Lidar assembly and device having detection function

Abstract

A laser radar assembly and a device having a detection function wherein the laser radar assembly (10) comprises: an emitter (100) for emitting a first laser in a first direction; the input end of the first scanner (200) is arranged opposite to the output end of the emitter (100), and the first scanner (200) is used for controlling the first laser to deflect from the first direction to a plurality of different first deflection directions so as to emit the first laser along the plurality of first deflection directions to the target object (20); wherein at least one first deflection direction is different from the first direction; the receiver (500) is used for receiving the laser reflected by the target object (20) and converting an optical signal into an electric signal; and the signal processing unit is used for receiving the electric signal and analyzing and calculating the received electric signal to obtain the distance and shape information of the target object (20). According to the assembly, the number of transmitters can be effectively reduced while the equivalent line number of the laser radar assembly is ensured, so that the cost is reduced.

Description

LiDAR components and devices with detection capabilities

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on August 28, 2023, with application number 202311088511.9 and invention name “Lidar component and device with detection function”, the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of laser detection technology, and in particular to a laser radar component and a device with a detection function. Background Art

[0004] The point cloud density of a LiDAR determines its resolution. The higher the point cloud density, the higher the resolution. The point cloud density of a LiDAR is positively correlated with its equivalent line count. The higher the equivalent line count, the higher the point cloud density. Current LiDARs typically increase their equivalent line count by increasing the number of transmitters and receivers, an approach that results in excessively high LiDAR costs.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a laser radar assembly and a device with a detection function to solve or alleviate one or more technical problems in the prior art.

[0007] As one aspect of an embodiment of the present disclosure, an embodiment of the present disclosure provides a laser radar assembly, comprising: a transmitter, configured to emit a first laser along a first direction; a first scanner, wherein an input end of the first scanner is disposed opposite to an output end of the transmitter, and the first scanner is configured to control the first laser to be deflected from the first direction into a plurality of different first deflection directions, so as to emit the first laser along the plurality of first deflection directions toward a target object; wherein at least one first deflection direction is different from the first direction;

[0008] A receiver, which receives the laser reflected by the target object and converts the optical signal into an electrical signal;

[0009] The signal processing unit is used to receive the electrical signal, analyze and calculate the received electrical signal, and obtain the distance and shape information of the target object.

[0010] In one embodiment, an angle between at least one first deflection direction and the first direction is 0.5° to 10°.

[0011] In one embodiment, the first scanner includes: a first optical element, arranged opposite to the output end of the transmitter, for converting the first laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state; a second optical element, arranged on the side of the first optical element away from the transmitter, for deflecting the first laser from a first direction to multiple first deflection directions; a third optical element, arranged between the first optical element and the second optical element, for changing the polarization state of the first laser or maintaining the polarization state of the first laser.

[0012] In one embodiment, the third optical element includes: a first substrate; a first transparent electrode layer, disposed on one side of the first substrate; a first alignment layer, disposed on the side of the first transparent electrode layer facing away from the first substrate; a second substrate, disposed on the side of the first alignment layer facing away from the first substrate; a second transparent electrode layer, disposed on the side of the second substrate facing the first substrate; a second alignment layer, disposed on the side of the second transparent electrode layer facing the first substrate; a first liquid crystal layer, disposed between the first alignment layer and the second alignment layer; wherein a first driving electric field is formed between the first transparent electrode layer and the second transparent electrode layer, and the first driving electric field is used to change the deflection state of the first liquid crystal layer to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0013] In one embodiment, the thickness of the first substrate and the second substrate are both 100 μm to 700 μm; and / or the thickness of the first transparent electrode layer and the second transparent electrode layer are both 0.05 μm to 2 μm; and / or the thickness of the first alignment layer and the second alignment layer are both 0.01 μm to 0.5 μm; and / or the thickness of the first liquid crystal layer is 2 μm to 5 μm.

[0014] In one embodiment, the second optical element includes: a third substrate; a third alignment layer, disposed on one side of the third substrate; an encapsulation structure, disposed on a side of the third alignment layer facing away from the third substrate; and a second liquid crystal layer, disposed between the encapsulation structure and the third alignment layer.

[0015] In one embodiment, the second optical element includes: a fourth substrate; a third transparent electrode layer, disposed on one side of the fourth substrate; a fourth alignment layer, disposed on a side of the third transparent electrode layer facing away from the fourth substrate; a fifth substrate, disposed on a side of the fourth alignment layer facing away from the fourth substrate; a fourth transparent electrode layer, disposed on a side of the fifth substrate facing the fourth substrate; a fifth alignment layer, disposed on a side of the fourth transparent electrode layer facing the fourth substrate; a third liquid crystal layer, disposed between the fourth alignment layer and the fifth alignment layer; wherein a second driving electric field is formed between the third transparent electrode layer and the fourth transparent electrode layer, and the second driving electric field is used to change the deflection state of the third liquid crystal layer to deflect the first laser from the first direction to multiple first deflection directions.

[0016] In one embodiment, the laser radar component further includes: a transmitting optical component, wherein the input end of the transmitting optical component is arranged opposite to the output end of the first scanner, and the first laser along multiple first deflection directions is emitted to the target object through the transmitting optical component.

[0017] In one embodiment, the emitting optical component includes a first collimating lens, a first prism and a first reflector arranged in sequence along the optical path direction of the first laser, and the first reflector is used to emit the first laser to the target object; or, the emitting optical component includes a second collimating lens, a second reflector and a rotating mirror rotating around a rotation axis arranged in sequence along the optical path direction of the first laser, and the rotating mirror is used to emit the first laser to the target object; or, the emitting optical component includes a galvanometer, and the galvanometer is used to emit the first laser to the target object; or, the emitting optical component includes a diverging lens, and the diverging lens is used to emit the first laser to the target object.

[0018] In one embodiment, the laser radar assembly further includes: a second scanner, the second scanner being used to control the second laser to be deflected from a plurality of different second deflection directions to a second direction, so that the second laser along the second direction is sent to the receiver; wherein the second laser is the reflected light of the target object to the first laser; and at least one second deflection direction is different from the second direction.

[0019] In one embodiment, the second scanner includes: a fourth optical element, arranged close to the target object, for deflecting the second laser from a plurality of second deflection directions to a second direction; a fifth optical element, arranged between the fourth optical element and the receiver, for changing the polarization state of the second laser or maintaining the polarization state of the second laser.

[0020] In one embodiment, the second scanner further includes: a sixth optical element, disposed between the fifth optical element and the receiver, for converting the second laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state.

[0021] In one embodiment, the laser radar assembly further includes: a receiving optical assembly, which is disposed between the second scanner and the target object, and the second laser reflected by the target object is sent to the second scanner through the receiving optical assembly.

[0022] In one embodiment, the first scanner includes N second optical elements; the N second optical elements are arranged in sequence on a side of the first optical element facing away from the emitter; and N is an integer greater than 1.

[0023] In one embodiment, the polarization directions of the N second optical elements are different;

[0024] The ratio of the deflection angle of the j-th second optical element to the deflection angle of the first second optical element is an integer greater than 1; j is an integer greater than 1 and less than or equal to N, and the first second optical element is the second optical element closest to the first optical device among the N second optical elements.

[0025] In one embodiment, the first scanner includes N third optical elements;

[0026] The third optical element and the second optical element are arranged alternately on a side of the first optical element facing away from the emitter;

[0027] The first third optical element among the N third optical elements is located between the first second optical element and the first optical element among the N second optical elements.

[0028] In one embodiment, the first scanner includes one third optical element; and N second optical elements are arranged in sequence on a side of the third optical element facing away from the first optical element.

[0029] In one embodiment, the number of pointing angles of the first scanner is 2 N+1 -1.

[0030] In one embodiment, the second scanner includes M fourth optical elements; the M fourth optical elements are arranged sequentially on one side of the target object; and M is an integer greater than 1.

[0031] As another aspect of an embodiment of the present disclosure, an embodiment of the present disclosure provides a device with a detection function, including a laser radar component of any of the above-mentioned embodiments.

[0032] The embodiment of the present disclosure adopts the above-mentioned technical solution to effectively reduce the number of transmitters while ensuring the equivalent line number of the laser radar component, thereby reducing costs.

