Transmitting system, radar and terminal

Abstract

A transmitting system, a radar and a terminal relate to the technical field of laser radars. The transmitting system comprises a first light transmitting module, a second light transmitting module and an optical module, a first interval exists between the first light transmitting module and the second light transmitting module in the first direction, the first light transmitting module and the second light transmitting module are used for transmitting a first detection light beam and a second detection light beam respectively, and the optical module is arranged in the propagation direction of the first detection light beam and the second detection light beam. The optical module comprises a V-shaped refracting prism, and the two sides of the V-shaped refracting prism are used for refracting the first detection light beam and the second detection light beam respectively, so that the interval between the first detection light beam and the second detection light beam passing through the V-shaped refracting prism is smaller than the first interval. The effects of reducing the overall line width of the light-emitting area of the emission system and improving the arrangement density are achieved, which is equivalent to improving the power density and uniformity of laser beams provided by the emission system.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a transmitting system, radar and terminal. Background Art

[0002] LiDAR, also known as optical radar, is the abbreviation of light detection and ranging system, and can also be called Laser Radar or LADAR (laser detection and ranging). LiDAR uses light as the detection medium and utilizes the emission and reception of lasers to detect targets, including ranging, speed measurement, or azimuth measurement. LiDAR includes a laser emission system, a laser receiving system, and a signal processing system, among which the laser emission system is used to emit laser beams. For example, the laser emission system can generate laser light through its built-in laser emitter and emit the laser light with the help of an appropriate optical system (for example, a shaping optical path, etc.).

[0003] Laser beam properties (including energy density and uniformity) affect LiDAR detection performance. For example, higher laser beam energy density improves interference immunity and range-finding performance. Therefore, improving laser beam properties is a pressing issue. Summary of the Invention

[0004] This application provides a transmission system, radar, and terminal. The transmission system of this application enables the spacing of the virtual images of light-emitting units to be smaller than the actual spacing of the light-emitting units, thereby reducing the overall line width of the light-emitting area. This effectively improves the power density and uniformity of the laser beam provided by the transmission system. Furthermore, the transmission system of this application does not change the actual spacing of the light-emitting units, thus avoiding heat dissipation issues caused by reducing the actual distance.

[0005] In a first aspect, the present application provides a transmitting system, comprising a first light transmitting module, a second light transmitting module and an optical module. There is a first interval between the first light transmitting module and the second light transmitting module in a first direction, and they are used to transmit a first detection beam and a second detection beam, respectively, and the optical module is arranged in the propagation direction of the first detection beam and the second detection beam. The optical module comprises a V-shaped refractive prism, and the two sides of the V-shaped refractive prism are used to refract the above-mentioned first detection beam and the second detection beam, respectively, so that the interval between the first detection beam and the second detection beam after passing through the V-shaped refractive prism is smaller than the first interval. In addition, the incident angle and the refraction angle of the first detection beam or the second detection beam on the V-shaped refractive prism are equal, so as to ensure that the propagation direction of the first detection beam or the second detection beam before and after passing through the V-shaped refractive prism is the same.

[0006] In the present application, a V-shaped refractive prism is set on the propagation path of the first detection beam and the second detection beam, so that the two sides of the V-shaped refractive prism refract the first detection beam and the second detection beam respectively, so that the interval between the first detection beam and the second detection beam after passing through the V-shaped refractive prism is smaller than the first interval, thereby achieving the effect of reducing the overall line width of the light-emitting area of ​​the emission system and improving the arrangement density, which is equivalent to improving the power density and uniformity of the laser beam provided by the emission system. In addition, the present application does not change the actual spacing between the first light emitting module and the second light emitting module, avoiding the heat dissipation problem caused by reducing the actual spacing, thereby enabling the emission system to emit laser beams at full power. Since the incident angle and refraction angle of the first detection beam or the second detection beam on the V-shaped refractive prism are equal, the first detection beam or the second detection beam has the same propagation direction before and after passing through the V-shaped refractive prism, which is conducive to the design convenience of subsequent optical path shaping.

[0007] It should be noted that the first direction is perpendicular to the direction of propagation of the probe beam. The first direction can be used to indicate the direction in which the first optical transmitter module points toward the second optical transmitter module. For example, the first direction is the direction of the line connecting the center points of the first and second optical transmitter modules. The "interval" in this application is calculated using the center of the probe beam as a reference point. For a detailed description, please refer to the description in the specific embodiment.

[0008] In a possible implementation of the first aspect, a cross section of the V-shaped refracting prism in a first plane is axisymmetric along the beam propagation direction of the detection beam, wherein the first plane is a plane formed by the first direction and the beam propagation direction.

[0009] In the above embodiment, the first plane is a plane formed by the first direction and the direction of light beam propagation, and the first plane and the cross-section of the V-shaped refractive prism are axially symmetrical along the direction of light beam propagation, so that the first detection beam and the second detection beam have the same optical path when passing through the V-shaped refractive prism. On the one hand, it can ensure that the degree of refraction of the first detection beam and the second detection beam on both sides of the V-shaped refractive prism is the same. On the other hand, it can make the optical path of the first detection beam and the second detection beam in the V-shaped refractive prism the same, avoiding interference caused by astigmatism.

[0010] In another possible implementation of the first aspect, the two sides of the V-shaped refracting prism include a first refractive edge and a second refractive edge. The first refractive edge includes a first incident surface and a first exit surface oppositely disposed along a second direction, and the second refractive edge includes a second incident surface and a second exit surface oppositely disposed along a third direction, wherein the second direction, the third direction, and the light beam propagation direction are mutually different.

[0011] In the above-described embodiment, the first incident surface and the first exit surface are disposed relative to each other along the second direction, and the second incident surface and the second exit surface are disposed relative to each other along the third direction. This is equivalent to the second direction being perpendicular to the first incident surface and the first exit surface, and the third direction being perpendicular to the second incident surface and the second exit surface. The second or third direction differs from the beam propagation direction, allowing the first and second probe beams to be incident at an angle upon the first incident surface and the second incident surface, respectively, thereby ensuring that the first and second refractive edges have a certain degree of refractive power for the first and second probe beams, respectively. Combined with the fact that the first and second probe beams have the same propagation directions and that the second direction differs from the third direction, the refractive direction of the first probe beam by the first refractive edge is different from the refractive direction of the second probe beam by the second refractive edge, thereby avoiding the situation where beam combining cannot occur due to the same refractive directions.

[0012] In another possible implementation of the first aspect, the first incident surface is parallel to the first exit surface, and the second incident surface is parallel to the second exit surface.

[0013] In the above embodiment, the first incident surface is parallel to the first exit surface, and the second incident surface is parallel to the second exit surface, so that the first detection beam and the second detection beam have the same incident angle and exit angle on the V-shaped refractive prism, thereby making the first detection beam or the second detection beam have the same incident angle and exit angle before and after passing through the V-shaped refractive prism, and further making the first detection beam or the second detection beam have the same propagation direction before and after passing through the V-shaped refractive prism, which is beneficial to the design convenience of subsequent optical path shaping.

[0014] In another possible implementation of the first aspect, the direction of the opening formed by the first refractive edge and the second refractive edge is the same as the propagation direction of the light beam.

