Apparatus, method and computer program

Abstract

An apparatus comprising: a detector for detecting light outputs from a plurality of scanning lasers; a module for controlling respective lengths of an optical path from the plurality of scanning lasers to the detector such that the respective lengths of the optical path are a first length at a first time and a second length different from the first length at a second time; and means for adjusting at least one light path direction to obtain coincidence of light outputs from the plurality of scanning lasers at the detector at the first time and the second time.

Description

Technical Field

[0001] Examples of the present disclosure relate to an apparatus, method, and computer program.Some examples relate to an apparatus, method, and computer program for obtaining coincidence of light output from multiple scanning lasers. Background Art

[0002] Sensors and devices can be used to scan multiple laser beams simultaneously to perform sensing, mapping, component analysis, multiplexed ranging tasks, and other tasks.

[0003] Accurate control and / or alignment of the laser beam would improve the performance of such devices. Summary of the invention

[0004] According to various but not necessarily all examples, an apparatus is provided, comprising: a detector for detecting light output from a plurality of scanning lasers; a module for controlling respective lengths of light paths from the plurality of scanning lasers to the detector so that the respective lengths of the light paths are a first length at a first time and a second length different from the first length at a second time; and a module for adjusting at least one light path direction to obtain coincidence of light output from the plurality of scanning lasers at the detector at the first time and the second time.

[0005] In some but not necessarily all examples, the first time is a first time period, and wherein the second time is a second time period.

[0006] In some but not necessarily all examples, the means for controlling the respective lengths of the optical paths comprises a light guide configured to vary the length of the optical paths.

[0007] In some but not necessarily all examples, the light guide is configured for rectilinear light input and rectilinear light output.

[0008] In some but not necessarily all examples, controlling the respective lengths of the optical paths includes changing the direction of the light guide.

[0009] In some but not necessarily all examples, changing the direction of the light guide includes rotating the light guide to change an angle of incidence of light output from the plurality of scanning lasers on the light guide.

[0010] In some but not necessarily all examples, the means for adjusting the direction of the at least one optical path includes means for adjusting the direction of at least one laser of the plurality of scanning lasers.

[0011] In some but not necessarily all examples, the means for adjusting the direction of the at least one light path includes means for redirecting the at least one light path.

[0012] In some but not necessarily all examples, the detector has a fixed position relative to the device.

[0013] In some but not necessarily all examples, the apparatus includes the plurality of scanning lasers.

[0014] In some but not necessarily all examples, the apparatus includes an optical arrangement configured to direct a portion of light emitted by the plurality of scanning lasers toward a module that controls respective lengths of the optical paths.

[0015] In some but not necessarily all examples, the means for adjusting the direction of the at least one optical path is configured to obtain coincidence at the detector between light output from a first laser of the plurality of lasers and light output from a second laser of the plurality of lasers.

[0016] In some but not necessarily all examples, light output from a subset of the plurality of scanning lasers is emitted from a shared aperture at the first time and the second time.

[0017] In some but not necessarily all examples, the apparatus includes means for determining whether light output from the first laser coincides with light output from the second laser at the detector at the first time.

[0018] In some but not necessarily all examples, the apparatus includes means for adjusting a light path direction of a light output from the second laser to obtain a coincidence of the light outputs from the first laser and the second laser at the detector at the first time based on a determination that the light output from the first laser does not coincide with the light output from the second laser at the detector at the first time.

[0019] In some but not necessarily all examples, the apparatus includes means for determining whether light output from the first laser coincides with light output from the second laser at the detector at the second time based on a determination that light output from the first laser coincides with light output from the second laser at the detector at the first time.

[0020] In some but not necessarily all examples, light output from at least some of the plurality of scanning lasers is emitted from respective apertures.

[0021] In some but not necessarily all examples, the device includes a module for verifying an analytic transfer function at the first time and the second time, wherein verifying the analytic transfer function includes: determining a first optical path direction of an optical output from the first laser using the analytic transfer function so that when the optical output from the first laser has the first optical path direction at the first time, the optical output from the first laser coincides with the optical output from the second laser at the detector; adjusting the optical path direction of the optical output from the first laser to the first optical path direction; determining whether there is a coincidence of the optical output from the first laser and the optical output from the second laser at the detector at the first time: determining a second optical path direction of the optical output from the first laser using the analytic transfer function so that when the optical output from the first laser has the second optical path direction at the second time, the optical output from the first laser coincides with the optical output from the second laser at the detector; adjusting the optical path direction of the optical output from the first laser to the second optical path direction; and determining whether there is a coincidence of the optical output from the first laser and the optical output from the second laser at the detector at the second time.

[0022] In some but not necessarily all examples, the apparatus includes means for determining the analysis transfer function, wherein determining the analysis transfer function includes: creating a first array of detector positions; and determining a polynomial analysis transfer function to fit the first array.

[0023] In some but not necessarily all examples, the means for determining the analysis transfer function is configured to update the analysis transfer function based at least in part on a determination that light from the first laser and light from the second laser do not coincide at the first time or the second time.

[0024] In some but not necessarily all examples, updating the analysis transfer function includes creating a second array of detector positions, the second array including more detector positions than the first array, and determining a polynomial analysis transfer function to fit the second array.

[0025] According to various but not necessarily all examples, a method is provided, comprising: detecting light output from a plurality of scanning lasers; controlling respective lengths of light paths from the plurality of scanning lasers to the detector such that the respective lengths of the light paths are a first length at a first time and a second length different from the first length at a second time; and adjusting at least one light path direction to obtain overlap of light output from the plurality of scanning lasers at the detector at the first time and the second time.

[0026] According to various but not necessarily all examples, a computer program is provided, comprising program instructions for causing an apparatus to perform at least the following operations: detecting light output from a plurality of scanning lasers; controlling respective lengths of light paths from the plurality of scanning lasers to the detector such that the respective lengths of the light paths are a first length at a first time and a second length different from the first length at a second time; and adjusting at least one light path direction to obtain coincidence of the light output from the plurality of scanning lasers at the detector at the first time and the second time.

[0027] According to various but not necessarily all examples, examples are provided as claimed in the appended claims.

[0028] Although the examples and optional features of the above disclosure are described separately, it should be understood that they are provided in all possible combinations and arrangements and are included in the present disclosure. It should be understood that various examples of the present disclosure may include any or all features described for other examples of the present disclosure, and vice versa. In addition, it should be understood that any one or more or all features, in any combination, can be implemented / included in / executable by devices, methods and / or computer program instructions as needed and appropriate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Some examples will now be described with reference to the accompanying drawings, in which:

[0030] Figure 1 An example of the subject matter disclosed herein is shown;

[0031] Figure 2 A further example of the subject matter disclosed herein is shown;

[0032] Figures 3A-3D A further example of the subject matter disclosed herein is shown;

[0033] Figure 4A-4B A further example of the subject matter disclosed herein is shown;

[0034] Figures 5A-5F A further example of the subject matter disclosed herein is shown;

[0035] Figure 6 A further example of the subject matter disclosed herein is shown;

[0036] Figure 7 A further example of the subject matter disclosed herein is shown;

[0037] Figure 8 A further example of the subject matter disclosed herein is shown;

[0038] Fig. 9 A further example of the subject matter disclosed herein is shown;

[0039] Fig.10 A further example of the subject matter disclosed herein is shown;

[0040] Fig.11 A further example of the subject matter disclosed herein is shown;

[0041] Fig.12 A further example of the subject matter disclosed herein is shown;

[0042] Fig.13 A further example of the subject matter disclosed herein is shown;

[0043] Fig.14 shows further examples of the subject matter disclosed herein; and

[0044] Fig.15 A further example of the subject matter disclosed herein is shown.