[0033] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0035] FIG1 is a schematic diagram showing laser emission of a first laser radar assembly;

[0036] FIG2 is a schematic diagram showing a laser receiving device of a first laser radar assembly;

[0037] FIG3 is a schematic diagram showing laser emission and laser reception of a second laser radar assembly;

[0038] FIG4 shows a schematic diagram of laser emission of a third laser radar assembly;

[0039] FIG5 is a schematic diagram showing a laser receiving device of a third laser radar assembly;

[0040] FIG6 shows a schematic diagram of laser emission of a fourth laser radar assembly;

[0041] FIG7 shows a schematic diagram of laser reception of a fourth laser radar assembly;

[0042] FIG8 is a schematic structural diagram of a laser radar assembly according to an embodiment of the present disclosure;

[0043] FIG9 is a schematic diagram showing the operation of the laser radar assembly shown in FIG8 ;

[0044] FIG10 is a schematic structural diagram of a laser radar assembly according to another embodiment of the present disclosure;

[0045] FIG11 is a schematic diagram showing the operation of the laser radar assembly shown in FIG10 ;

[0046] 12-15 are schematic structural diagrams showing a first scanner according to an embodiment of the present disclosure;

[0047] 16 to 18 are schematic structural diagrams showing a third optical element according to an embodiment of the present disclosure;

[0048] FIG19 shows a flowchart of preparing a third optical element according to an embodiment of the present disclosure;

[0049] 20 to 25 are schematic structural diagrams showing a second optical element according to an embodiment of the present disclosure;

[0050] 26 and 27 show a flow chart of preparing a second optical element according to an embodiment of the present disclosure;

[0051] 28 and 29 are schematic diagrams showing laser emission of a laser radar assembly according to the first embodiment of the present disclosure;

[0052] 30 and 31 are schematic diagrams showing laser reception of a laser radar assembly according to the first embodiment of the present disclosure;

[0053] 32 and 33 are schematic diagrams showing laser emission and laser reception of a laser radar assembly according to a second embodiment of the present disclosure;

[0054] 34 and 35 are schematic diagrams showing laser emission of a laser radar assembly according to a third embodiment of the present disclosure;

[0055] 36 and 37 are schematic diagrams showing laser reception of a laser radar assembly according to a third embodiment of the present disclosure;

[0056] FIG38 is a schematic diagram showing laser emission of a laser radar assembly according to a fourth embodiment of the present disclosure;

[0057] FIG39 is a schematic diagram showing a laser receiving device of a laser radar assembly according to a fourth embodiment of the present disclosure;

[0058] FIG40 is a schematic diagram showing laser emission of a laser radar assembly according to a fifth embodiment of the present disclosure;

[0059] FIG41 shows an example diagram of an application of a device with a detection function according to an embodiment of the present disclosure;

[0060] FIG42 shows an example diagram of a first scanner simulation structure according to an embodiment of the present disclosure;

[0061] FIG43 shows an electric field distribution diagram when a voltage V1=0V is applied to the first and second transparent electrode layers of a nematic liquid crystal half-wave plate, and a voltage V3=0V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0062] FIG44 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1=0V is applied to a nematic liquid crystal half-wave plate and a voltage V3=0V is applied to a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0063] FIG45 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0064] FIG46 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a nematic liquid crystal half-wave plate and a voltage V3 = 0 V is applied to a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0065] FIG47 shows an example diagram of a second first scanner simulation structure according to an embodiment of the present disclosure;

[0066] FIG48 shows an electric field distribution diagram when a voltage V1=0V is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3=0V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0067] FIG49 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1=0V is applied to a double-layer twisted nematic liquid crystal half-wave plate and a voltage V3=0V is applied to a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0068] FIG50 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0069] FIG51 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a double-layer twisted nematic liquid crystal half-wave plate and a voltage V3 = 0 V is applied to a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0070] FIG52 shows an exemplary diagram of a third first scanner simulation structure according to an embodiment of the present disclosure;

[0071] FIG53 shows an electric field distribution diagram when a voltage V1=0V is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a voltage V3=0V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0072] FIG54 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1=0V is applied to a nematic liquid crystal half-wave plate and a voltage V3=0V is applied to a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0073] FIG55 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0074] FIG56 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a nematic liquid crystal half-wave plate and a voltage V3 = 0 V is applied to a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0075] FIG57 shows an exemplary diagram of a fourth first scanner simulation structure according to an embodiment of the present disclosure;

[0076] FIG58 shows an electric field distribution diagram when a voltage V1=0V is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3=0V is applied to the third and fourth transparent electrode layers of a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0077] FIG59 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1=0V is applied to a double-layer twisted nematic liquid crystal half-wave plate and a voltage V3=0V is applied to a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0078] FIG60 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0079] FIG61 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a double-layer twisted nematic liquid crystal half-wave plate and a voltage V3 = 0 V is applied to a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0080] FIG62 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a single-layer nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0081] FIG63 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a single-layer nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0082] FIG64 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0083] FIG65 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a double-layer twisted nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0084] FIG66 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0085] FIG67 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0086] FIG68 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0087] FIG69 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to a double-layer twisted nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to a double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0088] FIG70 is a schematic structural diagram of another first scanner according to an embodiment of the present disclosure;

[0089] FIG71 shows a schematic structural diagram of another first scanner according to an embodiment of the present disclosure.

[0090] Explanation of the reference numerals: 10: LiDAR assembly; 100: Transmitter; 200: First scanner; 210: First optical element; 220: Second optical element; 221: Third substrate; 222: Third alignment layer; 223: Encapsulation structure; 224: Second liquid crystal layer; 225: Fourth substrate; 226: Third transparent electrode layer; 227: Fourth alignment layer; 228: Fifth substrate; 229: Fourth transparent electrode layer; 22a: Fifth alignment layer; 22b: Third liquid crystal layer; 22c Third anti-reflection and anti-reflection film; 22d: Fourth anti-reflection and anti-reflection film; 22e: Fifth anti-reflection and anti-reflection film; 22f: Sixth anti-reflection and anti-reflection film; 22g: Second spacer; 230: Third optical element; 231: First substrate; 232: First A transparent electrode layer; 233: a first alignment layer; 234: a second substrate; 235: a second transparent electrode layer; 236: a second alignment layer; 237: a first liquid crystal layer; 23a: a first anti-reflection and anti-reflection film; 23b: a second anti-reflection and anti-reflection film; 23c: a first spacer; 31a: a first collimating lens; 31b: a first prism; 31c: a first reflector; 31d: a second collimating lens; 31e: a second reflector; 31f: a rotating mirror; 31g: a rotating shaft; 31h: a galvanometer; 31i: a diverging lens; 400: a second scanner; 410: a fourth optical element; 420: a fifth optical element; 430: a sixth optical element; 500: a receiver; 700: a scanning module; 800: a focusing lens; 20: a target object; F1: a first direction; F1': a first deflection direction; F2: a second direction; F2': a second deflection direction. DETAILED DESCRIPTION

[0091] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0092] Currently, there are two solutions for LiDAR to achieve wide-angle detection. One solution is to use a LiDAR component with a scanning device to perform rapid beam scanning over a wide angle range to achieve target detection over a wide angle range, such as mechanical LiDAR components, rotating mirror LiDAR components, and micro-electro-mechanical-system (MEMS) LiDAR components. Another solution is to use a flash LiDAR, which simultaneously emits a beam of laser light through a vertical-cavity surface-emitting laser (VCSEL) array, which is expanded by a diverging lens to form a surface light that is irradiated onto the target object. The reflected light is received by the receiver, or detector, through a focusing lens, and after the signal processing backend, the distance and shape of the target object are calculated using the time-of-flight method. In order to achieve precise 3D measurement, the above two solutions have very high requirements for point cloud density and usually require a large number of emitters and detectors.

[0093] Figure 1 shows a schematic diagram of laser emission of the first type of laser radar assembly; Figure 2 shows a schematic diagram of laser reception of the first type of laser radar assembly. The laser radar assemblies shown in Figures 1 and 2 are mechanical laser radar assemblies. The laser emission process is shown in Figure 1. The transmitter 100 emits a laser, which is focused and collimated by a collimating lens and then reflected by a prism to a rotating reflector. The rotating reflector then transmits the laser to the target object. The laser reception process is shown in Figure 2. The reflected light of the emitted laser from the target object reaches the prism through the rotating reflector. After passing through the prism, the reflected light is focused by the collimating lens and received by the receiver 500. Finally, the processing chip performs data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0094] FIG3 is a schematic diagram showing the laser emission and laser reception of the second type of laser radar assembly. The laser radar assembly shown in FIG3 is a rotating mirror laser radar assembly. As shown in FIG3 , the transmitter 100 emits a laser, which is focused and collimated by a collimating lens. The fixed reflector reflects the light through the light hole to the surface of the rotating mirror 31f. The rotating mirror 31f then transmits the laser to the target object. The laser reception process is the opposite of the laser emission process. The reflected light of the emitted laser from the target object passes through the rotating mirror, through the light hole to the reflector, and then, after being reflected by the reflector, reaches the collimating lens for focusing and collimation. Finally, it is received by the receiver 500. After the optical signal is converted into an electrical signal, it enters the processing unit for data processing to determine the distance and shape of the target object.