[0015] In the above embodiment, the central direction corresponding to the angle range (0°, 180°) between the first refractive edge and the second refractive edge can be referred to as the opening direction. The opening direction formed by the first refractive edge and the second refractive edge is the same as the light beam propagation direction, so that the V-shaped refractive prism is placed in a positive V-shaped posture relative to the first light transmitting module and the second light transmitting module. This allows the V-shaped refractive prism to offset the first detection beam and the second detection beam in opposite directions, thereby achieving the effect of reducing the distance between the first detection beam and the second detection beam.

[0016] Optionally, the placement of multiple optical elements can be designed so that the air gaps between the multiple optical elements form an inverted V shape, and act on the refraction of the first detection beam and the second detection beam, which can also achieve the effect of reducing the distance between the first detection beam and the second detection beam.

[0017] In another possible implementation of the first aspect, the first probe beam sequentially passes through the first incident surface and the first exit surface and is refracted by the first incident surface and the first exit surface. The second probe beam sequentially passes through the second incident surface and the second exit surface and is refracted by the second incident surface and the second exit surface.

[0018] In the above embodiment, the first incident surface and the second incident surface can be understood as the interface where the probe light beam enters medium B from medium A, and refracted at this interface (i.e., the refraction angle is greater than 0° and less than 90°). The first exit surface and the second exit surface can be understood as the interface where the probe light beam enters medium A from medium B, and refracted at this interface (i.e., the refraction angle is greater than 0° and less than 90°). This application does not limit the relationship between the refractive indices of medium A and medium B. For example, the refractive index of medium A is greater than that of medium B, or the refractive index of medium A is less than that of medium B.

[0019] Optionally, the first detection beam or the second detection beam may also vertically pass through other interfaces when passing through the V-shaped refractive prism.

[0020] In another possible implementation of the first aspect, the first detection beam emitted by the first light emitting module is parallel to the second detection beam emitted by the second light emitting module, and the first detection beam after passing through the V-shaped refractive prism is parallel to the second detection beam after passing through the V-shaped refractive prism.

[0021] In the above embodiment, the V-shaped refractive prism does not change the propagation direction of the first detection beam or the second detection beam, which is beneficial to the design convenience of subsequent optical path shaping.

[0022] In another possible implementation manner of the first aspect, the first light emitting module and the second light emitting module are vertical cavity surface emitting lasers (VCSELs).

[0023] Optionally, the first light emitting module and the second light emitting module can also be photonic crystal surface emitting semiconductor lasers (PCSEL), edge emitting laser (EEL), laser diode (LD), distributed feedback laser diode (DFB-LD), grating coupled sampling reflection laser diode (GCSR-LD), or micro opto electromechanical system laser diode (MOEMS-LD), etc.

[0024] In another possible embodiment of the first aspect, the first light emitting module and the second light emitting module both include multiple light emitting holes (light emitting units), and the multiple light emitting holes between the two emission modules are staggered along a fourth direction, which is perpendicular to the propagation direction of the light beam and different from the first direction.

[0025] In the above embodiment, the first light emitting module and the second light emitting module each include a plurality of light-emitting apertures. For example, the first light emitting module includes a plurality of first light-emitting apertures, and the second light emitting module includes a plurality of second light-emitting apertures. The staggered arrangement of the plurality of first light-emitting apertures and the plurality of second light-emitting apertures in the fourth direction is equivalent to the absence of the first light-emitting aperture and the second light-emitting aperture being in the same position in the fourth direction. In combination with the fourth direction being perpendicular to the beam propagation direction and different from the first direction, the light spots of the combined first and second detection beams are still staggered, thereby achieving improved uniformity of the light spots of the combined first and second detection beams.

[0026] Optionally, the fourth direction is perpendicular to the first direction.

[0027] Optionally, the plurality of first light-emitting holes and the plurality of second light-emitting holes may be arranged in a non-offset manner in the fourth direction.

[0028] In another possible embodiment of the first aspect, the transmitting system further includes a third light transmitting module and a fourth light transmitting module. In the first direction, the third light transmitting module, the first light transmitting module, the second light transmitting module, and the fourth light transmitting module are arranged in sequence, with a second interval between the third light transmitting module and the first light transmitting module, and a third interval between the second light transmitting module and the fourth light transmitting module. The third light transmitting module and the fourth light transmitting module are configured to transmit a third probe beam and a fourth probe beam, respectively. The two sides of the V-shaped refractive prism are further configured to refract the third probe beam and the fourth probe beam, respectively, such that the interval between the third probe beam and the first probe beam after passing through the V-shaped refractive prism is less than the second interval, and the interval between the fourth probe beam and the second probe beam after passing through the V-shaped refractive prism is less than the third interval. Furthermore, the incident angle and refraction angle of the third probe beam or the fourth probe beam on the V-shaped refractive prism are equal, ensuring that the propagation direction of the third probe beam or the fourth probe beam is the same before and after passing through the V-shaped refractive prism.

[0029] In the above-mentioned embodiment, the two sides of the V-shaped refractive prism are also used to refract the third and fourth probe beams, respectively. The spacing between the third probe beam and the first probe beam after passing through the V-shaped refractive prism is less than the second spacing, and the spacing between the fourth probe beam and the second probe beam after passing through the V-shaped refractive prism is less than the third spacing. This reduces the overall line width of the emission system's light-emitting area and increases the arrangement density, which is equivalent to improving the power density and uniformity of the laser beam provided by the emission system. In addition, the present application does not change the actual spacing between the first, second, third, and fourth light emitting modules, thus avoiding the heat dissipation problem caused by reducing the actual spacing, thereby enabling the emission system to emit laser beams at full power. Because the incident angle and refraction angle of the third or fourth probe beam on the V-shaped refractive prism are equal, the third or fourth probe beam has the same propagation direction before and after passing through the V-shaped refractive prism, which is beneficial to the design convenience of subsequent optical path shaping.

[0030] The above-described embodiment can be used to combine more probe beams, thereby improving the power density and uniformity of the laser beam provided by the emission system. Obviously, the solution provided in this application can also combine three probe beams, five probe beams, six probe beams, or even more probe beams. Due to the inconvenience of enumerating them, they are not detailed here.

[0031] In a further possible implementation form of the first aspect, the first refractive edge further comprises a third incident surface and a third exit surface, and the second refractive edge further comprises a fourth incident surface and a fourth exit surface. The third incident surface and the third exit surface are oppositely arranged along a fifth direction, and the fourth incident surface and the fourth exit surface are oppositely arranged along a sixth direction. The fifth direction, the sixth direction and the propagation direction are different from each other.

[0032] In the above implementation form, the third incident surface and the third exit surface are oppositely arranged along the fifth direction, and the fourth incident surface and the fourth exit surface are oppositely arranged along the sixth direction. Equivalently, the fifth direction is perpendicular to the third incident surface and the third exit surface, and the sixth direction is perpendicular to the fourth incident surface and the fourth exit surface. The fifth direction or the sixth direction is different from the propagation direction of the light beams, so that the third probe light beam and the fourth probe light beam can be obliquely incident on the third incident surface and the fourth incident surface, respectively, thereby ensuring that the first refractive edge and the second refractive edge have certain refractive capabilities for the third probe light beam and the fourth probe light beam, respectively. In combination with the fact that the third probe light beam and the fourth probe light beam have the same propagation direction and the fifth direction and the sixth direction are different from each other, the first refractive edge can have a different refractive direction for the third probe light beam than the second refractive edge has for the fourth probe light beam, thereby avoiding the situation that the same refractive direction causes the beams to be unable to be combined.

