turns the laser 102 on and off synchronously with the sweep of the beam deflector 106, so that the laser is on when the emitted laser beam will impinge on the beam shaping portions 312a and 312c, and the laser is off when the emitted laser beam will impinge on the beam shaping portion 312b. Thus, the discontinuous segments of the optical element 310 along the illumination path 309b serve to modify the emitted laser beam. Thus, the object 318 is illuminated with both diffuse illumination 314a and output light 314c, the latter in the form of a fan-shaped beam that forms another illumination line 322 that is shorter than the illumination line 316. The shorter fan angle of the output light 314c compared to the output light 314b results from the different optical properties of the beam shaping portions 312b and 312c.

[0079] like Figures 3A to 3B , the illumination paths 309a, 309b are coordinated with the structure of the beam shaping portion 312 to modify the collimated laser beam 204 in a desired manner to obtain output light having desired properties. The movement of the collimated laser beam 204 across the illumination paths 309a, 309b defined by at least one of the movement of the beam deflector 106 or the on / off state of the laser 102 forms output light having desired properties based on the movement of the collimated laser beam 204.

[0080] Various control methods may be used to achieve synchronization between the on / off switching sequence of the laser 102 and the corresponding angular configuration of the beam deflector 106. In some implementations, the control system 116 receives a signal (e.g., a voltage and / or current signal) when the beam deflector 106 reaches the end of its sweep cycle. The control system 116 also determines the angular sweep range of the beam deflector, for example, based on a stored association between the control signal applied by the control system 116 and the corresponding angular sweep range. In addition, the control system 116 stores data indicating which deflection angles of the beam deflector 106 correspond to which beam shaping portions 312 of the optical element 310. Based on the angular sweep range, based on the determined time corresponding to the end of the sweep, and based on the stored data associating the deflection angles with the corresponding beam shaping portions 312, the control system 116 transmits an on and / or off signal to the laser 102 to selectively cause the laser beam to impinge only on a desired subset of the beam shaping portions 312. Other control schemes are also within the scope of the present disclosure.

[0081] In contrast, in some cases, spatial alignment of optical components has lower precision and / or reliability. For example, some alternative optical output schemes may rely on multiple projection modules having at least partially separated optical systems, such as two or more laser beam emitters. For example, each projection module may be configured to output a specific type of light, or to project light for operation at a specific working distance. Separate optical systems must be spatially aligned with each other, which can be expensive, difficult to implement, and unreliable. For example, when a device including an optical system is moved and used, the optical system may become misaligned. In contrast, some embodiments of the systems described in the present disclosure use a single laser beam emitter to obtain a highly configurable and variable light output, thereby avoiding some of the challenges associated with spatial alignment of multiple laser beam emitters and / or other components of multiple projection modules.

[0082] In some embodiments, instead of or in addition to binary on / off control of the laser 102, the control system 116 and the laser 102 are configured such that the emission power (light intensity) of the laser 102 is adjusted synchronously with the sweep of the beam deflector 106. For example, the control system 116 may control the laser 102 to set a first non-zero light intensity when the laser 102 emits a laser beam to be impinged on a first beam shaping portion, and to set a second, different non-zero light intensity when the laser 102 emits a laser beam to be impinged on a second beam shaping portion. For example, referring to Figure 3B , the control system 1116 may control the laser 102 to have a first emission power when emitting a laser beam to be irradiated on the beam shaping portion 312a, and to have a different second emission power when emitting a laser beam to be irradiated on the beam shaping portion 312b.

[0083] In some embodiments, the control system 116 controls the laser in a pulsed mode, where pulses corresponding to laser beam emissions are synchronized with sweeps of the beam deflector 106 to impinge on one or more targeted beam shaping portions 112 .

[0084] By an appropriate combination of control of the beam deflector 106 to control the range of reflection angles and / or control of the laser 102 to control when the laser is turned on or off, nearly any combination of beam shaping portions can be illuminated with a laser beam to obtain various combinations of one or more types of output light. This can include switching between a single configuration (in which only one beam shaping portion is used) and various superimposed configurations (in which two or more beam shaping portions are used together). In some embodiments, the control system 116 turns the laser 102 on and off at different times during different sweep cycles of the beam deflector 106, which together form a meta-cycle. For example, during a first sweep cycle, the laser 102 can be turned on for irradiation on the first beam shaping portion but not on the second beam shaping portion, and during a second sweep cycle, the laser 102 can be turned on for irradiation on the second beam shaping portion but not on the first beam shaping portion. The first sweep cycle and the second sweep cycle can alternate with each other to constitute a meta-cycle that repeats every two sweep cycles of the beam deflector 106. This may result in an illumination pattern that is the same as that produced when impinging on the first and second beam shaping portions during each sweep cycle, but with a lower illumination intensity averaged over multiple sweep cycles (eg, averaged over the exposure time of the camera sensor 320).