[0095] Figure 4 shows a schematic diagram of laser emission of the third type of laser radar assembly; Figure 5 shows a schematic diagram of laser reception of the third type of laser radar assembly. The laser radar assemblies shown in Figures 4 and 5 are MEMS laser radar assemblies. The laser emission process is shown in Figure 4. The transmitter 100 emits a laser, which is focused and collimated by a collimating lens. The vibrating MEMS galvanometer transmits the laser to the target object. The laser reception process is shown in Figure 5. The reflected light of the emitted laser from the target object is reflected by the MEMS galvanometer, focused and collimated by a collimating lens, and then received by the receiver 500. Finally, the processing chip performs data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0096] Figure 6 shows a schematic diagram of laser emission for the fourth type of LiDAR assembly; Figure 7 shows a schematic diagram of laser reception for the fourth type of LiDAR assembly. The LiDAR assemblies shown in Figures 6 and 7 are FLASH LiDAR assemblies. The laser emission process is shown in Figure 6. The transmitter 100 emits a laser, which is focused and collimated by a collimating lens before reaching a diverging lens, increasing the emission angle of the emitted beam and reducing the laser power per unit area. The laser reception process is shown in Figure 7. The reflected light from the target object is focused and collimated by a collimating lens, then received by the receiver 500 and converted into an electrical signal. Finally, the processing chip performs data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0097] The four aforementioned LiDAR assemblies are all single-line. For example, to achieve the point cloud effect of a 128-line LiDAR assembly, 128 sets of transmitters 100 and 128 sets of receivers are required. Therefore, increasing the number of transmitters 100 and receivers 500 is necessary to increase the equivalent number of LiDAR lines, which results in excessively high LiDAR costs.

[0098] FIG8 is a schematic structural diagram of a laser radar assembly 10 according to an embodiment of the present disclosure. As shown in FIG8 , the laser radar assembly 10 includes a transmitter 100 and a first scanner 200 .

[0099] Specifically, the transmitter 100 is configured to emit a first laser beam along a first direction. The input end of the first scanner 200 is disposed opposite the output end of the transmitter 100. The first scanner 200 is configured to control the deflection of the first laser beam from the first direction into a plurality of different first deflection directions, thereby emitting the first laser beam along the plurality of first deflection directions toward the target object 20; at least one of the first deflection directions is different from the first direction. In the present disclosure, "plurality" means two or more.

[0100] It should be noted that “emitting a first laser along multiple first deflection directions toward the target object 20” means that the direction of the first laser when emitted from the output end of the first scanner 200 is multiple first deflection directions, rather than that the direction of the first laser when reaching the target object 20 is multiple first deflection directions.

[0101] Figure 9 illustrates a schematic diagram of the operation of the lidar assembly 10 shown in Figure 8 . For example, in conjunction with Figures 8 and 9 , the lidar assembly 10 may further include a signal transmission unit, a laser driver, and a scanning module 700 . The signal transmission unit transmits an electrical signal, which the laser driver and transmitter 100 convert into a laser signal for transmission. The emitted first laser light passes through the first scanner 200, achieving a small-angle deflection of the first laser light, deflecting the first laser light from a first direction into multiple different first deflection directions. For example, the angle between at least one first deflection direction and the first direction can be 0.5° to 10° (inclusive). The first laser light then passes through the scanning module 700, achieving a large-angle deflection, ultimately emitting the first laser light toward the target object 20 . For example, if the first scanner 200 is used to control the deflection of the first laser light from a first direction into two different first deflection directions, a single first laser light beam can be converted into two first laser light beams with different directions after passing through the first scanner 200. To achieve the point cloud effect of a 128-line lidar assembly, only 64 transmitters and 64 receivers are required. Compared to a single-line laser radar assembly, the number of transmitters and receivers can be reduced by half, thereby effectively reducing costs. The transmitter 100 can be a laser.

[0102] Figure 10 is a schematic structural diagram of a laser radar assembly 10 according to another embodiment of the present disclosure; Figure 11 is a schematic working diagram of the laser radar assembly 10 shown in Figure 10. Exemplarily, the transmitter 100 is a VCSEL array. The laser radar assembly 10 may also include a signal transmitting unit and a divergent lens. The signal transmitting unit transmits an electrical signal to drive the VCSEL array to simultaneously emit a beam of first laser. The first laser passes through the first scanner 200, which can achieve a small-angle deflection of the first laser, so that the first laser is deflected from the first direction to multiple different first deflection directions, for example: the angle between at least one first deflection direction and the first direction is 0.5° to 10°; and then the first laser is expanded through the divergent lens so that the first laser presents surface light and irradiates the target object 20.

[0103] According to the laser radar component 10 of the embodiment of the present disclosure, by providing a first scanner 200 and making the input end of the first scanner 200 relative to the output end of the transmitter 100, the number of transmitters 100 can be effectively reduced while ensuring the number of equivalent lines of the laser radar component 10, thereby reducing costs.

[0104] Figures 12 to 15 are schematic structural diagrams of the first scanner 200 according to an embodiment of the present disclosure. In one embodiment, referring to Figures 8 and 12 to 15, the first scanner 200 includes a first optical element 210, a second optical element 220, and a third optical element 230. The first optical element 210 is arranged opposite to the output end of the transmitter 100, and is used to convert the first laser from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state. The second optical element 220 is arranged on the side of the first optical element 210 away from the transmitter 100, and is used to deflect the first laser from a first direction into a plurality of first deflection directions. The third optical element 230 is arranged between the first optical element 210 and the second optical element 220, and is used to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0105] For example, the first laser light emitted from the output end of the transmitter 100 first enters the first optical element 210. After being converted from a linearly polarized state to a circularly polarized state by the first optical element 210, it enters the third optical element 230. After passing through the third optical element 230, the left-handed circular polarization state is converted to a right-handed circular polarization state, or the right-handed circular polarization state is converted to a left-handed polarization state, or the current circular polarization state is maintained. The laser light then enters the second optical element 220, which deflects the first direction into multiple first deflection directions, causing the second optical element 220 to emit the first laser light along the multiple first deflection directions. The first optical element may be a quarter-wave plate.

[0106] Optionally, the wavelength of the first laser emitted from the output end of the emitter 100 may be 0 nm to 1550 nm (including the end values), but is not limited thereto.

[0107] In this embodiment, by providing the above-mentioned first optical element 210, second optical element 220 and third optical element 230, the equivalent line beam of the laser radar assembly 10 can be improved, thereby reducing the number of transmitters 100 and reducing costs.

[0108] Figures 16-18 illustrate the structure of a third optical element 230 according to an embodiment of the present disclosure. In one embodiment, as shown in Figures 8, 12, and 16-18, the third optical element 230 includes a first substrate 231, a first transparent electrode layer 232, a first alignment layer 233, a second substrate 234, a second transparent electrode layer 235, a second alignment layer 236, and a first liquid crystal layer 237. The first transparent electrode layer 232 is disposed on one side of the first substrate 231. The first alignment layer 233 is disposed on the side of the first transparent electrode layer 232 facing away from the first substrate 231. The second substrate 234 is disposed on the side of the first alignment layer 233 facing away from the first substrate 231. The second transparent electrode layer 235 is disposed on the side of the second substrate 234 facing the first substrate 231. The second alignment layer 236 is disposed on the side of the second transparent electrode layer 235 facing the first substrate 231. The first liquid crystal layer 237 is disposed between the first alignment layer 233 and the second alignment layer 236. A first driving electric field is formed between the first transparent electrode layer 232 and the second transparent electrode layer 235 , and the first driving electric field is used to change the deflection state of the first liquid crystal layer 237 to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0109] For example, the first substrate 231 and the second substrate 234 can be made of high-transmittance glass. The first transparent electrode layer 232 and the second transparent electrode layer 235 can be made of indium tin oxide (ITO). Depending on the preparation process, the first alignment layer 233 and the second alignment layer 236 can be rubbed alignment layers or photo-controlled alignment layers. If the first alignment layer 233 and the second alignment layer 236 are rubbed alignment layers, the material of the first alignment layer 233 and the second alignment layer 236 can be polyimide (PI). If the first alignment layer 233 and the second alignment layer 236 are photo-controlled alignment layers, the material of the first alignment layer 233 and the second alignment layer 236 can be azobenzene (SD1), polyethylene 4-methoxycinnamate (PVMC), or photosensitive polyimide. The molecules of the first liquid crystal layer 237 have a consistent orientation. The third optical element 230 may further include a first anti-reflection and anti-reflection film 23a, a second anti-reflection and anti-reflection film 23b, and a first spacer 23c. The first anti-reflection and anti-reflection film 23a is disposed on the side of the first substrate 231 facing away from the first transparent electrode layer 232, and the second anti-reflection and anti-reflection film 23b is disposed on the side of the second substrate 234 facing away from the second transparent electrode layer 235. The first spacer 23c is positioned between the first alignment layer 233 and the second alignment layer 236. The diameter of the first spacer 23c may be consistent with the thickness of the cell, providing support and uniformity in the cell thickness. The first spacer 23c may be a mixture of polystyrene beads and a sealant.