[0033] In a further possible implementation form of the first aspect, the third incident surface is parallel to the third exit surface, and the fourth incident surface is parallel to the fourth exit surface.

[0034] In the above implementation form, the third incident surface is parallel to the third exit surface, and the fourth incident surface is parallel to the fourth exit surface, so that the third probe light beam and the fourth probe light beam have the same incident angle and exit angle on the V-shaped refractive prism, thereby causing the third probe light beam or the fourth probe light beam to have the same incident angle and exit angle before and after passing through the V-shaped refractive prism, and further causing the third probe light beam or the fourth probe light beam to have the same propagation direction before and after passing through the V-shaped refractive prism, which is beneficial to the design convenience of subsequent optical path shaping.

[0035] In a further possible implementation form of the first aspect, an angle between the third incident surface or the third exit surface and the propagation direction ranges from 0° to 90°, and an angle between the fourth incident surface or the fourth exit surface and the propagation direction ranges from 0° to 90°.

[0036] In the above implementation form, the third incident surface and the fourth incident surface are determined to have an angle ranging from 0° to 90° with the propagation direction, taking the case that the propagation direction of the light beams is vertically upward as an example, which can ensure that the V-shaped refractive prism is placed in a positive V shape, thereby causing the V-shaped refractive prism to offset the third probe light beam and the fourth probe light beam in opposite directions, and further achieving the effect of reducing the spacing between the third probe light beam and the fourth probe light beam.

[0037] Optionally, the placement of multiple optical elements can be designed so that the air gaps between the multiple optical elements form an inverted V shape, and act on the refraction of the third detection beam and the fourth detection beam, which can also achieve the effect of reducing the distance between the third detection beam and the fourth detection beam.

[0038] Optionally, the angle between the third incident surface and the propagation direction of the light beam is smaller than the angle between the first incident surface and the propagation direction of the light beam, so that the degree of refraction of the third detection beam by the V-shaped refractive prism is greater than the degree of refraction of the first detection beam, thereby reducing the distance between the first detection beam and the third detection beam after passing through the V-shaped refractive prism.

[0039] Optionally, the angle between the fourth incident surface and the propagation direction of the light beam is smaller than the angle between the second incident surface and the propagation direction of the light beam, so that the degree of refraction of the fourth detection beam by the V-shaped refractive prism is greater than the degree of refraction of the second detection beam, thereby reducing the distance between the second detection beam and the fourth detection beam after passing through the V-shaped refractive prism.

[0040] In another possible implementation of the first aspect, the third probe beam sequentially passes through a third incident surface and a third exit surface and is refracted by the third incident surface and the third exit surface. The fourth probe beam sequentially passes through a fourth incident surface and a fourth exit surface and is refracted by the fourth incident surface and the fourth exit surface.

[0041] In the above embodiment, the third incident surface and the fourth incident surface can be understood as the interface where the probe light beam enters medium B from medium A, and refracted at this interface (i.e., the refraction angle is greater than 0° and less than 90°). The third exit surface and the fourth exit surface can be understood as the interface where the probe light beam enters medium A from medium B, and refracted at this interface (i.e., the refraction angle is greater than 0° and less than 90°). This application does not limit the relationship between the refractive indices of medium A and medium B. For example, the refractive index of medium A is greater than that of medium B, or the refractive index of medium A is less than that of medium B.

[0042] Optionally, the third detection beam or the fourth detection beam may also vertically pass through other interfaces when passing through the V-shaped refractive prism.

[0043] In another possible implementation of the first aspect, the angle between the fifth direction and the light beam propagation direction is greater than the angle between the second direction and the light beam propagation direction, and / or the angle between the sixth direction and the light beam propagation direction is greater than the angle between the third direction and the light beam propagation direction.

[0044] In the above embodiment, the angles between the second, third, fifth, and sixth directions and the beam propagation direction are equal to the incident angle of the first probe beam at the first incident surface, the incident angle of the second probe beam at the second incident surface, the incident angle of the third probe beam at the third incident surface, and the incident angle of the fourth probe beam at the fourth incident surface, respectively. When the angle between the fifth direction and the beam propagation direction is greater than the angle between the second direction and the beam propagation direction, the degree of refraction of the third probe beam by the V-shaped refractive prism is greater than the degree of refraction of the first probe beam by the V-shaped refractive prism, resulting in a spacing between the third probe beam and the first probe beam after passing through the V-shaped refractive prism that is less than the second spacing. When the angle between the sixth direction and the beam propagation direction is greater than the angle between the third direction and the beam propagation direction, the degree of refraction of the fourth probe beam by the V-shaped refractive prism is greater than the degree of refraction of the second probe beam by the V-shaped refractive prism, resulting in a spacing between the fourth probe beam and the second probe beam after passing through the V-shaped refractive prism that is less than the third spacing. This can reduce the overall line width of the emitting system's light-emitting area and increase the density of the arrangement, which is equivalent to improving the power density and uniformity of the laser beam provided by the emitting system.

[0045] It is understood that the V-shaped refractive prism in the above embodiment can reduce the spacing between the first and second probe beams. Therefore, even if the spacing between the fifth probe beam after passing through the V-shaped refractive prism and the first probe beam is equal to the second spacing, and / or the spacing between the sixth probe beam after passing through the V-shaped refractive prism and the second probe beam is equal to the third spacing, the overall line width of the emission system's light-emitting area can still be reduced and the arrangement density can be increased.

[0046] In another possible embodiment of the first aspect, the refractive index of the material between the third incident surface and the third exit surface is greater than the refractive index of the material between the first incident surface and the first exit surface and / or the refractive index of the material between the fourth incident surface and the fourth exit surface is greater than the refractive index of the material between the second incident surface and the second exit surface.

[0047] In the above embodiment, by making the refractive index of the material between the third incident surface and the third exit surface greater than the refractive index of the material between the first incident surface and the first exit surface, the V-shaped refractive prism refracts the third probe beam more than the first probe beam, thereby making the distance between the third probe beam and the first probe beam after passing through the V-shaped refractive prism less than the second distance. By making the refractive index of the material between the fourth incident surface and the fourth exit surface greater than the refractive index of the material between the second incident surface and the second exit surface, the V-shaped refractive prism refracts the fourth probe beam more than the second probe beam, thereby making the distance between the fourth probe beam and the second probe beam after passing through the V-shaped refractive prism less than the third distance. This thereby reduces the overall line width of the emission system's light-emitting area and increases the arrangement density, which is equivalent to improving the power density and uniformity of the laser beam provided by the emission system.

[0048] Optionally, the distance between the third incident surface and the third exit surface is greater than or equal to the distance between the first incident surface and the first exit surface. The distance between the fourth incident surface and the fourth exit surface is greater than or equal to the distance between the second incident surface and the second exit surface.

[0049] In another possible implementation of the first aspect, the distance between the third incident surface and the third exit surface in the fifth direction is greater than the distance between the first incident surface and the first exit surface in the second direction, and / or the distance between the fourth incident surface and the fourth exit surface in the sixth direction is greater than the distance between the second incident surface and the second exit surface in the third direction.