[0085] As another example, to reproduce the Figure 3A In order to provide an optical output similar to the optical output shown in , the control system 116 may alternatively cause the beam deflector 106 to sweep a larger range (e.g., sweep beam shaped portions in addition to beam shaped portions 312a and 312b), and may also cause the laser 102 to be turned on and off so that only beam shaped portions 312a and 312b are illuminated, rather than reducing the angular sweep range to θ'.

[0086] In some implementations, the control system 116 is configured to control the sweep speed of the beam deflector 106 so as to sweep the laser beam across different beam shaping portions at different speeds. This can result in different concentrated light intensities from different beam shaping portions over the course of the camera sensor's exposure time. For example, referring to Figure 3BIn the configuration of FIG. 1 , the control system 116 can be configured to sweep the collimated laser beam 204 over the illumination path 309b at a first speed when impinging on the beam shaping portion 312a and at a second different speed (e.g., a faster speed) when impinging on the beam shaping portion 312b, wherein both the beam shaping portions 312a and 312b are illuminated within the exposure time of the camera sensor 320. Because the beam shaping portion 312a is illuminated for a longer time than the beam shaping portion 312b during the exposure time of the camera sensor 320, the output light 314a has a higher average spatial concentration intensity than the output light 314b. The beam deflector 106 can be configured to sweep the laser beam across adjacent beam shaping portions, non-adjacent beam shaping portions, or both at different speeds. In some implementations, the control system 116 controls the sweep speed by controlling the time-dependent signal frequency (e.g., current signal frequency and / or voltage signal frequency) of a control signal provided by the control system 116 to the beam deflector 106.

[0087] By using a swept beam deflector in conjunction with beam deflector control and / or laser beam control, various customizable types of optical outputs can be obtained through timing-based electrical components. Dynamic control of the beam deflector and / or laser can be performed with high temporal accuracy, for example, with an accuracy of less than 50ns or less than 100ns, and similar or better accuracy can be achieved when determining the state of the beam deflector over time, for example, based on a received signal corresponding to the end of a sweep cycle. Thus, tight timing alignment can be achieved between the electrical control signal and the beam deflector / laser state to accurately calibrate a specific beam shaping portion for laser beam illumination. The beam deflector and / or laser can be controlled "dynamically" in that the angular position of the beam deflector in one or more dimensions, the sweep speed of the beam deflector, the on / off state of the laser, and / or the emission power of the laser can be controlled during and / or between sweep cycles of the beam deflector so as to project output light having one or more desired optical properties through controlled movement of a defined laser beam illumination path on an optical element.

[0088] although Figures 3A to 3B The example of shows two beam shaping portions being illuminated, but in various implementations, one, three, or more beam shaping portions may be illuminated based on appropriate control of the control system 116. The illuminated beam shaping portions may be continuous / adjacent to each other on the optical element 110 (e.g., such as beam shaping portions 312a and 312b), and / or may be discontinuous / non-adjacent to each other (e.g., such as beam shaping portions 312a and 312c).

[0089] In some embodiments, the optical element comprises one or more beam blocking elements disposed between the beam shaping portions. Figure 4B4, optical element 450 includes a first beam blocking element 452a between beam shaping portions 402a and 402c, and a second beam blocking element 452b between beam shaping portions 402d and 402f. Beam blocking elements 452a and 452b include respective films 454 that are opaque to at least some of the laser light impinging on optical element 452. When an illumination path is arranged between beam shaping portions, beam blocking elements such as beam blocking elements 452a and 452b can prevent the laser beam from being transmitted through substrate 404.

[0090] Figures 5 to 7 Optoelectronic systems 500, 600, and 700 are illustrated having different optical elements that can modify light in different ways. Figures 5 to 7 , the laser beam 508 is shown as passing through the optoelectronic systems 500, 600, and 700 along a single set path to impinge on the respective optical elements 510, 610, 710. In practice, the precise path followed by the laser beam will depend on the angular configuration of the beam deflector 106, which changes as the beam deflector 106 is swept, and the laser beam 508 will impinge on different beam shaping portions to produce output light with different characteristics. A camera sensor is not shown, but may be included in each optoelectronic system 500, 600, and 700 as described above. Unless otherwise indicated, the components of the optoelectronic systems 500, 600, and 700 may have characteristics as described for corresponding components of other optoelectronic systems described herein, such as the optoelectronic systems 100, 200, and 300.

[0091] like Figure 5, the optical element 510 includes three beam shaping portions 512a, 512b, and 512c. The three beam shaping portions 512a, 512b, and 512c are configured to modify the laser beam 508 to project output light at different respective focal lengths (e.g., a fan beam for illuminating a line, patterned illumination for an array of dots or stripes, or other forms of light). Specifically, the first beam shaping portion 512a is configured to provide output light 514a focused at a first distance F1 to a first focal plane; the second beam shaping portion 512b is configured to provide output light 514b focused at a second distance F2 to a second focal plane; and the third beam shaping portion 512c is configured to provide output light 514c focused at a third distance F3 to a third focal plane. The control system 116 is configured to control the beam deflector 106, the laser 102, or both to output any combination of the output lights 514a, 514b, and / or 514c. For example, the control system 116 may receive a signal indicating that the output light needs to be focused at the distance F2, and in response, adjust the on / off time of the laser 102 and / or adjust the sweep angle range of the beam deflector 106 so that only the second beam shaping portion 512b is illuminated by the laser beam 508.