[0045] The figures are not necessarily drawn to scale. For clarity and conciseness, certain features and views in the figures may be shown schematically or scaled up. For example, the dimensions of certain elements in the figures may be enlarged relative to other elements to aid illustration. Similar reference numerals are used in the figures to indicate similar features. For clarity, all reference numerals may not necessarily be shown in all figures. DETAILED DESCRIPTION

[0046] The following description and drawings relate to various examples of an apparatus 100 that includes a detector 102 for detecting light output from a plurality of scanning lasers; a module 104 for controlling respective lengths of light paths from the plurality of scanning lasers to the detector 102 such that the respective lengths of the light paths are a first length at a first time and a second length different from the first length at a second time; and a module 106 for adjusting at least one light path direction to obtain coincidence of light output from the plurality of scanning lasers 202 at the detector 102 at a first time and a second time.

[0047] Therefore, the following description and drawings relate to various examples of an apparatus 100, which includes: a detector 102 for detecting light output from a plurality of scanning lasers 202; a module 104 for controlling respective lengths of light paths from the plurality of scanning lasers 202 to the detector 102 so that the respective lengths of the light paths are a first length at a first time and a second length different from the first length at a second time; and a module 106 for adjusting at least one light path direction to obtain coincidence of light output from the plurality of scanning lasers 202 at the detector 102 when the respective lengths of the light paths are the first length and when the respective lengths of the light paths are the second length.

[0048] In an example, the coincidence of the light outputs from the plurality of scanning lasers 202 at the detector 102 is both temporal and spatial, that is, to coincide, the light outputs from the plurality of scanning lasers 202 are incident on the same point at the same time. Thus, in some examples, the detector is configured to detect the light outputs from the plurality of scanning lasers at the same time.

[0049] In the example, the coincidence of the light outputs from the plurality of scanning lasers 202 at the detector 102 is only spatial, that is, to coincide, the light outputs from the plurality of scanning lasers 202 are incident on the same point, but not necessarily at the same time.

[0050] Figure 1 An example of an apparatus 100 is schematically shown. Figure 2 Features of the device 100 are schematically illustrated. Figure 1 Features not shown in Figure 2 Shown in.

[0051] The apparatus 100 comprises a detector 102 for detecting light output from a plurality of scanning lasers 202. In an example, the apparatus 100 comprises a plurality of scanning lasers 202.

[0052] In an example, the plurality of scanning lasers 202 are configured to perform sensing, mapping, component analysis, or ranging tasks, or a combination of these tasks.

[0053] In an example, a scanning laser is a laser that can perform a scanning operation. In some examples, at least one of the plurality of scanning lasers 202 is configured to perform a scanning operation when any one or more of the detector 102, the module 104 for controlling the respective lengths of the optical paths from the plurality of scanning lasers 202 to the detector 102, and the module 106 for adjusting the direction of at least one optical path are operating. In some examples, at least one of the plurality of scanning lasers 202 is configured not to perform a scanning operation when any one or more of the detector 102, the module 104 for controlling the respective lengths of the optical paths from the plurality of scanning lasers 202 to the detector 102, and the module 106 for adjusting the direction of at least one optical path are operating. Therefore, the scanning laser 202 may also be referred to as a scannable laser 202.

[0054] Figure 2 The example apparatus 100 is shown with two lasers 202 emitting light. Figure 2 A first time and a second time are shown.

[0055] In an example, the first time is a first time period, and the second time is a second time period. In an example, the first time and the second time are continuous, i.e., there is no time or time period between the first time and the second time. In other examples, the first time and the second time are discontinuous, i.e., the first time and the second time are separated by another time or time period.

[0056] In an example, the first time is the time when each path length is the first length, and the second time is the time when each path length is the second length. In some such examples, the first time is any time when each path length is the first length, and the second time is any time when each path length is the second length. Therefore, in an example, the first time and / or the second time may occur multiple times.

[0057] exist Figure 2 In the example of FIG. 1 , the light output from the first laser 202a at the first time and the second time is represented by a dashed line, and the light output from the second laser 202b at the first time and the second time is represented by a dotted line. Figure 2 Only two lasers 202 are shown. However, it should be understood that the following is applicable to examples of the device 100 in which more than two lasers 202 emit light.

[0058] In some examples, first portion 204a of light emitted by one or more of plurality of scanning lasers 202 is directed toward detector 102. Second portion 204b of light emitted by one or more of plurality of scanning lasers 202 is not directed toward detector 102.

[0059] In an example, the apparatus 100 comprises an optical arrangement 206 configured to direct a first portion 204a of light emitted by the plurality of scanning lasers 202 towards the detector 102. In an example, the optical arrangement 206 comprises any of: a beam splitter; a fiber coupler; or a dichroic mirror.

[0060] In an example, the optical arrangement comprises means for controlling at least one of: the intensity or the position of light incident on the object plane 212 .

[0061] In examples, detector 102 has a fixed position relative to device 100. In some such examples, detector 102 is fixed inside device 100.

[0062] The detector 102 is configured to determine one or more incident positions of one or more lasers 202, wherein the incident position of a laser is the position where light from the laser is incident on the detector 102. The incident position of a laser i may be denoted as Xi.

[0063] In an example, the detector 102 is configured to detect coincidence of light outputs from the plurality of scanning lasers 202. Determining coincidence of light outputs from the plurality of scanning lasers 202 may be at a first time, a second time, or one or more other times, where the other times may be any of: before the first time and the second time; between the first time and the second time; or after the first time and the second time. Thus, the detector 102 is configured to determine coincidence when respective lengths of the light paths are the first lengths and when respective lengths of the light paths are the second lengths.

[0064] In an example, the apparatus 100 includes a module 208 for determining one or more control signals 210. The one or more control signals 210 are determined based on an incident position of one or more lasers 202 of the plurality of lasers 202.

[0065] In an example, the apparatus 100 includes means for outputting one or more control signals 210 .

[0066] In an example, simultaneously detecting light output from a plurality of scanning lasers 202 includes detecting light output from different scanning lasers 202 at an instantaneous time or within a time period shorter than a threshold time.

[0067] exist Figure 3A-3B In the examples of , 4A-4B, 5A-5F and 11, the light output from the first laser 202a at the first time and the second time is represented by a solid line, and the light output from the second laser 202b at the first time and the second time is represented by a dotted line.

[0068] Figure 3A and3B Examples are shown where the detector 102 includes a position-based sensor, such as a position sensitive detector or a camera.