[0050] In the above embodiment, by making the spacing between the third incident surface and the third exit surface in the fifth direction greater than the spacing between the first incident surface and the first exit surface in the second direction, the V-shaped refractive prism refracts the third probe beam to a greater degree than the first probe beam, thereby making the distance between the third probe beam and the first probe beam after passing through the V-shaped refractive prism smaller than the second spacing. By making the spacing between the fourth incident surface and the fourth exit surface in the sixth direction greater than the spacing between the second incident surface and the second exit surface in the third direction, the distance between the fourth probe beam and the second probe beam after passing through the V-shaped refractive prism is smaller than the third spacing. This thereby reduces the overall line width of the emission system's light-emitting area and increases the arrangement density, which is equivalent to improving the power density and uniformity of the laser beam provided by the emission system.

[0051] Optionally, in the above embodiment, the fifth direction is the same as the second direction, and the sixth direction is the same as the third direction.

[0052] In a possible implementation of the first aspect, the first probe light beam emitted by the first light emitting module, the second probe light beam emitted by the second light emitting module, the third probe light beam emitted by the third light emitting module, and the fourth probe light beam emitted by the fourth light emitting module are parallel to each other. The first probe light beam after passing through the V-shaped refractive prism, the second probe light beam after passing through the V-shaped refractive prism, the third probe light beam after passing through the V-shaped refractive prism, and the fourth probe light beam after passing through the V-shaped refractive prism are parallel to each other.

[0053] In the above implementation, the first probe light beam, the second probe light beam, the third probe light beam, and the fourth probe light beam have the same propagation direction before or after passing through the V-shaped refractive prism, which facilitates the design convenience of subsequent optical path shaping.

[0054] In a possible implementation of the first aspect, the material of the optical module includes one or more of quartz glass, borosilicate glass, and sapphire glass.

[0055] In a possible implementation of the first aspect, the laser beam provided by the emitting system is applied to a line scanning scanning architecture.

[0056] In a second aspect, the present application provides a laser radar, which includes the emitting system described in the first aspect and is configured to emit probe light beams. Optionally, the laser radar further includes a detection system. The detection system is configured to receive the probe light beams reflected by an object to obtain related information of a target in an object space. The related information of the target includes one or more of distance, position, angle, coordinate, reflectivity, reflection intensity, color, or speed of the target.

[0057] In a third aspect, the present application provides a terminal, which includes the emitting system described in any one of the first aspect or the laser radar described in any one of the second aspect. Optionally, the terminal includes an intelligent terminal or a vehicle, such as a vehicle, a robot, a drone, or a ship.

[0058] The beneficial effects of the schemes in the second aspect and the third aspect of the present application can be referred to the beneficial effects of the technical schemes in the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0059] The drawings needed in the following embodiment description will be briefly introduced.

[0060] Figure 1 FIG. 1 is a structural schematic diagram of a laser provided by an embodiment of the present application;

[0061] Figure 2 FIG. 2 is a structural schematic diagram of another laser provided by an embodiment of the present application;

[0062] Figure 3is a schematic structural diagram of another laser provided in an embodiment of the present application;

[0063] Figure 4 is a schematic diagram of a laser emission system provided in an embodiment of the present application;

[0064] Figure 5 is a schematic diagram of another laser emission system provided in an embodiment of the present application;

[0065] Figure 6 is a schematic diagram of another laser emission system provided in an embodiment of the present application;

[0066] Figure 7A This is a schematic diagram of a light spot at a receiving end provided in an embodiment of the present application;

[0067] Figure 7B is a schematic diagram of a measurement distance provided in an embodiment of the present application;

[0068] Figure 7C is a schematic diagram of another measurement distance provided in an embodiment of the present application;

[0069] Figure 8A 1 is a schematic structural diagram of a V-shaped refractive prism provided in an embodiment of the present application;

[0070] Figure 8B yes Figure 8A A front view of the V-shaped refracting prism shown;

[0071] Figure 8C This is a front view of another V-shaped refractive prism provided in an embodiment of the present application;

[0072] Figure 8D This is a schematic structural diagram of a transmission system provided in an embodiment of the present application;

[0073] Figure 8E yes Figure 8D Schematic diagram of the optical path of the transmitting system shown;

[0074] Figure 9A 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0075] Figure 9B yes Figure 9A Schematic diagram of the optical path of the transmitting system shown;

[0076] Figure 9C This is a schematic diagram of the optical path of another V-shaped refractive prism provided in an embodiment of the present application;

[0077] Figure 10A This is a schematic diagram of a light spot at a receiving end provided in an embodiment of the present application;

[0078] Figure 10B This is a schematic diagram of another light spot of a receiving end provided in an embodiment of the present application;

[0079] Figure 10C This is a schematic diagram of another light spot of a receiving end provided in an embodiment of the present application;

[0080] Figure 10D This is a schematic diagram of another light spot of a receiving end provided in an embodiment of the present application;

[0081] Figure 11A 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0082] Figure 11B yes Figure 11A A front view of the V-shaped refracting prism shown;

[0083] Figure 11C This is a front view of another V-shaped refractive prism provided in an embodiment of the present application;

[0084] Figure 11D is a structural diagram of another transmitting system provided in an embodiment of the present application;

[0085] Figure 11E yes Figure 11D Schematic diagram of the optical path of the transmitting system shown;

[0086] Figure 12A 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0087] Figure 12B yes Figure 12A A front view of the V-shaped refracting prism shown;

[0088] Figure 12C 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0089] Figure 12D yes Figure 12C A front view of the V-shaped refracting prism shown;

[0090] Figure 12E 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0091] Figure 12F yes Figure 12E A front view of the V-shaped refracting prism shown;

[0092] Figure 12G 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0093] Figure 12H yes Figure 12GA front view of the V-shaped refracting prism shown;

[0094] Figure 12I is a structural diagram of another transmitting system provided in an embodiment of the present application;

[0095] Figure 12J yes Figure 12C Schematic diagram of the optical path of the corresponding transmission system;

[0096] Figure 12K yes Figure 12I Schematic diagram of the optical path of the transmitting system shown;

[0097] Figure 13A 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0098] Figure 13B This is a schematic diagram of the optical path of another transmission system provided in an embodiment of the present application;

[0099] Figure 14 This is a schematic diagram of another light spot of a receiving end provided in an embodiment of the present application;

[0100] Figure 15A 1 is a schematic structural diagram of another V-shaped refractive prism provided in an embodiment of the present application;

[0101] Figure 15B yes Figure 15A Schematic diagram of the corresponding optical path of the transmission system. DETAILED DESCRIPTION

[0102] A laser emitter (also called a laser or laser chip) is a device that can emit laser light. Figure 1 , Figure 1 The laser 10 shown in (a) includes a plurality of light emitting units 11. The structure of the light emitting unit 11 is as follows Figure 1 As shown in (b), each light-emitting unit 11 includes a light-emitting hole 12, and the laser beam is emitted from the light-emitting hole 12. The area of ​​the cross-section of the laser beam is less than or equal to the area of ​​the light-emitting hole 12. Since the outside of the light-emitting hole needs to be wrapped, the area of ​​the light-emitting hole 12 is usually smaller than the area of ​​the light-emitting unit 11, resulting in a low proportion of the light-emitting hole area. In addition, in order to ensure circuit isolation between the light-emitting units 11, there is a gap M1 between the light-emitting units 11, which makes the area of ​​the light-emitting hole even lower. The above situations all lead to a low power density of the laser beam emitted by the laser 10.

[0103] Some detection devices may also use multiple columns of light emitting units 11, or even multiple lasers 10. In this case, there are intervals between the multiple columns of light emitting units 11, and there are intervals between the multiple lasers 10, so that the power density of the laser beam is further reduced.

[0104] The following first introduces several possible light source solutions for the transmitter.