[0092] like Figure 6 , the optical element 610 includes three beam shaping portions 612a, 612b, and 612c. The three beam shaping portions 612a, 612b, 612c are configured to modify the laser beam 508 to project output light at different tilt angles, for example, toward different locations. Specifically, the first beam shaping portion 612a is configured to provide output light 614a toward a first location X1; the second beam shaping portion 612b is configured to provide output light 614b toward a second location X2; and the third beam shaping portion 612c is configured to provide output light 614c toward a third location X3. The control system 116 is configured to control the beam deflector 106, the laser 102, or both to output any combination of the output lights 614a, 614b, and / or 614c. For example, the control system 116 may receive a signal indicating that illumination lines are needed at positions X1 and X3, and in response, adjust the on / off time of the laser 102 and / or adjust the sweep angle range of the beam deflector 106 so that only the first beam shaping portion 612a and the third beam shaping portion 612c are illuminated by the laser beam 508. Thus, for example, illumination lines may be formed at different parallel positions within the field of view of the camera sensor.

[0093] like Figure 7, the optical element 710 includes three beam shaping portions 712a, 712b, 712c. The three beam shaping portions are configured to modify the laser beam 508 to project output light that results in different combinations of illumination lines. Specifically, the first beam shaping portion 712a is configured to provide output light 714a that forms a single illumination line; the second beam shaping portion 712b is configured to provide output light 714b that forms two illumination lines; and the third beam shaping portion 712c is configured to provide output light 714c that forms three illumination lines. In various implementations, the spacing between the illumination lines from the output lights 714b and 714c can be the same or different. The control system 116 is configured to control the beam deflector 106, the laser 102, or both to output any combination of the output lights 714a, 714b, and / or 714c. For example, the control system 116 may receive a signal indicating that three illumination lines are desired, and in response, adjust the on / off time of the laser 102 and / or adjust the sweep angle range of the beam deflector 106 so that only the third beam shaping portion 712c is illuminated by the laser beam 508. Note that for clarity of viewing, the output lights 714a, 714b, and 714c are shown as being spatially displaced from one another, but in general, the output lights 714a, 714b, 714c may be directed at the same location and need not form spatially displaced illumination lines.

[0094] As mentioned above, in some embodiments, the beam deflector is controlled to vary the beam deflection in two dimensions. This two-dimensional control can (although not necessarily) be combined with an optical element having a two-dimensional arrangement of beam shaping portions. For example, Fig. 8A , optoelectronic system 800 includes laser 102, beam deflector 106, collimating lens 202, and control system 116, as described above; optionally including a camera sensor. Control system 116 is configured to control beam deflector 106 in two dimensions (along two axes). For example, control system 116 may be configured to sweep beam deflector 106 back and forth over a solid angle, and / or sweep in one dimension from a reference point controllable in a second dimension. Control of angular orientation in multiple axes may be performed using multiple control signals (e.g., a first control current corresponding to a first axis and a second control current corresponding to a second axis orthogonal to the first direction).

[0095] The optical element 810 includes beam shaping portions, such as beam shaping portions 812a, 812b, and 812c (collectively referred to as beam shaping portions 812), arranged in two dimensions to form an overall array. The optical element 810 is arranged and configured so that for different angular configurations of the beam deflector 106, the illumination laser beam 808 is perpendicularly impinged on the optical element 810 at a solid angle controllable on two axes. Different beam shaping portions 812 have different optical properties from each other so as to modify the illumination laser beam 808 in different ways. As described above, the different optical properties can result in various different optical properties of the output light, such as different output light projection directions, different output light patterns, different output light polarizations, different output light focal lengths, different intensities, and / or other optical properties, wherein speckle is reduced due to the constant sweep of the illumination laser beam 808.

[0096] exist Fig. 8A In the configuration of FIG. 8 , the control system 116 controls the beam deflector 106 and / or the laser 102 to sweep the laser beam 808 back and forth as an illumination path 809a positioned on the beam shaping portion 812a. The beam shaping portion 812a is configured to modify the laser beam 808 to produce an output light 814a that forms a two-dimensional dot pattern (dot array) 830 on the object 818. For example, the beam shaping portion 812a may include a microlens array. When imaged by a camera sensor, the dots of the two-dimensional dot pattern 830 have a relatively uniform intensity due to the beam sweeping the illumination path 809a.