[0110] Figure 19 shows a flow chart for preparing the third optical element 230 according to an embodiment of the present disclosure, wherein the first alignment layer 233 and the second alignment layer 236 can be made of polyvinyl chloride (PI). As shown in Figures 16 and 19, during preparation, the first substrate 231 is first cleaned with deionized water and then dried. ITO is then deposited using a magnetron sputtering process to form the first transparent electrode layer 232. Subsequently, a PI layer is spin-coated, dried, and oriented by rubbing with a flannel cloth to form the first alignment layer 233. This prepared structure is then aligned with a structure comprising a second substrate 234 and a second transparent electrode layer 235 deposited thereon, with the first transparent electrode layer 232 and the second transparent electrode layer 235 positioned opposite each other. First spacers 23c are used to define the cell thickness. Vacuum filling is then performed to form the first liquid crystal layer 237, and finally, packaging is performed to complete the preparation of the third optical element 230. If the third optical element 230 is a single-layer nematic liquid crystal half-wave plate, the liquid crystal in the first liquid crystal layer 237 is nematic. When the third optical element 230 is a double-layer twisted nematic liquid crystal half-wave plate, the liquid crystal in the first liquid crystal layer 237 is a nematic liquid crystal with a chiral polymer added thereto and arranged in a clockwise / counterclockwise spiral.

[0111] Among them, the thickness of the first substrate 231 and the second substrate 234 can be 100μm to 700μm (including endpoint values); the thickness of the first transparent electrode layer 232 and the second transparent electrode layer 235 can be 0.05μm to 2μm (including endpoint values); the thickness of the first orientation layer 233 and the second orientation layer 236 can be 0.01μm to 0.5μm (including endpoint values); the thickness of the first liquid crystal layer 237 can be 2μm to 5μm (including endpoint values); the thickness of the first anti-reflection and anti-reflection film 23a and the second anti-reflection and anti-reflection film 23b can be 0.2μm to 1μm (including endpoint values).

[0112] Optionally, the third optical element 230 may be a single-layer nematic liquid crystal half-wave plate or a double-layer twisted nematic liquid crystal half-wave plate.

[0113] When the third optical element 230 is a single-layer nematic liquid crystal half-wave plate, the thickness of the first liquid crystal layer 237 is controlled to d = λ / 2Δn, where λ is the wavelength of the first laser light entering the third optical element 230 and Δn is the refractive index difference of the liquid crystals in the first liquid crystal layer 237. When the voltage V1 applied between the first transparent electrode layer 232 and the second transparent electrode layer 235 is 0V, the liquid crystals in the first liquid crystal layer 237 do not deflect. In this case, the third optical element 230 functions as a half-wave plate, changing the polarization state of the first laser light. When the first laser light entering the third optical element 230 is left-handed circularly polarized light, the first laser light exiting the third optical element 230 is right-handed circularly polarized light. When the first laser light entering the third optical element 230 is right-handed circularly polarized light, the first laser light exiting the third optical element 230 is left-handed circularly polarized light. When the voltage V2 applied between the first transparent electrode layer 232 and the second transparent electrode layer 235 is a saturation voltage, a first driving electric field is formed between the first transparent electrode layer 232 and the second transparent electrode layer 235. The liquid crystal molecules in the first liquid crystal layer 237 rearrange under the influence of the first driving electric field, with the long axis of the liquid crystals oriented in the direction of the electric field. At this point, the third optical element 230 functions as a full-wave plate, maintaining the polarization state of the first laser beam. When the first laser beam entering the third optical element 230 is left-handed circularly polarized light, the first laser beam exiting the third optical element 230 remains left-handed circularly polarized light. When the first laser beam entering the third optical element 230 is right-handed circularly polarized light, the first laser beam exiting the third optical element 230 remains right-handed circularly polarized light.

[0114] When the third optical element 230 is a double-layer twisted nematic liquid crystal half-wave plate, it differs from a single-layer nematic liquid crystal half-wave plate in the structure of the first liquid crystal layer 237. In this case, the first liquid crystal layer 237 has a mirror-symmetrical structure. The liquid crystals in the upper half of the first liquid crystal layer 237 have a clockwise spiral orientation, while the liquid crystals in the lower half of the first liquid crystal layer 237 have a counterclockwise spiral orientation. The first liquid crystal layer 237 serves as a half-wave plate functional layer, used to change the polarization state of the first laser light.

[0115] In one application example, the second optical element 220 may be a liquid crystal polarization grating. The liquid crystal polarization grating utilizes the periodic arrangement of liquid crystal directors to adjust the polarization state of the incident light and achieve a light splitting effect. Taking the periodic distribution of directors along the x-axis as an example, the directors of the liquid crystal molecules can be described as: Where Λ is the period of the liquid crystal polarization grating, α0 is the initial azimuth angle of the liquid crystal. The transmittance of the liquid crystal polarization grating is described using the Jones matrix: The rotation matrix is the dynamic phase of light in liquid crystal, transmittance

[0116] The diffraction angle θ is calculated using the grating equation. Where λ is the wavelength of the incident light and Λ is the period of the liquid crystal polarization grating. Therefore, by changing the period of the liquid crystal polarization grating, liquid crystal polarization gratings with different deflection angles can be prepared.

[0117] Figures 20-25 illustrate the structure of a second optical element 220 according to an embodiment of the present disclosure. In one embodiment, as shown in Figures 20 and 21, the second optical element 220 includes a third substrate 221, a third alignment layer 222, an encapsulation structure 223, and a second liquid crystal layer 224. The third alignment layer 222 is disposed on one side of the third substrate 221. The encapsulation structure 223 is disposed on the side of the third alignment layer 222 facing away from the third substrate 221. The second liquid crystal layer 224 is disposed between the encapsulation structure 223 and the third alignment layer 222.

[0118] For example, the second optical element 220 in Figures 20 and 21 can be a binary liquid crystal polarization grating. The third substrate 221 can be made of high-transmittance glass, and its thickness can be between 100 μm and 700 μm (inclusive). Because the liquid crystal orientation in the liquid crystal polarization grating is periodically deflected, the third alignment layer 222 can be a photo-controlled alignment layer. The third alignment layer 222 can be made of materials such as azobenzene (SD1), polyethylene 4-methoxycinnamate (PVMC), or photosensitive polyimide. The third alignment layer 222 can be made of materials such as silicon dioxide, carbon tetrachloride, or polymethyl methacrylate (PMMA). The second optical element 220 can also include a third anti-reflection and anti-reflection film 22c and a fourth anti-reflection and anti-reflection film 22d. The third anti-reflection and anti-reflection film 22c is disposed on the side of the encapsulation structure 223 facing away from the third alignment layer 222, and the fourth anti-reflection and anti-reflection film 22d is disposed on the side of the third substrate 221 facing away from the third alignment layer 222. The thickness of the second liquid crystal layer 224 can be 2μm to 5μm (inclusive). When the second optical element 220 is a single-layer nematic binary liquid crystal polarization grating (as shown in FIG20 ), the liquid crystal director of the second liquid crystal layer 224 changes periodically. When the second optical element 220 is a double-layer twisted nematic binary liquid crystal polarization grating (as shown in FIG21 ), the liquid crystal in the second liquid crystal layer 224 has a chiral helical orientation along the z-axis. Left-handed / right-handed chiral molecules need to be added to the nematic liquid crystal molecules to form clockwise and counterclockwise helical orientations. The helical pitch is related to the concentration of the added chiral molecules; the higher the concentration, the smaller the helical pitch.

[0119] After passing through the second optical element 220, the first laser light may be binary deflected, so that the first laser light is deflected from the first direction into two different first deflection directions. The two first deflection directions are different from the first direction, and the angles between the two first deflection directions and the first direction may be equal.

[0120] Figure 26 shows a flow chart for preparing a second optical element according to an embodiment of the present disclosure. As shown in Figures 20 and 26, during preparation, the third substrate 221 is first cleaned with deionized water and then dried. An azobenzene photo-alignment material is then applied and dried. Polarized light is used to achieve patterned alignment to form a third alignment layer 222. Liquid crystal and polymer intermediates are then applied by multiple spin coatings. Once the desired thickness is reached, the polymer is cured using ultraviolet light to form a second liquid crystal layer 224. Finally, an encapsulation structure 223 is applied to provide water and oxygen isolation, completing the preparation of the second optical element 220. If the second optical element 220 is a single-layer nematic binary liquid crystal polarization grating, the liquid crystal in the second liquid crystal layer 224 is a nematic liquid crystal. If the second optical element 220 is a double-layer twisted nematic binary liquid crystal polarization grating, the liquid crystal in the second liquid crystal layer 224 is a clockwise / counterclockwise spiral arrangement of nematic liquid crystals to which a chiral polymer is added.