[0105] In some embodiments, the laser 10 includes a plurality of light emitting units 11, and the plurality of light emitting units 11 are arranged in a plurality of columns. The arrangement of the plurality of columns of light emitting units 11 may be non-staggered (e.g., Figure 2 ), or staggered (as shown in Figure 3 See Figure 2 The laser 10 includes two columns of light emitting units 11. Figure 2 Taking the perspective of (b) as an example, the two rows of light emitting units 11 are non-staggered, and the light holes 12 of the two rows of light emitting units are not staggered in the vertical direction. Figure 3 ,by Figure 3 Taking the perspective of (b) as an example, Figure 3 The light holes of the two columns of light emitting units 11 are arranged in a staggered manner in the vertical direction. Figure 2 and Figure 3 In the case where the laser 10 includes multiple columns of light emitting units 11, there is a gap M2 between the multiple columns of light emitting units 11, so that the power density of the laser beam emitted by the laser 10 is low.

[0106] It is understandable that when the laser 10 includes more columns (for example, 3 columns, 4 columns or more columns) of light emitting units 11, the above-mentioned Figure 2 or Figure 3 The problem shown.

[0107] In some embodiments, the detection device uses a transmission system including multiple lasers 10, such as Figures 4 to 6 As shown, the emission system 400 includes two lasers 10. Regardless of the arrangement of the light emitting units in the laser 10, there is a gap M3 between the lasers 10. For example, the two lasers 10 may each include a column of light emitting units 11 (e.g., Figure 1 As shown), by arranging the two lasers 10 in different ways in the vertical direction, the light emitting units 11 included in the two lasers 10 can be arranged in a non-displaced manner (as shown in FIG. Figure 4 as shown) and staggered arrangement (as shown Figure 5 The two lasers 10 can also each include two columns of light emitting units 11, which can be arranged in a non-staggered manner (not shown) or in a staggered manner (as shown). Figure 6 shown).

[0108] The spacing between the light emitting units 11 or the spacing between the lasers 10 may not only affect the power density of the laser beam, but also lead to poor uniformity of the laser beam. Figure 7A , Figure 7AThe laser 10 shown in (a) includes three rows of light emitting units 11 arranged in a staggered manner in the horizontal direction. Figure 7A The receiving end 20 shown in (b) and (c) is used to receive Figure 7A The laser beam emitted by the laser 10 shown in (a) forms low-resolution pixels and high-resolution pixels respectively. Accordingly, Figure 7A Pixel 1 and pixel 2 shown in (a) can both cover multiple light spots, and Figure 7A In (c), the number of light spots covered by pixel 3 and pixel 4 is 0 and 1, respectively. Obviously, when the resolution of the receiving end is high, the pixels cannot receive the light spots uniformly, resulting in problems such as low detection accuracy or large detection error.

[0109] In view of this, the present application provides a transmission system, a radar and a terminal, which can improve the power density and uniformity of the laser beam emitted by the laser transmission system without changing the spacing between the light-emitting units or the spacing between the lasers.

[0110] Before specifically introducing the implementation scheme provided by this application, some brief explanations are given first.

[0111] 1) This application does not limit the type of laser. For example, the type of laser can be a solid state laser, a semiconductor laser, a gas laser, a chemical laser, a free electron laser, or a fiber laser. Specifically, such as a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a laser diode (LD), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electro mechanical system laser diode (MOEMS-LD). Similarly, this application does not limit the shape, power, and number of light-emitting units of the laser.

[0112] 2) It can be understood that the above-mentioned Figures 1-6 The cylindrical light-emitting unit 11 shown is exemplary and should not be taken as a limitation of the present application. The shape of the light-emitting unit 11 can also be a cube or a pyramid, etc., which is not limited in the present application.

[0113] 3) It can be understood that the above-mentioned Figures 1-6 The circular light-emitting hole 12 shown is exemplary and should not be taken as a limitation of the present application. The shape of the light-emitting hole 12 can also be a rectangle or a triangle, etc., which is not limited in the present application.

[0114] 4) The laser beams emitted by the multiple light-emitting units 11 in the same laser 10 or the same laser emitting system 400 are in the same direction, of course, due to the divergence of the laser beams and the influence of manufacturing process and other factors, there may be some errors in actual implementation. For ease of description, the ideal state is taken as an example in the following description. In addition, in the present application, "angle" does not mean absolute angle, and can allow certain engineering error. "Uniform" does not mean absolute uniform, and can allow certain engineering error. "Perpendicular" does not mean absolute perpendicular, and can allow certain engineering error. "Parallel" does not mean absolute parallel, and can allow certain engineering error.

[0115] 5) The "interval", "pitch" or "distance" mentioned in the present application are all the distances calculated by taking the center points of the light-emitting holes as reference points, for example, the pitch of two light-emitting units refers to the pitch of the center points of the light-emitting holes in the two light-emitting units. For another example, the pitch of two rows of light-emitting units (usually it is assumed that the two rows of light-emitting units are parallel to each other, and the connecting lines of the center points of the light-emitting holes are also parallel to each other), can be obtained by connecting the center points of the light-emitting holes in the two rows of light-emitting units to obtain a group of parallel lines, and taking the pitch of the parallel lines as the pitch of the two rows of light-emitting units. As shown in Figure 7B The laser 10 includes three rows of light-emitting units, and the pitch of the first row of light-emitting units and the third row of light-emitting units can be calculated by the connecting lines of the first row of light-emitting holes and the third row of light-emitting holes. It should be noted that the above-mentioned two rows of light-emitting units can be adjacent two rows of light-emitting units, or can be two non-adjacent rows of light-emitting units. For another example, the pitch of the adjacent rows of light-emitting units in two lasers can be regarded as the pitch of the two lasers (the multiple rows of light-emitting units included in the two lasers are all parallel to each other). As shown in Figure 7C The first row of light-emitting units and the second row of light-emitting units are located in two lasers 10 respectively, and the first row of light-emitting units and the second row of light-emitting units are adjacent two rows of light-emitting units, then the pitch of the first row of light-emitting units and the second row of light-emitting units can be regarded as the pitch of the two lasers 10.

[0116] 6) The present application does not limit whether there is a gap between the light-emitting units or lasers, and the size of the gap. Among them, there may be a gap between the light-emitting units or lasers in order to meet the heat dissipation requirements of the light-emitting units.

[0117] 7) The above-mentioned Figures 1 to 6 In the process of introducing the above, the description of "top view" is used many times. It can be understood that the three views usually depend on the relative position of the observer and the object, and the placement position of the object. Therefore, under certain conditions, the "top view" described in the above Figures 1 to 6 may also be referred to as the front view or left view.

[0118] 8) In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0119] The optical module provided by the embodiments of the present application will be introduced first. The optical module can be used as a beam combining module, for example, to reduce the distance between two parallel light beams or combine two parallel light beams into one light beam. Of course, the optical module can also be used to reduce the distance between more light beams, which will be introduced below. Alternatively, the optical module provided by the embodiments of the present application can also be used as a beam splitting module to increase the distance between two parallel light beams.