[0097] exist Figure 8B In a configuration of , the control system 116 controls the beam deflector 106 and / or the laser 102 to sweep the laser beam 808 back and forth as an illumination path 809b positioned on the beam shaping portion 812b. The beam shaping portion 812b is configured to modify the laser beam 808 to produce an output light 814b that forms a fringe pattern 832 (e.g., a Gray code pattern) on the object 818. For example, the beam shaping portion 812b may include a holographic or diffractive optical element, such as a computationally derived optical element that is computationally determined to produce the fringe pattern 832. When imaged by a camera sensor, the fringes of the fringe pattern 832 have relatively uniform intensity due to the beam sweeping the illumination path 809b. In addition, since the speckle caused by the sweeping is reduced, eye safety is improved for users who may look into the output light 814b.

[0098] exist Figure 8CIn the configuration of FIG. 1 , the control system 116 controls the beam deflector 106 to sweep back and forth so as to aim the laser beam 808 at the beam shaping portions 812a and 812c and the beam shaping portion 812d disposed between the beam shaping portions 812a and 812d along the path indicated by the dotted line 840 and the line 809c. However, the control system 116 also controls the laser 102 in synchronization with the sweep of the beam deflector 106 to turn off the laser 102 when the emitted laser beam is to be irradiated on the dotted line 840, and to turn on the laser 102 when the emitted laser beam is to be irradiated on the line 809c representing the irradiation path of this configuration. Therefore, based on the coordination of the laser control and the beam deflector control, the laser beam 808 is irradiated on the irradiation path 809c on the beam shaping portions 812a and 812c but not on the beam shaping portion 812d. The beam shaping portion 812c is configured to modify the laser beam to produce output light that forms a phase-shifted pattern 834 on the object 818. Thus, when the sweep speed of the beam deflector 106 is such that the illumination path 809c is swept in less than the exposure time of an imaging camera sensor (not shown), the camera sensor will image a superposition of the two-dimensional dot pattern 830 and the phase-shifted pattern 834 on the object 818.

[0099] In some embodiments, the beam deflector is controlled so that the illumination path is two-dimensional. Figure 8C , the illumination path 836 extends in two dimensions, corresponding to illumination on five underlying beam shaping sections. The two-dimensional illumination path can be open-loop, where the laser beam retraces its path back and forth in each cycle (e.g., as shown for illumination path 836), or can be closed-loop, such that the laser beam moves along the illumination path in a continuous loop without having to retrace along the illumination path.

[0100] In some embodiments, the laser beam illumination is controlled in a second dimension over one or more beam shaping sections to translate / reposition the resulting optical pattern. Fig. 9A , the optoelectronic system 900 includes beam shaping portions 912a, 912b, and 912c arranged linearly (in a one-dimensional array). The control system 116 controls the beam deflector 106 and / or the laser 102 to sweep the laser beam 908 back and forth along the x-axis at a first z coordinate z1 as an illumination path 909a on the beam shaping portion 912a. The beam shaping portion 912a modifies the laser beam 808 to produce an output light 914a that forms an illumination line 922a on an object 918. The illumination line 922a is formed at a second z coordinate z2. Because the beam sweeps the illumination path 909a, the illumination line 922a has reduced speckle when imaged by a camera sensor.

[0101] exist Fig. 9BIn the configuration of FIG. 1 , the control system 116 controls the beam deflector 106 and / or the laser 102 to sweep the laser beam 808 back and forth along the x-axis at a first z coordinate z1′ different from z1 as an illumination path 909b on the beam shaping portion 912a. The beam shaping portion 912a modifies the laser beam 808 to generate output light 914b that forms an illumination line 922b on the object 918 at a z coordinate z2′ different from z2. The translation of the illumination path 909b compared to the illumination path 909a causes the illumination line 922b to be correspondingly translated compared to the illumination line 922a, for example, in the same direction.

[0102] Instead of or in addition to optical properties that produce discrete, individual beam shaping portions, some optical elements according to the present disclosure have one or more continuously varying optical properties. Fig.10 , an optical element 1000 includes a substrate 1004, a first segment 1002a, and three beam shaping portions 1002b, 1002c, and 1002d. The first segment 1002a includes a microstructure 1006 having a height that varies along the length of the first segment 1002a. Thus, a laser beam irradiated at different points along the first segment 1002a will be modified differently to produce output light with different optical properties, so that the first segment 1002a can be described as including multiple beam shaping portions itself. As other examples, the continuously varying optical properties can include continuously varying microstructure spacing, continuously varying material properties (e.g., refractive index), and / or other optical properties. In some implementations, the optical element does not include discrete beam shaping portions 1002b, 1002c, and 1002d, but instead includes only continuously varying segments, such as the first segment 1002a.