[0121] In one embodiment, as shown in Figures 22-25, the second optical element 220 includes a fourth substrate 225, a third transparent electrode layer 226, a fourth alignment layer 227, a fifth substrate 228, a fourth transparent electrode layer 229, a fifth alignment layer 22a, and a third liquid crystal layer 22b. The third transparent electrode layer 226 is disposed on one side of the fourth substrate 225. The fourth alignment layer 227 is disposed on the side of the third transparent electrode layer 226 facing away from the fourth substrate 225. The fifth substrate 228 is disposed on the side of the fourth alignment layer 227 facing away from the fourth substrate 225. The fourth transparent electrode layer 229 is disposed on the side of the fifth substrate 228 facing the fourth substrate 225. The fifth alignment layer 22a is disposed on the side of the fourth transparent electrode layer 229 facing the fourth substrate 225. The third liquid crystal layer 22b is disposed between the fourth alignment layer 227 and the fifth alignment layer 22a. A second driving electric field is formed between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 . The second driving electric field is used to change the deflection state of the third liquid crystal layer 22 b to deflect the first laser from the first direction to multiple first deflection directions.

[0122] For example, the second optical element 220 in Figures 22-25 can be a three-valued liquid crystal polarization grating. The fourth substrate 225 and the fifth substrate 228 can be made of high-transmittance glass. The third transparent electrode layer 226 and the fourth transparent electrode layer 229 can be made of ITO. Depending on the preparation process, the fourth alignment layer 227 and the fifth alignment layer 22a can be rubbed alignment layers or photo-controlled alignment layers. If the fourth alignment layer 227 and the fifth alignment layer 22a are rubbed alignment layers, the material of the fourth alignment layer 227 and the fifth alignment layer 22a can be PI; if the fourth alignment layer 227 and the fifth alignment layer 22a are photo-controlled alignment layers, the material of the fourth alignment layer 227 and the fifth alignment layer 22a can be SD1, PVMC, or photosensitive polyimide. The liquid crystal director in the third liquid crystal layer 22b changes periodically. The second optical element 220 may further include a fifth anti-reflection and anti-reflection film 22e, a sixth anti-reflection and anti-reflection film 22f, and a second spacer 22g. The fifth anti-reflection and anti-reflection film 22e is disposed on the side of the fourth substrate 225 facing away from the third transparent electrode layer 226, and the sixth anti-reflection and anti-reflection film 22f is disposed on the side of the fifth substrate 228 facing away from the fourth transparent electrode layer 229. The second spacer 22g is located between the fourth alignment layer 227 and the fifth alignment layer 22a. The diameter of the second spacer 22g can be consistent with the thickness of the cell, providing support and uniform cell thickness. The second spacer 22g can be a mixture of polystyrene beads and a sealant.

[0123] Figure 27 shows a flow chart for preparing the second optical element 220 according to an embodiment of the present disclosure. As shown in Figures 22 and 27, during preparation, the fourth substrate 225 is first cleaned with deionized water and then dried. ITO is then deposited using a magnetron sputtering process to form a third transparent electrode layer 226. SD1 is then spin-coated, dried, and patterned using polarized light. This prepared structure is then aligned with a structure comprising a fifth substrate 228 and a fourth transparent electrode layer 229 deposited thereon, with the third transparent electrode layer 226 and the fourth transparent electrode layer 229 positioned opposite each other. A second spacer 22g is used to define the cell thickness. Vacuum filling is then performed to form the third liquid crystal layer 22b, and finally, packaging is performed to complete the preparation of the second optical element 220. If the second optical element 220 is a single-layer nematic liquid crystal polarization grating, the liquid crystal in the third liquid crystal layer 22b is nematic. When the second optical element 220 is a double-layer twisted nematic liquid crystal polarization grating, the liquid crystal in the third liquid crystal layer 22 b is a clockwise / counterclockwise spirally arranged liquid crystal formed by adding chiral polymer to the nematic liquid crystal.

[0124] Among them, the thickness of the fourth substrate 225 and the fifth substrate 228 can be 100μm to 700μm (inclusive of endpoint values); the thickness of the third transparent electrode layer 226 and the fourth transparent electrode layer 229 can be 0.05μm to 2μm (inclusive of endpoint values); the thickness of the fourth orientation layer 227 and the fifth orientation layer 22a can be 0.01μm to 0.5μm (inclusive of endpoint values); the thickness of the third liquid crystal layer 22b can be 2μm to 5μm (inclusive of endpoint values); the thickness of the fifth anti-reflection and anti-reflection film 22e and the sixth anti-reflection and anti-reflection film 22f can be 0.2μm to 1μm (inclusive of endpoint values).

[0125] When the voltage V3 applied between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 is 0V, the liquid crystal director changes periodically along the X-direction, deflecting the first laser light entering the second optical element 220. The deflection angle is related to the period of the liquid crystal polarization grating; the smaller the grating period, the larger the deflection angle. When the voltage V4 applied between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 is saturated, a second driving electric field is formed between the third transparent electrode layer 226 and the fourth transparent electrode layer 229. The liquid crystal directors realign along the direction of the second driving electric field, and the long axes of the liquid crystal molecules in the third liquid crystal layer 22b are uniformly arranged along the Y-axis. At this point, the second optical element 220 has no deflection effect on the first laser light.

[0126] After passing through the second optical element 220, the first laser beam may undergo a three-value deflection, thereby deflecting the first laser beam from the first direction into three different first deflection directions. One of the first deflection directions is the same as the first direction. The other two first deflection directions are different from the first direction, and the angles between the two first deflection directions and the first direction may be equal.

[0127] The second optical element 220 may be a single-layer nematic three-valued liquid crystal polarization grating or a double-layer twisted nematic three-valued liquid crystal polarization grating. In the case where the second optical element 220 is a double-layer twisted nematic three-valued liquid crystal polarization grating, left-handed / right-handed chiral molecules are added to the nematic liquid crystal molecules to achieve a clockwise / counterclockwise spiral distribution of the liquid crystals in the third liquid crystal layer 22b along the z-axis.

[0128] Next, the simulation results of the first scanner provided by the embodiment of the present disclosure are introduced.

[0129] Taking the wavelength of incident light of 940 nanometers (nm) as an example, the simulation results of a first scanner including a binary liquid crystal polarization grating (i.e., the second optical element is a binary liquid crystal polarization grating, and the second optical element is a single-layer nematic binary liquid crystal polarization grating or a double-layer twisted nematic binary liquid crystal polarization grating) are introduced.

[0130] (1) The first scanner simulation structure:

[0131] A schematic diagram of the first first scanner simulation structure is shown in FIG42 . In the first scanner simulation structure, the first optical element is a quarter-wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic binary liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half-wave plate.

[0132] Figure 43 shows the electric field distribution when a voltage of V1 = 0V is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a voltage of V3 = 0V is applied between the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating. The light beam is deflected by 5°. Figure 44 shows the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage of V1 = 0V is applied to the nematic liquid crystal half-wave plate and a voltage of V3 = 0V is applied to the single-layer nematic liquid crystal polarization grating. The incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. It is then converted to left-handed circularly polarized light after passing through the nematic liquid crystal half-wave plate. At this point, the left-handed circularly polarized light undergoes +1st-order diffraction by the single-layer nematic liquid crystal polarization grating, causing the outgoing light to be deflected by 5° and ultimately emitted as right-handed circularly polarized light.

[0133] The electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a voltage V3 = 0V is applied between the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating is shown in Figure 45 , resulting in a -5° deflection of the light beam. The polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to the nematic liquid crystal half-wave plate and a voltage V3 = 0V is applied to the single-layer nematic liquid crystal polarization grating is shown in Figure 46 . The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. The saturated voltage applied to the nematic liquid crystal half-wave plate does not change the polarization state of the light. At this time, the right-handed circularly polarized light undergoes -1st-order diffraction by the single-layer nematic liquid crystal polarization grating, causing the outgoing light to be deflected by -5° and ultimately emitted as left-handed circularly polarized light.

[0134] (2) The second first scanner simulation structure:

[0135] A schematic diagram of the second first scanner simulation structure is shown in FIG47 . In the first scanner simulation structure, the first optical element is a quarter-wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic binary liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic liquid crystal half-wave plate.

[0136] When a voltage of V1 = 0V is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage of V3 = 0V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 48, and the light beam is deflected by 5°. When a voltage of V1 = 0V is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a voltage of V3 = 0V is applied to the single-layer nematic liquid crystal polarization grating, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in Figure 49. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. It is then converted to left-handed circularly polarized light after passing through the double-layer twisted nematic liquid crystal half-wave plate. At this point, the left-handed circularly polarized light undergoes +1st-order diffraction by the single-layer nematic liquid crystal polarization grating, causing the outgoing light to be deflected by 5° and ultimately emitted as right-handed circularly polarized light.