[0120] The optical module provided by the present application can include V-type refractive prism 800, V-type refractive prism 900, V-type refractive prism 1100, V-type refractive prism 1200, V-type refractive prism 1300 or V-type refractive prism 1500. Among them, V-type refractive prism 800 or V-type refractive prism 900 is used for beam combining of two probe light beams, and V-type refractive prism 1100, V-type refractive prism 1200, V-type refractive prism 1300 or V-type refractive prism 1500 is used for beam combining of four probe light beams. In the process of introducing each V-type refractive prism, the structure of the V-type refractive prism, the emission system based on the V-type refractive prism and the optical path of the emission system will be introduced in turn, and further the influence of the V-type refractive prism on the probe light beam will be illustrated by showing the light spot at the receiving end.

[0121] Alternatively, the optical module can also include one or more optical elements for optical path shaping, such as one or more of optical emission mirrors, two-dimensional micro-electro-mechanical system (MEMS) mirrors, collimating mirrors, beam splitters or diffusers.

[0122] An optical module provided by an embodiment of the present application will be introduced below.

[0123] Please refer to Figure 8A and Figure 8B , the optical modules include Figure 8A and Figure 8B The V-shaped refractive prism 800 shown in FIG. 8 includes a first exit surface 81, a first incident surface 82, a third surface 83, a fourth surface 84, a fifth surface 85, a second exit surface 86, a second incident surface 87, and an eighth surface 88. The first exit surface 81 is parallel to the first incident surface 82, the second exit surface 86 is parallel to the second incident surface 87, and the first exit surface 81 is parallel to the light beam propagation direction ( Figure 8B The angle between the first exit surface 81 and the first incident surface 82 and the distance L1 between the second exit surface 86 and the second incident surface 87 are both greater than 0, and the relationship between L1 and L2 is not limited in this application, for example, L1 is equal to L2.

[0124] Optionally, the beam propagation direction in this application refers to the propagation direction of the detection beam without being refracted. If no special instructions are given, the vertical upward direction shown in the current figure can be used as the beam propagation direction (or simply referred to as "propagation direction"). Figure 8B The vertical upward direction shown in FIG is used as the propagation direction of the light beam.

[0125] Optionally, the angle between the exit surface (incident surface) and the propagation direction of the light beam in this application shall generally be based on the annotations in the accompanying drawings unless otherwise specified. For example, Figure 8B The angle α1 in the equation is the angle formed by the light beam propagation direction and the first exit surface 81 in the oblique upward direction. Figure 8B The angle α2 is the angle formed by the light beam propagation direction and the second exit surface 86 in the oblique upward direction.

[0126] The present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 800. For example, the third surface 83, the fourth surface 84, or the fifth surface 85 can be perpendicular to the first exit surface 81 or the first incident surface 82. For another example, the fourth surface 84, the fifth surface 85, or the eighth surface 88 can be perpendicular to the second exit surface 86 or the second incident surface 87.

[0127] Optionally, the two sides of the V-shaped refracting prism 800 include a first refractive edge and a second refractive edge, wherein the first refractive edge includes a first exit surface 81 and a first incident surface 82, and the second refractive edge includes a second exit surface 86 and a second incident surface 87. The first exit surface 81 and the first incident surface 82 are arranged opposite to each other along a second direction, and the second exit surface 86 and the second incident surface 87 are arranged opposite to each other along a third direction, wherein the second direction is perpendicular to the first exit surface 81, the third direction is perpendicular to the second exit surface 86, and the second direction, the third direction and the above-mentioned light beam propagation direction ( Figure 8B ) are different from each other. When the second or third direction differs from the beam propagation direction, the first and second probe beams can be incident at an angle upon the first exit surface 81 and the first entrance surface 82, respectively, thereby ensuring that the first and second refractive edges each have a certain degree of refractive power for the first and second probe beams. Combined with the fact that the first and second probe beams propagate in the same direction and that the second and third directions differ, the refractive direction of the first probe beam by the first refractive edge is different from the refractive direction of the second probe beam by the second refractive edge, thereby avoiding the situation where beam combining cannot occur due to the same refractive directions.

[0128] Optionally, the opening direction of the V-shaped refractive prism 800 is the same as the propagation direction of the light beam. Figure 8B As shown, the angle range between the first refractive edge and the second refractive edge is (0°, 180°), and the corresponding center direction is the same as the light beam propagation direction, so that the V-shaped refractive prism 800 is placed in a positive V posture relative to the first light emitting module and the second light emitting module, so that the V-shaped refractive prism 800 offsets the first detection beam and the second detection beam in opposite directions, thereby achieving the effect of reducing the distance between the first detection beam and the second detection beam.

[0129] Optionally, the included angle between the first refractive edge and the second refractive edge may be the included angle between the first exit surface and the second exit surface or the included angle between the first incident surface and the second incident surface.

[0130] Optionally, in some designs, the two refractive edges of the V-shaped refractive prism 800 are not axially symmetrical along the direction of light beam propagation, so that the opening direction of the V-shaped refractive prism 800 forms a certain angle (greater than 0° and less than 90°) with the direction of light beam propagation. In this case, the opening direction is still the same as the light beam propagation direction in the present application.

[0131] Optionally, the placement of multiple optical elements can be designed so that the air gaps between the multiple optical elements form an inverted V shape (described below), and act on the refraction of the first detection beam and the second detection beam, which can also achieve the effect of reducing the distance between the first detection beam and the second detection beam.

[0132] In a possible design, the V-shaped refractive prism 800 includes a first optical element and a second optical element. Figure 8B , along the beam propagation direction ( Figure 8B The V-shaped refractive prism 800 is split by the dotted line 89, and the two optical elements obtained can be respectively referred to as the first optical element and the second optical element. Figure 8B The surface at the dotted line) and the surface on the left side of the second optical element ( Figure 8B The surfaces at the dotted line) can fit together, or there can be a certain air gap, which is not limited in this application.

[0133] Optionally, in a prism structure, any two abutting sides may have the same shape and size. For example, see Figure 8A , the surface on the right side of the first optical element and the surface on the left side of the second optical element have the same shape and size.

[0134] Optionally, when the materials used in the V-shaped refracting prism 800 have the same refractive index, the above α1, α2, L1 and L2 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of refraction of the light beam.

[0135]

[0136] Here, n is the ratio of the refractive index of the material used in the V-shaped refractive prism 800 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.

[0137] Optionally, the material used for the V-shaped refractive prism 800 includes one or more of quartz glass, borosilicate glass, sapphire glass, and the like.

[0138] Optionally, the first refractive edge and the second refractive edge in the V-shaped refractive prism 800 may have different refractive powers for the first detection beam and the second detection beam, respectively, to ensure that the distance between the first detection beam and the second detection beam after passing through the V-shaped refractive prism 800 is less than the above-mentioned first distance.

[0139] Another possible design is that the cross section of the V-shaped refractive prism 800 in the first plane is along the direction of light beam propagation ( Figure 8B The vertical direction shown) is symmetrical, and the first plane is the first direction ( Figure 8B For example, the interface of the V-shaped refractive prism 800 on the first plane is as shown in FIG. Figure 8BAs shown, the cross section is axisymmetric along the vertical direction. By aligning the first plane and the cross section of the V-shaped refracting prism 800 along the beam propagation direction, the first and second probe beams can have the same optical path while passing through the V-shaped refracting prism 800. This ensures that the first and second probe beams are refracted to the same degree on both sides of the V-shaped refracting prism 800. Furthermore, the first and second probe beams have the same optical path length within the V-shaped refracting prism 800, thus avoiding interference caused by astigmatism.

[0140] Optionally, in order to reduce unnecessary interference, part of the surface can be painted black, for example, one or more of the third surface 83, the fourth surface 84, the fifth surface 85, and the eighth surface 88 can be painted black. It is understandable that any black material can be selected for the blackening, such as ink, water-based paint, paint, or ink.