[0069] In some such examples, the determination of coincidence of light outputs from the plurality of scanning lasers 202 is based on a determination that an incident position of a first scanning laser in the plurality of scanning lasers 202 is the same as an incident position of a second scanning laser and / or an incident position of other scanning lasers 202 in the plurality of scanning lasers 202. In other examples, the determination of coincidence of light outputs from the plurality of scanning lasers 202 is based on a determination that a distance between an incident position of the first scanning laser and an incident position of the second scanning laser and / or an incident position of other scanning lasers 202 is less than a threshold distance.

[0070] exist Figure 3A In the example of , the incident position of the first laser 202a is different from the incident position of the second laser 202b, so the light output from the first laser 202a does not overlap with the light output from the second laser 202b (X1≠X2). Figure 3B In the example, the incident position of the first laser 202a is the same as the incident position of the second laser 202b, or the distance from the incident position of the second laser 202b is less than the threshold distance, so the light output from the first laser 202a coincides with the light output from the second laser 202b (X1=X2).

[0071] Figure 3C and 3D Examples are shown where detector 102 is a light intensity sensor or light levels sensor 302. In some such examples, one or more locations where light from one or more lasers 202 is incident on detector 102 are determined based on the intensity of light detected at detector 102.

[0072] In some such examples, the determination of coincidence of light output from the plurality of scanning lasers 202 is based on a determination that the light intensity at the first location on the detector 102 is above a threshold intensity. In an example, the threshold intensity depends on the number of light beams to coincide on the detector 102.

[0073] exist Figure 3C In the example of , the intensity of the light detected at the first position is below the threshold, so the light output from the first laser 202a does not overlap with the light output from the second laser 202b (X1≠X2). Figure 3D In the example of , the light intensity at the first position is above the threshold, so the light output from the first laser 202a coincides with the light output from the second laser 202b (X1=X2).

[0074] The device 100 includes a module 104 for controlling respective lengths of optical paths from a plurality of scanning lasers 202 to a detector 102. In an example, the optical arrangement 206 is configured to direct a first portion 204a of light emitted by the scanning lasers 202 toward the module 104 for controlling respective lengths of optical paths from the plurality of scanning lasers 202 to the detector 102.

[0075] The module 104 for controlling the respective lengths of the optical paths from the plurality of scanning lasers 202 to the detector 102 can be viewed as applying a function F to the optical output from the plurality of i lasers 202. F includes an analytical transfer function component M that depends on the direction j of the incident light relative to the light guide direction and can therefore be expressed as:

[0076] F=M(j)

[0077] In an example, the module 104 for controlling respective lengths of optical paths from the plurality of scanning lasers 202 to the detector 102 is configured to receive one or more control signals 210 .

[0078] In an example, the means 104 for controlling the respective lengths of the optical paths comprises a light guide configured to vary the length of the optical paths. In some such examples, the light guide is configured for a linear light input and a linear light output.

[0079] In the example, for example Figure 2 In the example shown in , the light guide is configured to receive at least a portion of the light emitted by the plurality of lasers 202. The light passes through the light guide, exits the light guide, and is received by the detector 102.

[0080] In an example, controlling the respective lengths of the light paths includes changing the direction of the light guide. Figure 4A and 4B Some such examples are shown. In an example, the direction of the light guide is changed by rotating the light guide about a transverse axis T, the transverse axis T extending perpendicular to a cross-section of the light guide. In some examples, changing the direction of the light guide includes rotating the light guide to change an angle of incidence of light output from the plurality of scanning lasers 202 on the light guide. In some such examples, one or more control signals 210 may cause the light guide to rotate about the transverse axis T. The rotation angle of the light guide about the transverse axis T may be represented as θ.

[0081] like Figure 4A and 4BAs shown, changing the angle of incidence of the light output from the plurality of scanning lasers 202 on the light guide changes the angle of reflection of the light output from the plurality of scanning lasers 202 within the light guide. A low angle of incidence results in a low angle of reflection, which in turn results in little internal reflection of the light output from the plurality of scanning lasers 202 as it passes through the light guide. Conversely, a high angle of incidence results in a high angle of reflection, which in turn results in more internal reflection of the light output from the plurality of scanning lasers 202 as it passes through the light guide.

[0082] Thus, rotating the light guide such that the angle of incidence of light output from the plurality of scanning lasers 202 increases causes the respective lengths of the light paths to increase, whereas rotating the light guide such that the angle of incidence of light output from the plurality of scanning lasers 202 decreases causes the respective lengths of the light paths to decrease.

[0083] In the example, for example Figures 5A-5F In the example shown in , the light guide includes an elongated hollow prism. In some examples, one or more interior surfaces of the light guide are reflective. Figure 5A-5B In the example of , the cross-sectional shape of the light guide is a polygon with three or more sides. Figures 5C-5F In the examples, the light guide has a circular or elliptical cross-section.

[0084] In an example, the incident angle of the laser 202 can be controlled by rotating the light guide around a central axis C. In an example, the central axis C is a rotational symmetry axis of the light guide. In an example, the central axis C is perpendicular to the transverse axis T.

[0085] The rotation of the light guide about the central axis C causes the light emitted by the multiple lasers 202 to enter the light guide at different angles at the entrance, thereby causing the light to generate different internal reflection modes when passing through the light guide, resulting in different path lengths through the light guide and different angles at the exit, such as Figure 5A , 5C Therefore, by rotating the light guide around the central axis C and the transverse axis T, the incident positions of the plurality of lasers 202 on the detector 102 can be changed. The angle of rotation of the light guide around the central axis C is The angle of rotation around the horizontal axis is θ.

[0086] Thus, any point 213 in 3D space into which the light output 204b from the plurality of lasers 202 may be incident can be identified by The light path direction j is represented by the unique direction of the light guide in the parameter space defined by , which corresponds to the 2D direction of the light guide. Therefore, the light path direction j is represented by the parameter definition.

[0087] In an example, the module 104 for controlling the respective lengths of the optical paths is configured to receive a control signal. In some such examples, one or more control signals 210 may cause the light guide to rotate about the central axis C and / or about the transverse axis T.

[0088] In an example, the rotation of the light guide about the central axis C is controlled by one or more motors. In an example, the rotation of the light guide about the transverse axis T is controlled by one or more motors.

[0089] The module 104 for controlling the respective lengths of the optical paths is configured to control the respective lengths of the optical paths so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time.

[0090] In an example, the first length is a first set of lengths of the optical path, and the second length is a second set of lengths of the optical path. For example, the optical path of the optical output from the first laser 202a can have a first length a, the optical path of the optical output from the second laser 202b can have a length b, and the optical paths of the optical outputs from the n other lasers 202 can have lengths c...n. In some examples, the length a, the length b, and the length c...n are different. In other examples, one or more of the length a, the length b, and the length c...n are equal to or substantially equal to another one or more of the length a, the length b, and the length c...n.