[0137] The electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0V is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating is shown in Figure 50, resulting in a -5° deflection of the light beam. The polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate and a voltage V3 = 0V is applied to the single-layer nematic liquid crystal polarization grating is shown in Figure 51. The incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. The double-layer twisted nematic liquid crystal half-wave plate, with the saturation voltage applied, does not change the polarization state of the light. At this point, the right-handed circularly polarized light undergoes -1st-order diffraction by the single-layer nematic liquid crystal polarization grating, causing the outgoing light to undergo a -5° deflection and ultimately emerge as left-handed circularly polarized light.

[0138] (3) The third first scanner simulation structure:

[0139] A schematic diagram of the third first scanner simulation structure is shown in FIG52 . In the first scanner simulation structure, the first optical element is a quarter-wave plate, the second optical element is a double-layer twisted nematic liquid crystal polarization grating and a double-layer twisted nematic binary liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half-wave plate.

[0140] When voltage V1 = 0V is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and voltage V3 = 0V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 53, and the light beam is deflected by 5°. When voltage V1 = 0V is applied to the nematic liquid crystal half-wave plate, and voltage V3 = 0V is applied to the double-layer twisted nematic liquid crystal polarization grating, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in Figure 54. The polarization state of the incident light is linearly polarized light, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. Then, it is converted to left-handed circularly polarized light after passing through the nematic liquid crystal half-wave plate. At this time, the left-handed circularly polarized light undergoes +1-order diffraction by the double-layer twisted nematic liquid crystal polarization grating, causing the outgoing light to be deflected by 5° and ultimately emitted as right-handed circularly polarized light.

[0141] When a saturation voltage V2 is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a voltage V3 = 0V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 55, and the light beam is deflected by -5°. When a saturation voltage V2 is applied to the nematic liquid crystal half-wave plate, and a voltage V3 = 0V is applied to the double-layer twisted nematic liquid crystal polarization grating, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in Figure 56. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. The saturated voltage applied to the nematic liquid crystal half-wave plate does not change the polarization state of the light. At this time, the right-handed circularly polarized light is diffracted by the double-layer twisted nematic liquid crystal polarization grating at the -1st order, and the outgoing light is deflected by -5°, ultimately emitting left-handed circularly polarized light.

[0142] (4) The fourth first scanner simulation structure:

[0143] The schematic diagram of the fourth first scanner simulation structure is shown in Figure 57. In this first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a double-layer twisted nematic phase liquid crystal polarization grating and a double-layer twisted nematic phase binary liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic phase liquid crystal half-wave plate.

[0144] When voltage V1 = 0V is applied to the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate, and voltage V3 = 0V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 58, and the light beam is deflected by 5°. When voltage V1 = 0V is applied to the double-layer twisted nematic liquid crystal half-wave plate, and voltage V3 = 0V is applied to the double-layer twisted nematic liquid crystal polarization grating, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in Figure 59. The polarization state of the incident light is linearly polarized light, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. Then, it is converted to left-handed circularly polarized light after passing through the double-layer twisted nematic liquid crystal half-wave plate. At this time, the left-handed circularly polarized light undergoes +1-order diffraction by the double-layer twisted nematic liquid crystal polarization grating, causing the outgoing light to be deflected by 5° and ultimately emitted as right-handed circularly polarized light.

[0145] When a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 60, and the light beam is deflected by -5°. When a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0V is applied to the double-layer twisted nematic liquid crystal polarization grating, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in Figure 61. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. The double-layer twisted nematic liquid crystal half-wave plate with the saturation voltage applied does not change the polarization state of the light. At this time, the right-handed circularly polarized light is diffracted by the double-layer twisted nematic liquid crystal polarization grating at the -1st order, and the outgoing light is deflected by -5°, ultimately emitting left-handed circularly polarized light.

[0146] Taking the wavelength of incident light of 940 nanometers (nm) as an example, the simulation results of a first scanner including a three-valued liquid crystal polarization grating (i.e., the second optical element is a three-valued liquid crystal polarization grating, and the second optical element is a single-layer nematic phase three-valued liquid crystal polarization grating or a double-layer twisted nematic phase three-valued liquid crystal polarization grating) are introduced. In addition to the full-wave results of the simulation of the first scanner including a binary liquid crystal polarization grating, the simulation results of the first scanner including the three-valued liquid crystal polarization grating also include the case where a saturation voltage is applied to the liquid crystal polarization grating, which produces a 0° deflection.

[0147] (5) Fifth first scanner simulation structure:

[0148] In the fifth first scanner simulation structure, the first optical element is a quarter wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic three-valued liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half wave plate.

[0149] When a saturation voltage V2 is applied to the first and second transparent electrode layers of a single-layer nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 62, and the light beam is deflected by 0°. When a saturation voltage V2 is applied to the single-layer nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the single-layer nematic liquid crystal polarization grating, the polarization conversion diagrams of linearly polarized incident light and circularly polarized outgoing light are shown in Figure 63. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. When the saturation voltage V2 is applied, the nematic liquid crystal half-wave plate does not change the polarization state. At this time, the right-handed circularly polarized light passes through the single-layer nematic liquid crystal polarization grating applied with a saturation voltage V4, undergoing zero-order diffraction. The deflection angle of the outgoing light is 0°, and the polarization state remains unchanged, ultimately emitting right-handed circularly polarized light.

[0150] (6) Sixth first scanner simulation structure:

[0151] In the sixth first scanner simulation structure, the first optical element is a quarter wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic three-value liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic liquid crystal half-wave plate.

[0152] When a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 64, and the light beam is deflected by 0°. When a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the single-layer nematic liquid crystal polarization grating, the polarization conversion diagrams of linearly polarized incident light and circularly polarized outgoing light are shown in Figure 65. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. When the saturation voltage V2 is applied, the double-layer twisted nematic liquid crystal half-wave plate does not change the polarization state. At this time, the right-handed circularly polarized light passes through the single-layer nematic liquid crystal polarization grating, which is also applied with a saturation voltage V4, and undergoes zero-order diffraction. The outgoing light has a deflection angle of 0°, with no change in polarization state, and ultimately emits right-handed circularly polarized light.

[0153] (7) Seventh first scanner simulation structure:

[0154] In the seventh first scanner simulation structure, the first optical element is a quarter-wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a double-layer twisted nematic three-value liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half-wave plate.

[0155] When a saturation voltage V2 is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 66, and the light beam is deflected by 0°. When a saturation voltage V2 is applied to the nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the double-layer twisted nematic liquid crystal polarization grating, the polarization conversion diagrams of linearly polarized incident light and circularly polarized outgoing light are shown in Figure 67. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. When the saturation voltage V2 is applied, the nematic liquid crystal half-wave plate does not change the polarization state. At this time, the right-handed circularly polarized light passes through the double-layer twisted nematic liquid crystal polarization grating with a saturation voltage V4, undergoing zero-order diffraction. The deflection angle of the outgoing light is 0°, with no change in polarization state, and ultimately, right-handed circularly polarized light is emitted.

[0156] (8) The eighth first scanner simulation structure:

[0157] In the eighth first scanner simulation structure, the first optical element is a quarter-wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a double-layer twisted nematic three-value liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic liquid crystal half-wave plate.

[0158] When a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, the electric field distribution diagram is shown in Figure 68, and the light beam is deflected by 0°. When a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the double-layer twisted nematic liquid crystal polarization grating, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in Figure 69. The polarization state of the incident light is linearly polarized, which is converted to right-handed circularly polarized light after passing through the quarter-wave plate. When the saturation voltage V2 is applied, the double-layer twisted nematic liquid crystal half-wave plate does not change the polarization state of the light. At this time, the right-handed circularly polarized light passes through the double-layer twisted nematic liquid crystal polarization grating with a saturation voltage V4, undergoing zero-order diffraction. The deflection angle of the outgoing light is 0°, and the polarization state of the light remains unchanged, ultimately emitting right-handed circularly polarized light.

[0159] It should be noted that the polarized light in Figures 43, 45, 48, 50, 53, 55, 58, 60, 62, 64, 66, and 68 propagates along the z-axis, and E x Represents the component of the electric field of polarized light on the x-axis, E z represents the component of the electric field of polarized light on the z-axis, and m in Figures 44, 46, 49, 51, 54, 56, 59, 61, 63, 65, 67, and 69 represents the diffraction order.

[0160] In one embodiment, as shown in FIG. 70 and FIG. 71 , the first scanner 200 includes N second optical elements 220 ; the N second optical elements are arranged in sequence on a side of the first optical element away from the emitter; and N is an integer greater than 1.

[0161] It should be noted that Figures 70 and 71 illustrate N=4 as an example. In specific implementations, the value of N can be selected according to actual needs.