[0141] Optionally, the V-shaped refractive prism 800 may further include more or fewer surfaces while satisfying the above-mentioned restrictions, and this application does not limit this. Figure 8C As shown, the V-shaped refractive prism 800 further includes a ninth surface 801 . The ninth surface 801 is provided to facilitate placement of the V-shaped refractive prism 800 .

[0142] It can be understood that the V-shaped refractive prism shown in this application is not limited to the standard V-shape. For example, it can be similar to the V-shape or a deformation based on the V-shape. For details, please refer to the description of the corresponding embodiment in this application.

[0143] The following includes Figure 8A 、 Figure 8B or Figure 8C The transmitting system of the V-shaped refractive prism 800 is introduced.

[0144] See also Figure 8D The transmitting system includes a V-shaped refractive prism 800, a first light transmitting module 810 and a second light transmitting module 820. The first light transmitting module 810 or the second light transmitting module 820 is, for example, the above-mentioned Figures 1 to 3 In any of the lasers 10 shown in FIG. 1 , the first light emitting module 810 and the second light emitting module 820 are spaced apart in the first direction (eg, Figure 8D As shown in d1), the first light emitting module 810 and the second light emitting module 820 are used to emit the first detection beam and the second detection beam respectively, and the V-shaped refractive prism 800 is arranged in the propagation direction of the first detection beam and the second detection beam. It should be noted that, Figure 8D The fact that the first light emitting module 810 and the second light emitting module 820 emit three detection light beams is for example only and should not be regarded as a limitation of the present application.

[0145] Optionally, the plurality of light emitting units 11 included in the first light emitting module 810 or the second light emitting module 820 are arranged along the fourth direction (eg Figure 8D The fourth direction is different from the first direction. Exemplarily, the fourth direction forms a specified angle with the first direction, for example, the fourth direction is perpendicular to the first direction.

[0146] Optionally, the multiple light-emitting units 11 between the first light-emitting module 810 and the second light-emitting module 820 are staggered along a fourth direction, which is perpendicular to the beam propagation direction and different from the first direction. Therefore, along the fourth direction, the light-emitting units 11 in the first light-emitting module 810 and the light-emitting units 11 in the second light-emitting module 820 are not co-located. Since the fourth direction is perpendicular to the beam propagation direction and different from the first direction, the light spots of the combined first and second probe beams are still staggered, thereby achieving improved uniformity of the light spots of the combined first and second probe beams.

[0147] Optionally, in the fourth direction, the multiple light-emitting units 11 included in the first light-emitting module 810 and the second light-emitting module 820 can also be arranged in a non-staggered manner. In this case, the first and second probe beams are affected by the V-shaped refractive prism 800, and the spacing between them is also reduced, which also helps to achieve better uniformity of the light spots of the combined first and second probe beams.

[0148] It should be noted that the first light emitting module 810 and the second light emitting module 820 mentioned above both include a plurality of light emitting units 11 arranged (non-) staggered along the fourth direction, which also applies to the first light emitting module 810 and the second light emitting module 820 mentioned below. To reduce the redundancy of the description, they will not be described one by one below. Optionally, the third light emitting module 830 and the fourth light emitting module 840 mentioned below also follow the above arrangement.

[0149] Below Figure 8D The optical path diagram of the transmission system is shown.

[0150] In a possible embodiment, the two sides of the V-shaped refractive prism 800 are used to refract the first detection beam and the second detection beam respectively. Figure 8E The optical paths of the first detection beam and the second detection beam are exemplarily introduced.

[0151] like Figure 8EAs shown, the first detection beam emitted by the first light emitting module 810 and the second detection beam emitted by the second light emitting module 820 are incident on the first incident surface 82 and the second incident surface 87, respectively, and are emitted from the first exit surface 81 and the second exit surface 86, respectively. Figure 8E In the horizontal direction), the interval between the first detection beam and the second detection beam before passing through the V-shaped refractive prism 800 is d1, and the interval between the first detection beam and the second detection beam after passing through the V-shaped refractive prism 800 is d2, and d1 is smaller than d2, thereby reducing the overall line width of the emission system's light-emitting area and increasing the arrangement density, which is equivalent to improving the power density and uniformity of the laser beam provided by the emission system. In addition, Figure 8D The illustrated transmitting system does not change the actual spacing between the first optical transmitting module 810 and the second optical transmitting module 820, thus avoiding heat dissipation issues caused by reducing the actual spacing and enabling the transmitting system to transmit the laser beam at full power. Because the incident angle and refraction angle of the first or second detection beam on the V-shaped refractive prism are equal, the first or second detection beam has the same propagation direction before and after passing through the V-shaped refractive prism, which facilitates the design of subsequent optical path shaping.

[0152] Optionally, Figure 8E The light path shown may also be the light path corresponding to the light beams emitted by the two light emitting units 11 .

[0153] Continue reading Figure 8E The incident angle and refraction angle of the first or second probe beam on V-shaped refracting prism 800 are equal. For example, the incident angle and exit angle of the first probe beam on V-shaped refracting prism 800 are both (90° - α1), and the incident angle and exit angle of the second probe beam on V-shaped refracting prism 800 are both (90° - α2). This ensures that the first or second probe beam has the same propagation direction before and after passing through V-shaped refracting prism 800, facilitating the design of subsequent optical path shaping.

[0154] Optionally, the virtual image 810' corresponding to the first light emitting module 810 and the virtual image 820' corresponding to the second light emitting module 820 are in the propagation direction ( Figure 8E For example, the positions of the first light emitting module 810 and the second light emitting module 820 in the propagation direction can be adjusted so that the positions of the virtual image 810' and the virtual image 820' in the propagation direction are the same, thereby reducing the interference of astigmatism.

[0155] Next, another optical module provided in an embodiment of the present application will be introduced.

[0156] See also Figure 9A , the optical module includes Figure 9AThe V-shaped refractive prism 900 is used to combine the first detection beam and the second detection beam. Figure 8A The difference is that the opening direction of the V-shaped refractive prism 900 is opposite to the propagation direction of the light beam. Figure 9A The V-shaped refractive prism 900 shown includes prism A1, prism A2 and prism A3. Figure 9A Taking the perspective of as an example, the front side of prism A1 and prism A2 is called the first principal surface, the rear side is called the second principal surface, the top side is called the first side surface, the left side of prism A1 is called the second side surface, the lower right side of prism A1 is called the first incident surface, the right side of prism A2 is called the second side surface, and the lower left side of prism A2 is called the second incident surface. Figure 9A Taking the viewing angle as an example, the front surface of the prism A3 in the figure is called the first principal surface, the rear surface in the figure is called the second principal surface, the upper left surface in the figure is called the first exit surface, the upper right surface in the figure is called the second exit surface, and the lower surface in the figure is called the first side surface.