[0091] The apparatus 100 includes a module 106 for adjusting at least one optical path direction to obtain coincidence of light output from the plurality of scanning lasers 202 at the detector 102 at a first time and at a second time. In other words, the apparatus 100 includes a module 106 for adjusting at least one optical path direction to obtain coincidence of light output from the plurality of scanning lasers 202 at the detector 102 when respective lengths of the optical paths are the first length and when respective lengths of the optical paths are the second length.

[0092] The optical path direction can be represented as j, and the direction vector of laser i with the optical path direction can be represented as Si j Therefore, the incident position of the laser i with the optical path direction , on the detector 102 can be expressed as:

[0093]

[0094] In an example, the means 106 for adjusting the direction of at least one optical path is configured to receive one or more control signals 210 .

[0095] In an example, the means 106 for adjusting the direction of at least one optical path is configured to obtain a coincidence between the light output from the first laser 202a and the light output from the second laser 202b at the detector 102. In some such examples, the means 106 for adjusting the direction of at least one optical path is configured to obtain a coincidence between the light output from the first laser 202a and the light output of the further laser at the detector 102 based at least in part on a determination that a coincidence between the first laser 202a and the second laser 202b has been obtained. Thus, the light outputs from the plurality of lasers 202 coincide one laser at a time.

[0096] In an example, the means 106 for adjusting the direction of at least one optical path includes means 106 for adjusting the direction of at least one laser in the plurality of scanning lasers 202. In some such examples, the direction is adjusted by one or more motors. The control of the one or more motors depends on one or more control signals 210.

[0097] In some examples, the module 106 for adjusting the direction of at least one light path includes a module for redirecting at least one light path. In some such examples, the module for redirecting at least one light path includes a mirror. A change in the direction of the mirror changes the direction of at least one light path. In an example, the direction of the mirror is adjusted by one or more motors. The one or more motors are adjusted based on one or more control signals 210.

[0098] By obtaining a coincidence of first portions 204a of light output from the plurality of scanning lasers 202 at a first point on the detector 102 at a first time, a coincidence of second portions 204b of light output from the plurality of scanning lasers 202 at a point on a first object plane 212a corresponding to the first point is obtained, the first object plane 212a being defined by a path length equal to the first length. By obtaining a coincidence of first portions 204a of light output from the plurality of scanning lasers 202 at a second point on the detector 102 at a second time, a coincidence of second portions 204b of light output from the plurality of scanning lasers 202 at a point on a second object plane 212b corresponding to the second point is obtained, the second object plane 212b being defined by a path length equal to the second length. Thus, changing the length of each optical path results in a corresponding change in the path length.

[0099] Figure 6 An example of light output from a subset of the plurality of scanning lasers 202 being emitted from a shared aperture at a first time and a second time is shown. For ease of viewing, Figure 6 Collinear beams are shown as adjacent lines.

[0100] Figure 7An example method 700 is shown for obtaining coincidence of light output from a subset of multiple scanning lasers 202 at a detector 102 at a first time and a second time in an example in which the light output from the subset of multiple scanning lasers 202 is emitted from a shared aperture at the first time and the second time.

[0101] In an example where light output from a subset of the plurality of scanning lasers 202 is emitted from a shared aperture, obtaining a coincidence of light output from the plurality of scanning lasers 202 at a first time and a second time results in a coincidence of second portions 204b of light output from the plurality of scanning lasers 202 at any path length 212. This is because when obtaining a coincidence of first portions 204a of light output from the plurality of scanning lasers 202 at a first point on the detector 102 at a first time, a coincidence of second portions 204b of light output from the plurality of scanning lasers 202 is obtained at a point corresponding to the first point on a first object plane 212a, the first object plane 212a being defined by a path length equal to the first length. By obtaining a coincidence of first portions 204a of light output from the plurality of scanning lasers 202 at a second point on the detector 102 at a second time, a coincidence of second portions 204b of light output from the plurality of scanning lasers 202 is obtained at a point corresponding to the second point on a second object plane 212b, the second object plane 212b being defined by a path length equal to the second length. Thus, a coincidence of the second portion 204b of the light output from the plurality of scanning lasers 202 is obtained at two points, each point having a different path length 212. Two lines passing through the same two points must be collinear. Thus, the light output from the plurality of scanning lasers 202 is aligned.

[0102] At block 702 , the method 700 includes determining an incident position of a plurality of scanning lasers 202 .

[0103] In an example, the incident positions of the plurality of scanning lasers 202 are determined by the detector 102 .

[0104] For the following example, the incident position of the first laser 202a is X1, and the incident position of the second laser 202b is X2.

[0105] X1 and X2 depend on the direction vectors S1 and S2 of the first laser 202a and the second laser 202b and the function F 1 , corresponds to the 2D direction of the light guide at the first time. Therefore:

[0106] S1F 1 =X1

[0107] S2F 1 =X2

[0108] At block 704 , the method 700 includes determining whether the light output from the first laser 202 a and the light output from the second laser 202 b coincide at the detector 102 at a first time ( X1 = X2 ).

[0109] Based on a determination that the light output from the first laser 202 a and the light output from the second laser 202 b do not coincide at the detector 102 at the first time ( X1 ≠ X2 ), the method 700 proceeds to block 706 .

[0110] At block 706 , the method 700 includes adjusting the direction of the optical path of light from the second laser 202 b to obtain coincidence of the optical output from the first laser 202 a and the optical output from the second laser 202 b at the detector 102 at the first time or the second time.

[0111] Therefore, at block 706, S2 is adjusted to produce S'2 such that:

[0112] S'2F 1 =X'2=X1.

[0113] After completing block 706 , method 700 proceeds to block 708 .

[0114] Based on a determination that the light output from the first laser 202 a and the light output from the second laser 202 b coincide at the detector 102 at the first time ( X1 = X2 ), the method 700 proceeds to block 708 .

[0115] At block 708 , the method 700 includes adjusting the respective lengths of the optical paths so that the respective lengths of the optical paths are second lengths different from the first lengths at a second time.

[0116] Thus, at block 708, the transfer function becomes F2, corresponding to the 2D direction of the light guide at the second time, which changes the optical path lengths of the two light beams such that:

[0117] S1F 2 =X3

[0118] S'2F 2 =X4

[0119] After completing block 708 , method 700 proceeds to block 710 .

[0120] At block 710 , the method 700 includes determining whether the light output from the first laser 202 a coincides with the light output from the second laser 202 b at the detector 102 at a second time ( X3 = X4 ).

[0121] Based on a determination that light output from the first laser 202a does not coincide with light output from the second laser 202b at the detector 102 at the second time (X3≠X4), the method 700 proceeds to block 706 to treat the second time as the first time.

[0122] Based on a determination that the light output from the first laser 202a and the light output from the second laser 202b coincide at the detector 102 at the second time (X3=X4), the method 700 is complete for the second laser 202b.

[0123] The method 700 then returns to block 702 to replace the second laser 202 b with another laser in the plurality of lasers 202 .

[0124] When the method 700 has been completed for all lasers 202 in the plurality of lasers 202 , the plurality of lasers 202 are aligned.