[0162] In one embodiment, the polarization directions of the N second optical elements are different;

[0163] The ratio of the deflection angle of the j-th second optical element to the deflection angle of the first second optical element is an integer greater than 1; j is an integer greater than 1 and less than or equal to N, and the first second optical element is the second optical element closest to the first optical device among the N second optical elements.

[0164] In some embodiments, the deflection angle of the j-th second optical element is greater than the deflection angle of the j-1-th second optical element.

[0165] In one embodiment, as shown in FIG70 , the first scanner 200 includes N third optical elements 230 ;

[0166] The third optical element 230 and the second optical element 220 are alternately arranged on a side of the first optical element 210 facing away from the emitter;

[0167] The first third optical element 230 among the N third optical elements 230 is located between the first second optical element 220 among the N second optical elements 220 and the first optical element 210 .

[0168] In the first scanner 200 shown in FIG70 , the first laser beam emitted from the output end of the transmitter first enters the first optical element 210. After being converted from linear polarization to circular polarization by the first optical element 210, it enters the first third optical element 230. After passing through the first third optical element 230, the left-handed circular polarization state is converted to a right-handed circular polarization state, or the right-handed circular polarization state is converted to a left-handed polarization state, or the current circular polarization state is maintained. The laser beam then enters the first second optical element 220, undergoes angular deflection, and enters the second third optical element 230. The second third optical element 230 converts the left-handed circular polarization state to a right-handed circular polarization state, or the right-handed circular polarization state is converted to a left-handed polarization state, or the current circular polarization state is maintained. The laser beam then enters the second second optical element 220, undergoes angular deflection, and enters the next third optical element 230. The functions of each third optical element 230 and each second optical element 220 are identical and will not be further described here. The last second optical element 220 emits the first laser beam along multiple first deflection directions.

[0169] In a specific implementation, the deflection angle of the final emitted light can be controlled by applying or not applying a saturation voltage to each of the first optical element, each second optical element, and each third optical element.

[0170] In one embodiment, in the first scanner 200 shown in FIG70 , the deflection angles of the four second optical elements 220 in the direction away from the first optical element 210 are 1.3°, 2.6°, 5.2°, and 10.4°, respectively.

[0171] Alternatively, in one embodiment, as shown in FIG. 71 , the first scanner includes one third optical element 230 ; N second optical elements 220 are arranged in sequence on a side of the third optical element 230 facing away from the first optical element 210 .

[0172] In the first scanner 200 shown in Figure 71, the first laser beam emitted from the output end of the transmitter first enters the first optical element 210. After being converted from a linearly polarized state to a circularly polarized state by the first optical element 210, it enters the third optical element 230. After passing through the third optical element 230, the left-handed circular polarization state is converted to a right-handed circular polarization state, or the right-handed circular polarization state is converted to a left-handed polarization state, or the current circular polarization state is maintained. The laser beam then enters the first through Nth second optical elements 220 in sequence, undergoing angular deflection. The last second optical element 220 emits the first laser beam along multiple first deflection directions.

[0173] In a specific implementation, the deflection angle of the final emitted light can be controlled by applying or not applying a saturation voltage to each of the first optical element, each second optical element, and the third optical element.

[0174] In one embodiment, in the first scanner 200 shown in FIG71 , the deflection angles of the four second optical elements 220 in the direction away from the first optical element 210 are 1.3°, 3.9°, 9.1°, and 10.4°, respectively.

[0175] In one embodiment, the number of pointing angles of the first scanner is 2 N+1 -1.

[0176] In one embodiment, the laser radar assembly 10 further includes a transmitting optical assembly, the input end of which is disposed opposite the output end of the first scanner 200. The first laser beams along a plurality of first deflection directions are transmitted through the transmitting optical assembly toward the target object 20. This ensures that the first laser beams, after having their equivalent line number increased by the first scanner 200, are correctly transmitted to the target object 20.

[0177] It should be noted that the direction of the first laser light along the multiple first deflection directions may change after passing through the emission optical component, so the direction of the first laser light emitted to the target object 20 is not necessarily the multiple first deflection directions.

[0178] Figures 28 and 29 illustrate schematic diagrams of laser emission from a LiDAR assembly according to the first embodiment of the present disclosure. In one embodiment, referring to Figures 28 and 29 , the emission optical assembly includes a first collimating lens 31a, a first prism 31b, and a first reflector 31c, sequentially arranged along the optical path of a first laser beam. The first reflector 31c is configured to emit the first laser beam toward a target object.

[0179] Exemplarily, the laser radar assembly can be a mechanical laser radar assembly. The transmitter 100 emits a laser beam, which is then deflected by the first scanner 200 along a first direction F1 into multiple different first deflection directions F1', achieving precise laser scanning. For example, if the first scanner 200 includes a binary liquid crystal polarization grating, the first scanner 200 can deflect the first laser beam along the first direction F1 into two different first deflection directions F1'; if the first scanner 200 includes a ternary liquid crystal polarization grating, the first scanner 200 can deflect the first laser beam along the first direction F1 into three different first deflection directions F1'. The first laser beam emitted from the first scanner 200 is focused and collimated by the first collimating lens 31a, then reflected by the first prism 31b onto the rotating first reflector 31c. The rotating first reflector 31c then transmits the first laser beam toward the target object. The first reflector 31c represents the scanning module 700 described above.

[0180] Figures 32 and 33 illustrate schematic diagrams of laser emission and laser reception for a lidar assembly according to a second embodiment of the present disclosure. In one embodiment, referring to Figures 32 and 33 , the emission optical assembly may include a second collimating lens 31d, a second reflector 31e, and a rotating mirror 31f that rotates about an axis 31g, arranged sequentially along the optical path of the first laser beam. The rotating mirror 31f is configured to transmit the first laser beam toward the target object 20.

[0181] Exemplarily, the laser radar assembly can be a rotating mirror laser radar assembly. The transmitter 100 emits laser light, which is then deflected by the first scanner 200 along a first direction F1 into multiple different first deflection directions F1', achieving precise laser scanning. The first laser light emitted from the first scanner 200 is focused and collimated by the second collimating lens 31d. It is then reflected by the second reflector 31e onto the rotating mirror 31f, which rotates about an axis 31g. The rotating mirror 31f then emits the first laser light toward the target object 20. The rotating mirror 31f represents the aforementioned scanning module 700.

[0182] Figures 34 and 35 show schematic diagrams of laser emission of a laser radar assembly according to the third embodiment of the present disclosure. In one embodiment, in conjunction with Figures 34 and 35, the emitting optical assembly includes a galvanometer 31h, which is used to emit a first laser to a target object. Exemplarily, the laser radar assembly can be a MEMS laser radar assembly. The transmitter 100 emits a laser, which, after being focused and collimated by a collimating lens, enters the first scanner 200 to achieve binary deflection or ternary deflection, and obtains a first laser along multiple first deflection directions F1'. Finally, the galvanometer 31h, such as a MEMS galvanometer, emits the first laser to the target object. Among them, the galvanometer 31h is the above-mentioned scanning module 700.

[0183] FIG38 is a schematic diagram showing the laser emission of a laser radar assembly according to the fourth embodiment of the present disclosure. As shown in FIG38 , the laser radar assembly 10 may be a FLASH laser radar assembly 10. The emitter 100 emits a laser, which is focused and collimated by a collimating lens and then enters the first scanner 200 to achieve binary or ternary deflection, thereby obtaining a first laser along multiple first deflection directions F1'. Compared to the laser radar assembly 10 in FIG6 , the first scanner 200 can be used instead of the diverging lens to achieve electrically controlled deflection of the first laser, thereby significantly increasing the power of the laser per unit area, thereby increasing the detection range of the laser radar assembly 10.

[0184] FIG40 is a schematic diagram showing the laser emission of a laser radar assembly according to the fifth embodiment of the present disclosure. In one embodiment, as shown in FIG40 , the emission optical assembly includes a diverging lens 31i, which is used to emit the first laser to the target object. Exemplarily, the first scanner 200 can be located between the collimating lens and the diverging lens 31i. In this way, while increasing the power of the laser per unit area, the field of view of the laser radar assembly 10 can be further increased, so that the laser radar assembly 10 can have both long-range measurement and large field of view performance.

[0185] In one embodiment, the laser radar assembly 10 further includes: a second scanner 400 and a receiver 500, the receiver 500 being used to receive the laser reflected by the target object 20 and convert the optical signal into an electrical signal, and the second scanner 400 being used to control the second laser to be deflected from a plurality of different second deflection directions F2' to a second direction F2, so that the second laser along the second direction F2 is sent to the receiver 500; wherein the second laser is the reflected light of the first laser by the target object 20; and at least one second deflection direction F2' is different from the second direction F2.