[0103] Some optoelectronic systems according to the present disclosure include one or more optical components instead of or in addition to a collimating lens. Fig.11 , the optoelectronic system 1100 includes a laser 102, a control system 116, a beam deflector 106, and an optical element 1110 having a plurality of beam shaping portions, such as those described above with respect to Figures 1 to 10. The one or more optical components 1102 are arranged between the beam deflector 106 and the optical element 1110 so as to interact with the laser beam 1108 reflected by the beam deflector 106 and transmitted toward the optical element 1110. The one or more optical components 1102 are configured to adjust one or more optical parameters of the laser beam 1108 so that the laser beam 1108 having the one or more adjusted optical parameters is irradiated on the optical element 1110. The one or more optical components 1102 may include a collimating lens, such as the collimating lens 202, which collimates the laser beam 1108 to be substantially parallel at different reflection angles of the beam deflector 106, for example, so as to irradiate the optical element 1110 vertically. The one or more optical components 1102 may alternatively or additionally include one or more other types of optical components. For example, the one or more optical components 1102 may include one or more lenses instead of or in addition to the collimating lens. The lens may include: a cylindrical lens configured to focus the laser beam 1108 into a line; a non-cylindrical lens configured to focus the laser beam 1108 into a line with reduced aberration; and / or other lens types. For example, when the laser beam 1108 is swept in one dimension along the cylindrical lens, the laser beam 1108 can be collimated along a first axis while its beam properties are unchanged along a second axis. The one or more optical components 1102 may include one or more diffusers, such as linear diffusers. For example, the diffuser may include a linear diffuse random cylinder array, a linear holographic diffuser, and / or a Powell lens. The one or more optical components 1102 may include one or more DOEs, such as a diffractive beam splitter, such as for structured light generation; a diffractive diffuser; and / or a diffractive beam shaper. The one or more optical components 1102 may include, for example, one or more apertures configured to reduce the transmission of the laser beam 1108 (e.g., by reducing the spatial cross-section of the laser beam 1108). The one or more optical components 1102 may include other types of optical components, such as filters, mirrors, polarizers, beam splitters, wave plates, prisms, and / or another type of optical component configured to perform one or more optical functions, such as wavelength and / or polarization control, beam redirection, beam focusing, beam collimation, beam pattern generation (e.g., splitting an incident laser beam into multiple beams), intensity control, and / or another optical function.

[0104] The laser beam 1108 modified by the one or more optical components 1102 is impinged on the optical element 1110 as described above, and is further modified by the beam shaping portion of the optical element 1110 to produce output light. The one or more optical components 1102 as described herein can be integrated into any optoelectronic system described in the present disclosure, for example, into the optoelectronic system 100, 200, 300, 500, 600, 700, 800 or 900.

[0105] It should be understood that the above-mentioned components (e.g., lasers, beam deflectors, control systems, optical elements, optional collimating lenses, optional other optical components, and optional camera sensors) of optoelectronic systems such as systems 100, 200, 300, 800, 900, and 1100 can be combined in various ways into one or more housings / housings in precise and stable relationships to each other so as to provide the desired form factor and functionality for the desired task. The housing can be constructed of any suitable material, including polymers such as polycarbonate, acrylic, etc. or metals such as aluminum alloys, steel, magnesium alloys, etc. The distance between components and the size of the components can be based on the component limitations (e.g., the wording distance) and the application in which the optoelectronic system will be used in a manner that is clear to a person skilled in the art. For example, in some embodiments, the size of the components is between 1 mm and 5 cm, and the distance between the components is between 1 mm and 5 cm; however, in some embodiments, the size and components may be less than or greater than these ranges. The components may be mounted or otherwise fixed (e.g., using a bracket) so as to maintain an appropriate spatial relationship to each other. In some implementations, at least some of the components are integrated into an optical printed circuit board (PCB) and / or an electronic PCB. For example, the control system 116 may include one or more integrated circuits mounted on a PCB and coupled to the beam deflector 106, the laser 102, and / or the camera sensor 320 (one or more of which may be mounted on the PCB) through metal PCB traces. Other types of mounts and interconnects (e.g., wires) are also within the scope of the present disclosure.

[0106] like Fig.12 , in some implementations, the control system 116 includes electronics that implement one or more hardware processors, such as a central processing unit (CPU), a graphics processing unit (GPU), or a combination thereof, each of which may include multiple processor cores. The control system 116 includes one or more computer-readable storage media, which may include one or both of volatile or non-volatile memory, such as, for example, random access memory (RAM) and / or flash RAM. The storage media encodes instructions that, when executed by a data processing device, cause the control system 116, for example, to implement aspects of the processes disclosed herein.

[0107] In this example, the control system 116 includes a laser controller 1202, a deflector controller 1204, a power supply 1206, an image processor 1208, a camera controller 1210, a communication interface 1212, and a local control interface 1214. The controllers 1202, 1204, and 1210, the image processor 1208, the communication interface 1212, and the local control interface 1214 may be implemented as hardware and / or firmware units, software units, or combined hardware, firmware, and software units. For example, these components may include dedicated chips / circuits and / or may include software modules implemented as code stored in one or more storage media of the control system 116 and running on one or more hardware processors of the control system 116. In addition, the elements of the control system 116 described herein may be combined with each other as aggregate units, and the control system need not include a reference to the referenced components. Figures 1 to 12 All elements described are for an example of the control system 116 described.