[0125] Figure 8 An example of aligning three lasers 202 according to method 700 is shown. Figure 8 In an example of, the module 106 for adjusting the direction of at least one optical path includes optics 106a, 106b, and 106c, which are configured to adjust the direction of the optical paths of the light outputs from the lasers 202a, 202b, and 202c, respectively. The module 106 for adjusting the direction of at least one optical path redirects the light outputs from the lasers 202a, 202b, and 202c so that the light outputs from the multiple lasers 202a, 202b, and 202c are emitted from a shared aperture. In other examples, the module 106 for adjusting the direction of at least one optical path includes a module for adjusting the direction of at least one laser. In some such examples, there are no optics, and the lasers are positioned so that the light outputs from the lasers are emitted from a shared aperture.

[0126] In an example, the apparatus 100 includes means for performing the method 700 .

[0127] In an example, the apparatus 100 includes means for determining whether the light output from the first laser 202a and the light output from the second laser 202b coincide at the detector 102 at a first time.

[0128] In an example, the apparatus 100 includes a module for adjusting the optical path direction of light from the second laser 202b to obtain coincidence of the light outputs from the first laser 202a and the second laser 202b at the detector 102 at the first time based on a determination that the light output from the first laser 202a does not coincide with the light output from the second laser 202b at the detector 102 at the first time.

[0129] In an example, the apparatus 100 includes means for determining whether light output from the first laser 202a coincides with light output from the second laser 202b at the detector 102 at a second time based on a determination that light output from the first laser 202a coincides with light output from the second laser 202b at the detector 102 at a first time.

[0130] Fig. 9 An example is shown where light output from a subset of the plurality of scanning lasers 202 is emitted from a plurality of apertures.

[0131] Fig.10 An example method 1000 is shown for obtaining a coincidence of light output from a plurality of scanning lasers 202 at a detector 102 at a first time and a second time in an example where the light output from a subset of the plurality of scanning lasers 202 is emitted from a plurality of apertures. In an example, the method 1000 includes obtaining and validating an analytical transfer function in an example where the light output from a subset of the plurality of scanning lasers 202 is emitted from the plurality of apertures.

[0132] At block 1002, the method 1000 includes determining incident positions of the plurality of scanning lasers 202. The incident positions of the plurality of scanning lasers 202 are mapped into a first array.

[0133] In an example, the incident positions of the plurality of scanning lasers 202 are determined by the detector 102 .

[0134] For the following example, the incident position of laser i in direction j is X ij .X ij Depends on the direction vector of each laser 202 and a function F of the light guide, where F comprises an analytical transfer function M constructed using multiple directions j.

[0135] Thus, for multiple lasers 202i in multiple directions j, an i×j lookup map of incident positions X is obtained, where j is an integer whose value increases each time block 1012 of method 1000 is executed:

[0136]

[0137] Fig.12 A plot of the i×j lookup map for the incident position X is shown. Fig.12 In the example of FIG. 1 , axis a represents the detector position, axis c represents the incident angle of the light output from the plurality of scanning lasers on the light guide, and b represents the size of the detector.

[0138] The area on the detector where the light output from the plurality of scanning lasers 202 may be incident is determined by the sensor area of ​​the detector 102. In an example, the incident positions may therefore be virtually mapped to incident positions on the detector outside of the area where the light output from the plurality of scanning lasers 202 may be incident on the detector 102 to produce a set of points to which a polynomial may be fitted. In an example, the virtual mapping of incident positions is an estimated mapping. Fig.12 In , the incident position is represented by a square with a black outline and black fill, while the incident position of the virtual map is represented by an ellipse with a black outline and no fill.

[0139] The i×j lookup graph is a many-to-one mapping because different beam directions may lead to the same incident position X ij .

[0140] At block 1004 , the method 1000 includes determining a polynomial analysis transfer function to fit a plot of the i×j lookup map for the incident location X. Fig.12 An example polynomial analysis transfer function M is shown that fits the i×j lookup graph plotted for the incident position X e .

[0141] Thus, at block 1004, method 1000 includes estimating M. Thus, the determined polynomial analysis transfer function may be referred to as M e In the following, other estimates are indicated by superscript e express.

[0142] At blocks 1006-1010, method 1000 includes verifying the analytical transfer function M at the first time e , including using an analytical transfer function to estimate a desired optical path direction of the light output from the first laser 202a to obtain a desired incident position at a first time. The analytical transfer function at the first time can be represented as M1.

[0143] At block 1006, the jth laser power of the first laser is estimated according to the following formula: 1 Light path direction Where X 1j1 is the desired incident position of the first laser 202a, M1 e is the determined analytical transfer function:

[0144]

[0145] At block 1008, method 1000 includes adjusting the optical path direction of the optical output from the first laser 202a to the jth 1 Light path direction

[0146] Therefore, the optical path direction is adjusted so as to obtain the first laser 202a at the jth 1 The estimated incident position of the light path direction:

[0147]

[0148] At block 1010, method 1000 includes determining the validity of the determined analytical transfer function, including determining whether the incident position estimated at the first time is accurate (X 1j1 e =X 1j1 ).

[0149] The estimated position based on the first incident is inaccurate (X 1j1 e ≠X 1j1 ), method 1000 proceeds to box 1012.

[0150] At blocks 1012-1014, method 1000 includes updating the analytical transfer function M e .

[0151] At block 1012, method 1000 includes creating a second array of incident positions X using a plurality of light beams i at a plurality of directions, and increasing the value of from its previous value. In an example, increasing the value of from its previous value includes increasing the value of by 1. In other examples, increasing the value of from its previous value includes increasing the value of by more than 1.

[0152] At block 1014, method 1000 includes determining a polynomial analysis transfer function to fit the second array. Block 1014 is performed in the same manner as block 1004.

[0153] After completing block 1014 , method 1000 proceeds to block 1006 .

[0154] The estimated incident position is accurate according to the first time (X 1j1e =X 1j1 ), method 1000 proceeds to box 1016.

[0155] At block 1016 , method 1000 includes adjusting the respective lengths of the optical paths so that the respective lengths of the optical paths at a second time are a second length different from the first time length.

[0156] The analytical transfer function at the second time may be represented as M2. Therefore, block 1016 changes the function of the light guide to F2=M2(j1), which changes the optical path length of the light emitted by the plurality of lasers 202 such that:

[0157]

[0158] Here, X2 represents the laser (in this example, the laser is the first laser 202a) on the detector 102 and X 1j1 After completing block 1016 , method 1000 proceeds to block 1018 .

[0159] At blocks 1018 - 1022 , the method 1000 includes verifying the analytical transfer function at the second time, including estimating a desired optical path direction of the light output from the first laser 202 a using the analytical transfer function to obtain a desired incident position at the second time.

[0160] At block 1018, the j2-th light path direction is estimated according to the following formula, where X 1j2 is the desired incident position of the first laser 202a, M2 e is the determined analytical transfer function:

[0161]

[0162] At block 1020, method 1000 includes adjusting the optical path direction of the light output from the first laser 202a to the j2th optical path direction

[0163] Therefore, the light path direction is adjusted to obtain the estimated incident position of the first laser 202a in the j2-th light path direction:

[0164]

[0165] At block 1022, method 1000 includes determining the validity of the determined analytical transfer function, including determining whether the estimated position of incidence at the second time is accurate (X 1i2 e =X 1j2 ).