[0186] In one example, as shown in Figures 8 and 9, the LiDAR assembly 10 further includes a signal processing unit. The second laser reflected by the target object 20 passes through the scanning module 700 and the second scanner 400 and is received by the receiver 500. The signal processing unit is configured to receive the electrical signal, analyze and calculate the received signal, and obtain the distance d and shape information of the target object 20, thereby enabling 3D modeling by the LiDAR.

[0187] In another example, as shown in Figures 10 and 11, the laser radar assembly 10 may include a focusing lens 800. The second laser reflected by the target object 20 passes through the focusing lens 800 and the second scanner 400, is received by the receiver 500, and after the signal processing backend, the distance d and shape of the target object 20 are calculated using the time-of-flight method.

[0188] In this embodiment, by setting up a second scanner 400, the direction of the second laser of the second scanner 400 is converged into a second direction F2 by multiple different second deflection directions F2'. While ensuring the number of equivalent lines of the laser radar component 10, the number of receivers 500 can be effectively reduced, thereby further reducing costs.

[0189] In one embodiment, the second scanner 400 includes a fourth optical element 410 and a fifth optical element 420. The fourth optical element 410 is positioned near the target object 20 and is configured to deflect the second laser beam from a plurality of second deflection directions to a second direction. The fifth optical element 420 is positioned between the fourth optical element 410 and the receiver 500 and is configured to change or maintain the polarization state of the second laser beam. The structure of the fourth optical element 410 can be similar to that of the second optical element 220 described above; the structure of the fifth optical element can be similar to that of the third optical element 230 described above, and will not be further described here.

[0190] Furthermore, the second scanner 400 may further include a sixth optical element 430, disposed between the fifth optical element 420 and the receiver 500, for converting the second laser beam from a linearly polarized state to a circularly polarized state or vice versa. The structure of the sixth optical element 430 may be similar to that of the first optical element 210, and thus will not be further described herein.

[0191] In one embodiment, the second scanner includes M fourth optical elements; the M fourth optical elements are arranged in sequence on one side of the target object; and M is an integer greater than 1.

[0192] In one embodiment, the polarization directions of the M fourth optical elements are different;

[0193] The ratio of the deflection angle of the j-th fourth optical element to the deflection angle of the first fourth optical element is an integer greater than 1; j is an integer greater than 1 and less than or equal to M, and the first fourth optical element is the fourth optical element closest to the sixth optical device among the M fourth optical elements.

[0194] In one embodiment, the second scanner includes M fifth optical elements;

[0195] The fifth optical element and the fourth optical element are alternately arranged on a side of the sixth optical element facing away from the emitter;

[0196] The first fifth optical element among the M fifth optical elements is located between the first fourth optical element and the sixth optical element among the M fourth optical elements.

[0197] In one embodiment, the second scanner includes one fifth optical element; and M fourth optical elements are arranged in sequence on a side of the fifth optical element away from the sixth optical element.

[0198] In one embodiment, the number of pointing angles of the second scanner is 2 M+1 -1.

[0199] In one embodiment, the laser radar assembly 10 further includes a receiving optical assembly, which is disposed between the second scanner 400 and the target object 20 , and the second laser reflected by the target object 20 is sent to the second scanner 400 through the receiving optical assembly.

[0200] Figures 30 and 31 illustrate schematic diagrams of laser reception in a laser radar assembly according to the first embodiment of the present disclosure. For example, the laser radar assembly can be a mechanical laser radar assembly. The receiving and transmitting optical assemblies can share a first reflector 31c and a first prism 31b. The second laser light reflected by the target object passes through the first reflector 31c and reaches the first prism 31b. After passing through the first prism 31b, it is focused by the collimating lens and reaches the second scanner 400. Finally, the second scanner 400 reaches the receiver 500. Finally, a processing chip performs data processing and three-dimensional environment modeling.

[0201] As shown in Figures 32 and 33, the laser radar assembly can also be a rotating mirror type. The receiving and transmitting optical assemblies can share the rotating mirror 31f and the second reflector 31e. The second laser beam reflected from the target object passes through the rotating mirror 31f, the second reflector 31e, the collimating lens, and the second scanner 400 before being received by the receiver 500. The receiver 500 converts the optical signal into an electrical signal, which is then fed into the processing unit for data processing.

[0202] Figures 36 and 37 illustrate schematic diagrams of laser reception in a LiDAR assembly according to the third embodiment of the present disclosure. For example, the LiDAR assembly can be a MEMS LiDAR assembly. The receiving and transmitting optical assemblies can share a galvanometer 31h. The second laser light reflected from the target object 20 passes through the galvanometer 31h, the second scanner 400, and the collimating lens before being received by the receiver 500. Finally, a processing chip performs data processing and three-dimensional environment modeling.

[0203] Figure 39 shows a schematic diagram of laser reception in a LiDAR assembly 10 according to the fourth embodiment of the present disclosure. For example, the LiDAR assembly can be a FLASH LiDAR assembly. The laser reception process of a FLASH LiDAR assembly is the opposite of the laser transmission process. The second laser reflected by the target object passes through the second scanner 400 and the collimating lens before being received by the receiver 500. Finally, a processing chip performs data processing and three-dimensional environment modeling.

[0204] According to the laser radar component 10 of the embodiment of the present disclosure, the binary scanning or ternary scanning of the first scanner 200 can be used to encrypt the point cloud density within a small angle range, thereby reducing the number of transmitters 100 and receivers 500 of the laser radar component 10 by 30% to 50%.

[0205] The present disclosure also provides a device with a detection function, including the lidar assembly 10 according to any of the aforementioned embodiments. Figure 41 illustrates an example application of a device with a detection function according to an embodiment of the present disclosure. As shown in Figure 41, the device with an electrical measurement function can include autonomous vehicles, intelligent robots, automated logistics vehicles, and surveying and mapping equipment.

[0206] According to the device with detection function of the embodiment of the present disclosure, by adopting the above-mentioned laser radar component 10, the number of transmitters 100 can be effectively reduced while ensuring the equivalent line number of the laser radar component 10, thereby reducing costs.

[0207] The other components of the laser radar assembly 10 and the device with detection function in the above embodiment can adopt various technical solutions known to ordinary technicians in this field now and in the future, and will not be described in detail here.

[0208] In the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0209] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0210] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0211] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature therebetween. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0212] The disclosure above provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described above. Of course, these are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0213] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in this disclosure, and such modifications or substitutions should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A laser radar assembly, wherein: include: A transmitter, configured to emit a first laser along a first direction; a first scanner, wherein an input end of the first scanner is arranged opposite to an output end of the transmitter, and the first scanner is used to control the first laser to be deflected from the first direction to a plurality of different first deflection directions, so as to emit the first laser along the plurality of first deflection directions to the target object; wherein at least one of the first deflection directions is different from the first direction; A receiver, used to receive the laser reflected by the target object and convert the optical signal into an electrical signal; The signal processing unit is used to receive the electrical signal, and analyze and calculate the received electrical signal to obtain the distance and shape information of the target object.

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

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

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

5. The laser radar assembly according to claim 4, wherein: The thickness of the first substrate and the second substrate are both 100μm to 700μm; and / or, the thickness of the first transparent electrode layer and the second transparent electrode layer are both 0.05μm to 2μm; and / or, the thickness of the first alignment layer and the second alignment layer are both 0.01μm to 0.5μm; and / or, the thickness of the first liquid crystal layer is 2μm to 5μm.

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

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

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

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

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

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

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

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

14. The laser radar assembly according to any one of claims 3 to 7, wherein: The first scanner includes N second optical elements; the N second optical elements are arranged in sequence on a side of the first optical element away from the emitter; and N is an integer greater than 1.

15. The laser radar assembly according to claim 14, wherein: The polarization directions of the N second optical elements are different; The ratio of the deflection angle of the j-th second optical element to the deflection angle of the first second optical element is an integer greater than 1; j is an integer greater than 1 and less than or equal to N, and the first second optical element is the second optical element closest to the first optical device among the N second optical elements.

16. The laser radar assembly according to claim 14 or 15, wherein: The first scanner includes N third optical elements; The third optical element and the second optical element are arranged alternately on a side of the first optical element away from the emitter; The first third optical element among the N third optical elements is located between the first second optical element among the N second optical elements and the first optical element.

17. The laser radar assembly according to claim 14 or 15, wherein: The first scanner includes one third optical element; N second optical elements are arranged in sequence on a side of the third optical element away from the first optical element.

18. The laser radar assembly according to any one of claims 14 to 17, wherein: The number of pointing angles of the first scanner is 2 N+1 -1.

19. The laser radar assembly according to any one of claims 11 to 13, wherein: The second scanner includes M fourth optical elements; the M fourth optical elements are arranged in sequence on one side of the target object; and M is an integer greater than 1.

20. A device having a detection function, wherein: Comprising a laser radar assembly according to any one of claims 1-19.

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