[0108] The power supply 1206 may include a battery, such as a rechargeable battery. The power supply 1206 provides power to components of the optoelectronic system, such as lasers, beam deflectors, control systems, and camera sensors.

[0109] The optional communication interface 1212 is configured to communicate with one or more remote and / or local devices. For example, the communication interface 1212 may receive commands to be implemented by the control system 116 and / or data to be stored on the control system 116. The remote and / or local devices may include, for example, a smart phone, a personal computer (e.g., a laptop computer), and / or a remote system such as a cloud computing system or other remote server. The communication interface 1212 may be configured to communicate through a USB connector, an Ethernet connector, or other network connection type, such as a wireless connection (e.g., Bluetooth, Wi-Fi, and / or a cellular data network). In general, the communication interface 1212 may communicate through any data communication link implemented via a physical cable or implemented wirelessly.

[0110] The optional local control interface 1214 is configured to receive user input, such as user input that controls the operation of the control system 116. For example, the local control interface 1214 can include one or more physically adjustable control elements (e.g., buttons, switches, and / or dials) and / or a touch screen that can be controlled to display a menu with which a user can interact to provide control input. In some implementations, the local control interface 1214 includes a display that can be controlled to display information such as the current configuration of the optoelectronic system, images captured by the camera sensor, results of image analysis, and the like.

[0111] In some implementations, the optional image processor 1208 is configured to obtain one or more images captured by the camera sensor (e.g., receive data representing the one or more images from the camera controller 1210), and analyze the one or more images to obtain one or more analysis results. For example, the image processor 1208 may be configured to recognize an illumination pattern (e.g., an array of dots or an illumination line) in the image, and based on the deformation / shape of the illumination pattern, determine the surface topology of the object onto which the illumination pattern is projected. Alternatively or additionally, in some implementations, the captured image is transmitted to another device for analysis, such as using the communication interface 1212.

[0112] like Fig.13 1 , in process 1300 (e.g., performed by a control system such as control system 116 or an element thereof), the control system obtains data indicating a proper subset of two or more beam shaping portions of an optical element (1304). The proper subset has optical properties that provide selected optical parameters of the output light. The selected optical parameters can be any of the optical parameters described above, such as a pattern formed by the output light, a focal length of the output light, a position of the pattern (e.g., a deflection direction / tilt angle), a polarization of the output light, an intensity of the output light, or another type of optical parameter.

[0113] The data indicating the proper subset may be obtained in one or more of a variety of ways. In some embodiments, the control system receives data indicating the proper subset, for example, from another device (1302a). For example, the control system 116 receives data indicating the proper subset from another device using the communication interface 1212 or from a user using the local control interface 1214. In some embodiments, the control system receives data indicating selected optical parameters, and the control system determines the proper subset that provides the selected optical parameters (1302b). For example, the control system 116 receives data indicating the selected optical parameters from another device using the communication interface 1212, or receives user input from the selected optical parameters using the local control interface 1214. The control system may determine the proper subset based on a stored correspondence between the optical parameters and the beam shaping portion having the optical properties that provide the optical parameters. For example, the control system may access a stored table, a database, or other data structure that stores the stored correspondence.

[0114] As a non-limiting example, the control system receives data indicating that the output light should include a first pattern and a second pattern superimposed on each other. The control system determines that the first beam shaping portion modifies the light to produce the first pattern and the second beam shaping portion modifies the light to produce the second pattern. The first and second beam shaping portions are a proper subset of the beam shaping portions. As another example, the control system receives data indicating that the output light should project an illumination line focused on a particular focal plane. The control system determines that the first beam shaping portion modifies the light to produce an illumination line focused on a particular focal plane. The first beam shaping portion is a proper subset of the beam shaping portions.

[0115] In some embodiments, the control system receives data indicating a current application in which the output light is being used, determines selected optical parameters based on the current application, and determines to provide a proper subset of the selected optical parameters (1302c). For example, using the communication interface 1212 or the local control interface 1214, the control system may receive data indicating that the optoelectronic system is being used for a profilometry application, determine (e.g., based on a stored correspondence) that profilometry is being performed using the projected two-dimensional dot pattern, and determine a proper subset as one or more beam shaping portions that produce the two-dimensional dot pattern.

[0116] Example processes 1302a, 1302b, and 1302c may correspond to various processing capabilities and / or configurations of the control system 116. For example, in some implementations, the control system 106 has relatively low performance processing capabilities and / or is not configured to make determinations based on the overall optical application, in which case the control system 116 may perform process 1302a. In some implementations, the control system has relatively high performance processing capabilities and / or is highly integrated into the optical device to respond to high-level commands (e.g., "generate light for surface profiling of an object 3 meters away"), in which case the control system may perform process 1302c. The control system may be configured to perform two or more of processes 1302a, 1302b, and 1302c in different use cases.