[0166] Depending on the second time the estimated position of the incident is inaccurate (X 1j2 e ≠X 1j2 ), method 1000 proceeds to box 1012.

[0167] Depends on the accuracy of the estimated incident position at the second time (X 1j2 e =X 1j2 ), the method 1000 is complete for the first laser 202a. The method 1000 then returns to block 1002 to replace the first laser 202a with other lasers in the plurality of lasers 202. Thus, an estimated analytical transfer function is obtained for each laser in the plurality of lasers 202 or each laser in a subset of the plurality of lasers 202.

[0168] When method blocks 1002-1022 are completed for all lasers 202 in the plurality of lasers 202 or all lasers in a subset of the plurality of lasers 202, an estimated transfer function M has been determined for each laser in the plurality of lasers 202 or each laser in a subset of the plurality of lasers 202. e .

[0169] The transfer function M can then be estimated using e To obtain the desired incident position X d Therefore, the method moves to block 1024.

[0170] At block 1024, the method 1000 includes determining whether the light output from the first laser 202a coincides with the light output from the second laser 202b at the detector 102, including using the estimated analytical transfer function to estimate the required light path directions of the first and second lasers 202a, 202b to obtain a further desired incident position X. d .

[0171] In the example, based on the determination at block 1024 that the light output from the first laser 202a coincides with the light output from the second laser 202b at the detector 102, the method proceeds to determine whether the light output from the first laser 202a and another laser 202 of the plurality of lasers coincides at the detector 102. The process is then repeated until it has been determined that the light output from the first laser 202a coincides with the light output from the second laser 202b for which the estimated transfer function M has been obtained. e The optical output of all other lasers coincides.

[0172] In an example, based on a determination that the light output from the first laser 202a does not coincide with the light output from the second laser 202b at the detector 102, the method 1000 is restarted to obtain a new transfer function M e .

[0173] The estimated analytical transfer function for each laser 202 in the plurality of lasers 202 may be used to determine the required optical path direction in order to obtain a desired incident position at a known optical path length.

[0174] Fig.11 An example is shown where estimated transfer functions for three lasers 202a, 202b, and 202c are obtained and verified according to method 1000. Thus, the required optical path directions for each laser are determined to obtain coincidence at points 213a, 213b. Fig.11In some examples, the module 106 for adjusting the direction of at least one optical path includes optical devices 106a, 106b, and 106c, which are configured to adjust the direction of the optical paths of the light outputs from lasers 202a, 202b, and 202c, respectively. In other examples, the module 106 for adjusting the direction of at least one optical path includes a module for adjusting the direction of at least one laser. In some such examples, there is no optical device.

[0175] In an example, the apparatus 100 includes means for performing the method 1000 .

[0176] In an example, the apparatus 100 includes means for validating the analytical transfer function at the first time and the second time, wherein validating the analytical transfer function includes:

[0177] determining a first optical path direction of the light output from the first laser using an analytical transfer function such that the light output from the first laser coincides with the light output from the second laser at the detector 102 when the light output from the first laser has the first optical path direction at a first time;

[0178] adjusting the optical path direction of the light output from the first laser to the first optical path direction;

[0179] determining whether there is an overlap of the light output from the first laser with the light output from the second laser at the first detector 102;

[0180] determining a second optical path direction of the light from the first laser using the analytical transfer function so that when the light output from the first laser has the second optical path direction at a second time, the light output from the first laser coincides with the light output from the second laser at the detector 102;

[0181] adjusting the optical path direction of the light output of the first laser to a second optical path direction; and

[0182] It is determined whether there is a coincidence of the light output from the first laser and the light output of the second laser at the detector 102 at the second time.

[0183] In an example, the apparatus 100 comprises means for determining an analysis transfer function, wherein determining the analysis transfer function comprises:

[0184] creating a first array of detector positions; and

[0185] A polynomial analysis transfer function is determined to fit the first array.

[0186] In an example, the means for determining the analysis transfer function is configured to update the analysis transfer function based at least in part on a determination that light from the first laser does not coincide with light from the second laser at the first time or the second time.

[0187] In the example, updating the analysis transfer function includes:

[0188] creating a second array of detector locations, the second array comprising more detector locations than the first array; and

[0189] A polynomial analysis transfer function is determined to fit the second array.

[0190] In an example, light output from a first subset of the plurality of scanning lasers 202 is emitted from a shared aperture, while light output from a second subset of the plurality of scanning lasers 202 is emitted from one or more different apertures.

[0191] In some such examples, coincidence is obtained between light output from a first subset of the plurality of scanning lasers 202 , and then coincidence is obtained between light output from the first subset of scanning lasers 202 and light output from a second subset of scanning lasers 202 .

[0192] In an example, apparatus 100 includes a smart device, such as a smartphone or smart glasses; a laser scanning projector; a heads-up display; a robotic device; a drone; an industrial IoT device; or a medical device.

[0193] Thus, the apparatus 100 provides an on-device, integrated, real-time feedback alignment method that provides closed-loop, continuous control of the plurality of lasers 202. This facilitates system alignment using on-device alignment settings without the need for off-device calibration targets.

[0194] Fig.13 A method is shown, comprising:

[0195] At block 1302, light output from a plurality of scanning lasers is detected;

[0196] At block 1304, controlling respective lengths of optical paths from the plurality of scanning lasers to the detector such that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; and

[0197] At block 1306, at least one optical path direction is adjusted to obtain coincidence of optical output from a plurality of scanning lasers at the detector at the first time and the second time.

[0198] Fig.14An example of a controller 1400 suitable for use with the device 100 is shown. An implementation of the controller 1400 may be a controller circuit. The controller 1400 may be implemented solely in hardware, have certain aspects solely in software including firmware, or may be a combination of hardware and software (including firmware).

[0199] like Fig.14 As shown, the controller 1400 can be implemented using instructions, for example, the instructions implement hardware functions by using executable instructions of a computer program 1406 in a general or special-purpose processor 1402, which can be stored on a computer-readable storage medium (disk, memory, etc.) and executed by such processor 1402.

[0200] The processor 1402 is configured to read from and write to the memory 1404. The processor 1402 may also include an output interface and an input interface, through which the processor 1402 outputs data and / or commands, and through which data and / or commands are input to the processor 1402.

[0201] The memory 1404 stores a computer program 1406, which includes computer program instructions (computer program code) that, when loaded into the processor 1402, control the operation of the device 100. The computer program instructions of the computer program 1406 provide the logic and routines that enable the device to perform the methods shown in the figures. The processor 1402 can load and execute the computer program 1406 by reading the memory 1404.

[0202] The apparatus 100 comprises:

[0203] at least one processor 1402; and

[0204] at least one memory 1404 including computer program code;

[0205] The at least one memory 1404 and the computer program code are configured to, together with the at least one processor 1402, cause the apparatus 100 to at least execute:

[0206] detecting light output from a plurality of scanning lasers;

[0207] controlling respective lengths of optical paths from the plurality of scanning lasers to the detector so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; and

[0208] At least one optical path direction is adjusted to obtain coincidence of light output from the plurality of scanning lasers at the detector at a first time and a second time.

[0209] The apparatus 100 comprises:

[0210] at least one processor 1402; and

[0211] At least one memory 1404 storing instructions that, when executed by at least one processor 1402, cause the apparatus to at least perform:

[0212] detecting light output from a plurality of scanning lasers;

[0213] controlling respective lengths of optical paths from the plurality of scanning lasers to the detector so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; and

[0214] At least one optical path direction is adjusted to obtain coincidence of light output from the plurality of scanning lasers at the detector at a first time and a second time.

[0215] like Fig.15 As shown, the computer program 1406 may arrive at the apparatus 100 via any suitable delivery mechanism 1408. The delivery mechanism 1408 may be, for example, a machine-readable medium, a computer-readable medium, a non-transitory computer-readable storage medium, a computer program product, a storage device, a recording medium (e.g., a compact disk read-only memory (CD-ROM) or a digital versatile disk (DVD) or a solid-state memory), an article of manufacture including or tangibly embodying the computer program 1406. The delivery mechanism may be a signal configured to reliably transmit the computer program 1406. The apparatus 100 may propagate or send the computer program 1406 as a computer data signal.

[0216] Computer program instructions for causing an apparatus to perform at least the following operations or for performing at least the following operations:

[0217] detecting light output from a plurality of scanning lasers;

[0218] controlling respective lengths of optical paths from the plurality of scanning lasers to the detector so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; and

[0219] At least one optical path direction is adjusted to obtain coincidence of light output from the plurality of scanning lasers at the detector at a first time and a second time.

[0220] The computer program instructions may be included in a computer program, a non-transitory computer readable medium, a computer program product, a machine readable medium. In some but not necessarily all examples, the computer program instructions may be distributed over multiple computer programs.

[0221] Although memory 1404 is shown as a single component / circuit, it may be implemented as one or more separate components / circuit, some or all of which may be integrated / removable and / or may provide permanent / semi-permanent / dynamic / cache storage.

[0222] Although processor 1402 is shown as a single component / circuit, it may be implemented as one or more separate components / circuit, some or all of which may be integrated / detachable. Processor 1402 may be a single-core or multi-core processor.

[0223] References to "computer-readable storage medium," "computer program product," "tangibly embodied computer program," etc., or "controller," "computer," "processor," etc., should be understood to include not only computers having different architectures (e.g., single / multi-processor architectures and sequential (von Neumann) / parallel architectures), but also special-purpose circuits, such as field-programmable gate arrays (FPGAs), application-specific circuits (ASICs), signal processing devices, and other processing circuits. References to computer programs, instructions, code, etc., should be understood to cover software for programmable processors or firmware, such as the programmable content of hardware devices, whether instructions for a processor or configuration settings for a fixed-function device, gate array, or programmable logic device, etc.

[0224] As used in this application, the term "circuitry" may refer to all of the following:

[0225] (a) pure hardware circuit implementation (e.g. implementation in analog and / or digital circuits only) and

[0226] (b) a combination of circuitry and software (and / or firmware) such as (as applicable):

[0227] (i) a combination of analog and / or digital circuitry and software / firmware, and

[0228] (ii) any portion of a hardware processor (including a digital signal processor) with software, software and one or more memories that work together to enable a device such as a mobile phone or server to perform various functions, and

[0229] (c) Circuits and / or processors (e.g., a microprocessor or portion of a microprocessor) that require software or firmware for operation, but where the software may not be present when the software is not required for operation.

[0230] This definition of circuitry applies to all uses of the term in this application, including any claims. As a further example, as used in this application, the term circuitry also covers implementations of hardware-only circuits or processors and their (or their) accompanying software and / or firmware. The term circuitry also covers, for example and where applicable to a particular claim element, a baseband integrated circuit for a mobile device or a similar integrated circuit in a server, cellular network device, or other computing or network device.

[0231] The blocks shown in the accompanying drawings may represent steps in a method and / or code sections in a computer program [REF3]. The description of a particular order of blocks does not necessarily mean that the blocks have a required or preferred order, and the order and arrangement of the blocks may vary. In addition, some blocks may be omitted.

[0232] If a structural feature has been described, it may be replaced by a module for performing one or more functions of the structural feature, whether that function or those functions are described explicitly or implicitly.

[0233] The above examples can be used as supporting components for:

[0234] Automotive systems; telecommunications systems; electronic systems, including consumer electronics; distributed computing systems; media systems for generating or rendering media content, including audio, visual and audiovisual content, and mixed, mediated, virtual and / or augmented reality; personal systems, including personal health systems or personal fitness systems; navigation systems; user interfaces, also known as human-machine interfaces; networks, including cellular, non-cellular and fiber optic networks; ad hoc networks; the Internet; the Internet of Things; virtualized networks; and related software and services.

[0235] According to examples of the present disclosure, the device may be provided in an electronic device such as a mobile terminal. However, it should be understood that the mobile terminal is only an illustrative electronic device that will benefit from the examples of the embodiments of the present disclosure, and therefore should not be considered to limit the scope of the present disclosure thereto. Although in some implementation examples, the device may be provided in a mobile terminal, other types of electronic devices, such as but not limited to: mobile communication devices, handheld portable electronic devices, wearable computing devices, portable digital assistants (PDAs), pagers, mobile computers, desktop computers, televisions, gaming devices, laptops, cameras, video recorders, GPS devices, and other types of electronic systems, can easily adopt examples of the present disclosure. In addition, whether or not the devices are intended to provide mobility, they can easily adopt examples of the present disclosure.

[0236] The term "comprising" is used in this document in an inclusive rather than exclusive sense. That is, any reference to X including Y indicates that X may include only one Y, or may include multiple Ys. If "comprising" is intended to be used in an exclusive sense, it will be clear in the context by referring to "including only one..." or using "consisting of..."

[0237] In this specification, "connected", "coupled" and "in communication" and their derivatives mean operationally connected / coupled / in communication. It should be understood that any number or combination of intermediate components (including no intermediate components) may be present, i.e., to provide direct or indirect connection / coupling / in communication. Any such intermediate components may include hardware and / or software components.

[0238] As used herein, the term "determine / decide" (and its grammatical variations) may include (but are not limited to): calculate, compute, process, derive, measure, investigate, identify, look up (e.g., look up in a table, database or other data structure), verify, etc. In addition, "determine" may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), obtaining, etc. In addition, "determine / decide" may include parsing, selecting, choosing, establishing, etc.

[0239] In this specification, reference is made to various examples. The description of features or functions associated with an example indicates that these features or functions are present in the example. The use of the term "example" or "for example" or "may" or "might" in the text indicates that such features or functions are present in at least the example, whether or not explicitly stated, whether or not described as an example, and they may but not necessarily be present in some or all other examples. Therefore, "example", "for example", "may" or "might" refers to a specific instance in an example class. The attributes of an instance may be attributes of only that instance, or attributes of the class, or attributes of a subclass of the class, which includes some but not all instances in the class. Therefore, it is implicitly recorded that features described with reference to one example rather than with reference to another example may be used in other examples as part of a working combination where possible, but not necessarily in the other examples.