[0117] The control system causes the laser beam to selectively illuminate the two or more proper subsets of the beam shaping portions (1306). For example, the control system 116 may use the laser controller 1202 to turn the laser 102 on and off to selectively illuminate the proper subsets; may use the laser controller 1202 to adjust the emission power of the laser 102 (and accordingly, the output light intensity); and / or may use the deflector controller 1204 to adjust the sweep frequency, sweep speed, and / or sweep angle range (either or both of the total sweep angle and the central axis of the sweep) of the beam deflector 106, as described above in various embodiments. The proper subsets of the beam shaping portions modify the light to obtain output light having selected optical parameters. The output light may then be utilized, for example, by projecting it onto an object.

[0118] In some implementations, determining a proper subset of two or more beam shaping portions can include determining one or more illumination parameters associated with illumination on the proper subset. For example, the control system can determine a specific location on the proper subset that the laser beam should illuminate (where the illumination path should be positioned) in order to provide the selected optical parameters. Figures 9A to 9B As described, a translation of the illumination path can cause a corresponding translation of the output light pattern. Thus, in some embodiments, the optical parameters are selected to include and / or be associated with a specific translation or position of the output light pattern, the control system determines a position that provides the specific translation or position, and the control system controls the beam deflector and / or the laser so that the illumination path matches the determined position.

[0119] As another example of determining one or more illumination parameters, the control system may determine a sweep speed at which different portions of the illumination path should be swept, and / or may determine a laser intensity to be illuminated on portions of the illumination path in order to increase and / or decrease the imaging intensity of the output illumination pattern, as described with reference to FIG. Figures 3A to 3B For example, the selected optical parameters include and / or are associated with a target intensity of one or more projected illumination patterns, and the control system controls the beam deflector and / or the laser by adjusting the sweep speed and / or the laser beam emission power to achieve the target intensity.

[0120] In some implementations, the control system causes the camera sensor to capture an image of the object onto which the output light is projected (1308). For example, when the output light is projected onto the object, the camera controller 1210 controls the camera sensor 320 to capture an image of the object. The camera controller 1210 can then receive the captured image for analysis. Note that the camera controller 1210 and the camera sensor 320 need not be included in the control system 116 or in a device that includes the control system 116, but can be included in another control system or another device in some implementations.

[0121] The output light modified by the beam shaping portion to have one or more selected optical parameters is suitable for interoperability with a camera sensor and subsequent image analysis. For example, the output light is focused at a focal plane at which the camera sensor is configured to image, and / or the output light has a pattern that allows for a desired subsequent analysis (e.g., topological analysis) of the object, and / or the output light is directed to a portion of the object that is the focus of subsequent analysis by translation by an illumination line or by illumination on a selected beam shaping portion. Thus, the results of the optical analysis can be made more accurate under varying imaging conditions.

[0122] like Fig.1414, in process 1400 (e.g., performed by a control system such as control system 116 or an element thereof), an image of an object is received (1402). As described above, the image is captured by a camera sensor when the object is illuminated with output light that has been modified by a proper subset of two or more beam shaping portions of an optical element. For example, camera controller 1210 receives the image from the camera sensor.

[0123] A pattern of output light projected onto the object is determined (1404). For example, the shape, length, distortion, and / or another spatial characteristic of the output light projected onto the object as captured in the image is determined. This process may be performed by the image processor 1208 in the control system 116, or may be performed by a separate processing system.

[0124] Based on the pattern, the surface topology of the object is determined (1406). For example, 2D or 3D profilometry can be performed using triangulation based on portions of the pattern. As another example, 2D or 3D stereometry can be performed, for example, by determining distortion of a two-dimensional dot pattern projected on the object. In some embodiments, the surface topology of the object is determined based on multiple images corresponding to projections of different patterns of output light, for example by shining on different beam shaping portions.

[0125] Several embodiments have been described in detail above, but various modifications are possible. The disclosed subject matter including the functional operations described in this specification can be implemented in electronic circuit systems, computer hardware, firmware, or a combination thereof, such as the structural components disclosed in this specification and their structural equivalents.

[0126] The disclosed subject matter including the functional operations described in this specification can be implemented in electronic circuitry, computer hardware, firmware, or combinations thereof, such as the structural components disclosed in this specification and their structural equivalents.

[0127] Although this specification contains many details, these should not be viewed as limitations on what can be claimed, but rather as descriptions of specific features of specific embodiments. Specific features described in the context of separate embodiments in this specification may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable sub-combination. Moreover, although features may be described above as functioning in a certain combination and even initially claimed as such, one or more features from the claimed combination may be deleted from the combination to some extent, and the claimed combination may point to a sub-combination or a variation of a sub-combination.