[0240] Although the preceding paragraphs have described the examples with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the claims.

[0241] The features described above may be used in combinations other than the combinations explicitly described above.

[0242] Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not.

[0243] Although features have been described with reference to certain examples, those features may also be present in other examples whether described or not.

[0244] As used herein, the terms "a", "an", or "the" have an inclusive, rather than exclusive, meaning. That is, any reference to X that includes a / an / the Y means that X may include only one Y or may include multiple Ys, unless the context clearly indicates otherwise. If "a", "an", or "the" is intended to be used in an exclusive sense, it will be clearly stated in the context. In some cases, "at least one" or "one or more" may be used to emphasize the inclusive meaning, but the absence of these terms should not be regarded as inferring any exclusive meaning.

[0245] The presence of a feature (or combination of features) in a claim refers to the feature or (combination of features) itself, as well as features that achieve substantially the same technical effect (equivalent features). Equivalent features include, for example, features that are variants and achieve substantially the same result in substantially the same way. Equivalent features include, for example, features that perform substantially the same function and achieve substantially the same result in substantially the same way.

[0246] In this specification, reference is made to various examples where an adjective or adjective phrase is used to describe a characteristic of an example. Such description of a characteristic associated with an example indicates that the characteristic exists in some examples exactly as described, and in other examples substantially as described.

[0247] The above description describes some examples of the present disclosure, but those skilled in the art will be aware of possible alternative structures and method features that provide equivalent functions to the specific examples of such structures and features described above, and have been omitted from the above description for the sake of brevity and clarity. Nevertheless, the above description should be understood to implicitly include references to such alternative structures and method features that provide equivalent functions, unless such alternative structures or method features are explicitly excluded in the above description of examples of the present disclosure.

[0248] While attention has been drawn in the foregoing description to those features regarded as essential, it should be understood that the applicant may seek protection by way of claims for any patentable feature or combination of features mentioned above and / or shown in the drawings, whether or not emphasis has been placed thereon.

Claims

1. A device comprising: at least one processor; as well as at least one memory storing instructions that, when executed by the at least one processor, cause the apparatus to at least: detecting light output from a plurality of scanning lasers at a detector of the device; controlling respective lengths of optical paths from the plurality of scanning lasers to the detector so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; as well as At least one optical path direction is adjusted to obtain coincidence of the light outputs from the plurality of scanning lasers at the detector at the first time and the second time.

2. The device according to claim 1, wherein: The first time is a first time period, and the second time is a second time period.

3. The device according to claim 1, wherein: The apparatus also includes a light guide configured to vary respective lengths of light paths from the plurality of scanning lasers to the detector.

4. The device according to claim 3, wherein: The light guide is configured for linear light input and linear light output.

5. The device according to claim 3, wherein: Controlling the respective lengths of the optical paths comprises changing the direction of the light guides; as well as Wherein changing the direction of the light guide comprises rotating the light guide to change the incident angle of the light output from the plurality of scanning lasers on the light guide.

6. The device according to claim 1, wherein: The device is further configured to: adjusting the direction of at least one laser of the plurality of scanning lasers; and The at least one light path is redirected.

7. The device according to claim 1, wherein: The detector has a fixed position relative to the device; and Wherein, the device includes the plurality of scanning lasers.

8. The device according to claim 1, wherein: The apparatus is further caused to obtain a coincidence between light output from a first laser of the plurality of lasers and light output from a second laser of the plurality of lasers at the detector.

9. The device according to claim 8, wherein: The apparatus is further caused to obtain coincidence between light output from the first laser and light output from other lasers of the plurality of lasers at the detector based at least in part on a determination that coincidence between the first laser and the second laser has been obtained.

10. The device according to claim 1, wherein: Light output from a subset of the plurality of scanning lasers is emitted from a shared aperture at the first time and the second time.

11. The device according to claim 8, wherein: The apparatus is further caused to determine whether the light output from the first laser coincides with the light output from the second laser at the detector at the first time.

12. The device according to claim 11, wherein The device is also configured to: based on a determination that the light output from the first laser does not overlap with the light output from the second laser at the detector at the first time, adjust the light path direction of the light from the second laser to obtain an overlap between the light output from the first laser and the light output from the second laser at the first time.

13. The device according to claim 12, wherein: The apparatus is further configured to determine whether the light output from the first laser coincides with the light output from the second laser at the detector at the second time based on a determination of the coincidence of the light output from the first laser with the light output from the second laser at the detector at the first time.

14. The device according to claim 8, wherein: Light output of at least some of the plurality of scanning lasers is emitted from respective apertures.

15. The device according to claim 14, wherein: The apparatus is further caused to: verify an analytical transfer function at the first time and the second time, wherein verifying the analytical transfer function comprises: determining a first optical path direction of light output from the first laser using the analytical transfer function such that when the light output from the first laser has the first optical path direction at a first time, the light output from the first laser coincides with the light output from the second laser at the detector; adjusting the optical path direction of the light output from the first laser to the first optical path direction; determining whether there is an overlap of light output from the first laser and light output from the second laser at the detector at the first time; determining a second optical path direction of the light output from the first laser using the analytical transfer function such that the light output from the first laser coincides with the light output from the second laser at the detector when the light output from the first laser has the second optical path direction at a second time; adjusting the optical path direction of the light output from the first laser to the second optical path direction; and A determination is made as to whether there is a coincidence of light output from the first laser and light output from the second laser at the detector at the second time.

16. The device according to claim 15, wherein: The apparatus is further caused to: determine the analysis transfer function, wherein determining the analysis transfer function comprises: creating a first array of detector positions; and A polynomial analysis transfer function is determined to fit the first array.

17. The device according to claim 16, wherein: The apparatus is further caused to update the analytical transfer function based at least in part on a determination that light from the first laser does not coincide with light from the second laser at the first time or the second time.

18. The device according to claim 17, wherein: Updating the analysis transfer function comprises: creating a second array of detector locations, the second array comprising more detector locations than the first array; and A polynomial analysis transfer function is determined to fit the second array.

19. A method comprising: detecting light output from a plurality of scanning lasers; controlling respective lengths of optical paths from the plurality of scanning lasers to a detector so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; as well as At least one optical path direction is adjusted to obtain coincidence of light output from the plurality of scanning lasers at the detector at the first time and the second time.

20. A non-transitory computer readable medium, comprising program instructions stored thereon, the program instructions being configured to cause an apparatus to perform at least the following operations: detecting light output from a plurality of scanning lasers; controlling respective lengths of optical paths from the plurality of scanning lasers to a detector so that the respective lengths of the optical paths are a first length at a first time and a second length different from the first length at a second time; and At least one optical path direction is adjusted to obtain coincidence of the optical outputs from the plurality of scanning lasers at the detector at the first time and the second time.

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