[0128] Similarly, although operations are described in a particular order in the accompanying drawings, this should not be understood as requiring that such operations be performed in the particular order shown or in a continuous order, or that all illustrated operations be performed to achieve the desired results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments.

[0129] Other embodiments are within the scope of the following claims.

Claims

1. An electronic system comprising: a laser operable to generate a laser beam; an optical element comprising two or more beam shaping sections, each of the two or more beam shaping sections having different optical properties; a beam deflector arranged to sweep the laser beam across the optical element to produce output light; as well as and an electronic device communicatively coupled to the laser, the beam deflector, or both the laser and the beam deflector, wherein the electronics is configured to selectively impinge the laser beam onto a proper subset of the two or more beam shaping portions of the optical element to modify one or more optical parameters of the output light.

2. The optoelectronic system of claim 1, wherein the two or more beam shaping sections comprise different beam shaping sections.

3. The optoelectronic system of claim 2, wherein the different beam shaping sections are arranged in two dimensions.

4. The optoelectronic system of any one of claims 1 to 3, wherein the electronic device is configured to: obtaining data indicative of the proper subset of the two or more beam shaping portions, wherein the proper subset of the two or more beam shaping portions has optical properties providing selected optical parameters; and The laser beam is selectively irradiated onto the proper subset of the two or more beam shaping parts by controlling the laser, the beam deflector, or both the laser and the beam deflector.

5. The optoelectronic system of any one of claims 1 to 3, wherein the electronic device comprises a laser controller configured to: switching the laser on when the beam deflector is in a configuration to deflect the laser beam onto the proper subset of the two or more beam shaping portions; and The laser is switched off when the beam deflector is in a configuration to deflect the laser beam to another beam shaping portion of the optical element that is different from the proper subset of the two or more beam shaping portions.

6. The optoelectronic system of claim 5, wherein a further beam shaping portion is arranged between different sections of the proper subset of the two or more beam shaping portions.

7. The optoelectronic system of any one of claims 1 to 3, wherein the electronic device comprises a laser controller configured to: The emission power of the laser is varied between different on-state powers as the beam deflector sweeps the laser beam, such that different sections of the proper subset of the two or more beam shaping portions are illuminated with different laser beam powers.

8. The optoelectronic system of any one of claims 1 to 3, wherein the electronic device comprises a deflector controller configured to: The sweep range of the beam deflector is changed from a first sweep range to a second different sweep range, wherein the second sweep range deflects the laser beam onto the proper subset of the two or more beam shaping portions.

9. The optoelectronic system of any one of claims 1 to 3, comprising a lens arranged between the beam deflector and the optical element, the lens being configured to collimate the laser beam deflected by the beam deflector to generate parallel laser beams for different deflection directions, the parallel laser beams being directed toward the optical element.

10. The optoelectronic system of any of claims 1 to 3, wherein the optical element comprises a single printed optics including the two or more beam shaping portions.

11. The optoelectronic system of any of claims 1 to 3, wherein the different optical properties of the two or more beam shaping portions comprise different focal lengths.

12. The optoelectronic system of any one of claims 1 to 3, wherein the one or more optical parameters comprises a shape of the output light projected onto an object.

13. The optoelectronic system of any one of claims 1 to 3, wherein the one or more optical parameters include a projection direction of the output light.

14. The optoelectronic system of any one of claims 1 to 3, wherein the one or more optical parameters comprises a fan angle of the output light.

15. The optoelectronic system of any one of claims 1-3, wherein the one or more optical parameters include a pattern of structured light in the output light. 16 . The optoelectronic system of claim 15 , wherein the pattern comprises at least one of a two-dimensional phase-shift pattern, a two-dimensional dot pattern, or a stripe pattern.

17. The optoelectronic system of any one of claims 1-3, wherein the one or more optical parameters include polarization of the output light.

18. The optoelectronic system of any one of claims 1 to 3, wherein the output light is configured to form one or more illumination lines, and Wherein the one or more optical parameters include at least one of the number of the one or more illumination lines, the positions of the one or more illumination lines, the lengths of the one or more illumination lines, or the spacing between adjacent ones of the one or more illumination lines.

19. The optoelectronic system of any of claims 1 to 3, wherein the two or more beam shaping portions comprise diffractive optical elements.

20. The optoelectronic system of any one of claims 1 to 3, wherein the two or more beam shaping portions comprise an optical diffuser.

21. The optoelectronic system of any one of claims 1-3, wherein the beam deflector comprises a micro-electromechanical system (MEMS) mirror.

22. An optoelectronic system as claimed in any one of claims 1 to 3, comprising a camera sensor arranged to image an object onto which the output light is projected.

23. The optoelectronic system of claim 22, wherein the electronic device comprises an image processor configured to: receiving an image captured by the camera sensor; determining a pattern of the output light projected onto the object; and Based on the pattern, a surface topology of the object is determined.

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