[0157] Combine Figure 9A and Figure 9B , the following relationship exists between the various surfaces included in the V-shaped refractive prism 900: the first side surface of prism A1, the first side surface of prism A2 and the first side surface of prism A3 are parallel to each other and are all aligned with the light beam propagation direction ( Figure 9B ) are perpendicular to each other. The first incident surface of prism A1 and the first exit surface of prism A3 make an angle α3 with the direction of light beam propagation, and the second incident surface of prism A2 and the second exit surface of prism A3 make an angle α4 with the direction of light beam propagation. The value range of α3 and α4 is (0°, 90°), for example, α3 is equal to 45°, and α4 is equal to 45°. The relationship between α3 and α4 is not limited in this application, for example, α3 is equal to α4. Regarding the placement positions of other surfaces included in the V-shaped refracting prism 900, this application does not limit this. For example, the first principal surface and the second principal surface included in the V-shaped refracting prism 900 are parallel to the direction of light beam propagation or at a specified angle (for example, 20°). For another example, the third side surface of prism A1 and the third side surface of prism A2 are parallel to the direction of light beam propagation or at a specified angle (for example, 30°). The distance L3 between the first incident surface of prism A1 and the first exit surface of prism A3 and the distance L4 between the second incident surface of prism A2 and the second exit surface of prism A3 are both greater than 0. This application does not limit the relationship between L3 and L4. For example, L3 is equal to L4.

[0158] Optionally, the two sides of the V-shaped refractive prism 900 include a first refractive edge and a second refractive edge. For the relevant description of the first refractive edge and the second refractive edge and possible beneficial effects, please refer to the relevant description of the above-mentioned V-shaped refractive prism 800, which will not be repeated here.

[0159] Optionally, the opening direction of the V-shaped refractive prism 900 is opposite to the propagation direction of the light beam. Figure 9B As shown, the angle between the first refractive edge and the second refractive edge is in the range of (0°, 180°), and the corresponding center direction is opposite to the direction of light beam propagation, so that the V-shaped refractive prism 900 is placed in an inverted V posture relative to the first light emitting module and the second light emitting module. However, the medium included in the two refractive edges is air, so that the incident angle of the detection beam is smaller than the exit angle, so that the V-shaped refractive prism 900 offsets the first detection beam and the second detection beam in opposite directions, thereby achieving the effect of reducing the distance between the first detection beam and the second detection beam. For example, please refer to Figure 9B The incident angle of the first detection beam on the first exit surface is (90°-α3). Since the refractive index of air is less than the refractive index of the material used in prism A3, the refraction angle of the first detection beam on the first exit surface is greater than (90°-α3), so that the first detection beam is directed to Figure 9B The same principle applies to the V-shaped refracting prism 900, which also makes the second detection beam shift toward Figure 9B The direction of the first detection beam is offset.

[0160] Optionally, in some designs, the two refractive edges of the V-shaped refractive prism 900 are not axially symmetrical along the direction of light beam propagation, so that the opening direction of the V-shaped refractive prism 900 forms a certain angle (greater than 0° and less than 90°) with the direction of light beam propagation. This situation still belongs to the situation where the opening direction is opposite to the direction of light beam propagation in the present application.

[0161] In one possible design, prism A3 is formed by splicing two prisms, and the two prisms respectively include a first exit surface and a second exit surface. The specific design of the two prisms is not limited in this application. For example, the two prisms are Figure 9A The prism A3 shown is obtained by splitting vertically downward along the top angle.

[0162] Optionally, when the materials used in the V-shaped refracting prism 900 have the same refractive index, the above α3, α4, L3 and L4 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of refraction of the light beam.

[0163]

[0164] Here, n is the ratio of the refractive index of the material used in the V-shaped refractive prism 900 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.

[0165] Optionally, the material used for the V-shaped refractive prism 900 includes one or more of quartz glass, borosilicate glass, and sapphire glass.

[0166] Optionally, the first refractive edge and the second refractive edge in the V-shaped refractive prism 900 may have different refractive powers for the first detection beam and the second detection beam, respectively. For details, please refer to the relevant description of the above-mentioned V-shaped refractive prism 800, which will not be repeated here.

[0167] Another possible design is that the cross section of the V-shaped refractive prism 900 in the first plane is along the beam propagation direction ( Figure 9B The vertical direction shown) is symmetrical, and the first plane is the first direction ( Figure 9B For example, the interface of the V-shaped refractive prism 900 on the first plane is as shown in FIG. Figure 9B As shown, the cross section is axisymmetric along the vertical direction. The beneficial effects of the above design solution can be referred to the related description of the aforementioned V-shaped refractive prism 800, which will not be repeated here.

[0168] Optionally, to reduce unnecessary interference, some surfaces may be painted black. For example, one or more of the first principal surface, the second principal surface, and the second side surface of prism A1, and the first principal surface, the second principal surface, and the second side surface of prism A2 may be painted black. It will be appreciated that any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.

[0169] Optionally, the V-shaped refractive prism 900 may further include more or fewer surfaces while satisfying the above-mentioned restrictions, and this application does not limit this. Figure 9C As shown, Figure 9C Taking the viewing angle as an example, prism A1 further includes a third side surface (the right side of prism A1 as shown in the figure), and prism A2 further includes a third side surface (the left side of prism A2 as shown in the figure).

[0170] The following includes Figure 9A The transmitting system of the V-shaped refractive prism 900 is introduced.

[0171] Please continue reading Figure 9B The transmitting system includes a V-shaped refractive prism 900, a first light transmitting module 810 and a second light transmitting module 820. For an introduction to the first light transmitting module 810 and the second light transmitting module 820, please refer to the above Figure 8DThe first light emitting module 810 and the second light emitting module 820 are in the first direction ( Figure 9B There is a first interval (such as Figure 9B As shown in d1), the V-shaped refractive prism 900 is arranged in the propagation direction of the first detection beam and the second detection beam.

[0172] Below Figure 9B or Figure 9C The optical path diagram of the transmission system is shown.

[0173] In a possible embodiment, the two sides of the V-shaped refracting prism 900 are used to refract the first detection beam and the second detection beam respectively. Figure 9B The optical paths of the first detection beam and the second detection beam are exemplarily introduced.

[0174] like Figure 9B As shown, the first detection light beam emitted by the first light emitting module 810 and the second detection light beam emitted by the second light emitting module 820 are vertically incident on the first side surface of the prism A3 (the propagation directions of the first detection light beam and the second detection light beam remain unchanged), and are then refracted by the first exit surface and the second exit surface of the prism A3, respectively. Since the first exit surface of the prism A3 is parallel to the first incident surface of the prism A1, the first detection light beam passing through the prism A3 will be obliquely incident on the first incident surface of the prism A1 and refracted, and the first detection light beam after refraction will still be emitted from the first side surface of the prism A1 in the vertical direction. By the same principle, the second detection light beam will also be obliquely incident on the second incident surface of the prism A2 and refracted, and the third detection light beam after refraction will still be emitted from the first side surface of the prism A2 in the vertical direction. Combined with the above description and Figure 9B From the content shown, it can be known that in the first direction ( Figure 9B The first detection beam and the second detection beam before passing through the V-shaped refractive prism 900 are spaced apart by d1, and the first detection beam and the second detection beam after passing through the V-shaped refractive prism 900 are spaced apart by d2, and d1 is smaller than d2. Figure 8D The relevant description of the transmission system shown will not be repeated here.

[0175] like Figure 9BAs shown, in the case of transmitted refraction, the first and second probe beams are located in air. Therefore, the degree of refraction of the first and second probe beams by the V-shaped refractive prism depends on the thickness of the air gap between prisms A1 and A3, and the thickness of the air gap between prisms A2 and A3, respectively. Clearly, air has a higher transmittance for the probe beams, so the V-shaped refractive prism 900 can also reduce the loss of the probe beams during the beam combining process.

[0176] Optionally, Figure 9B The light path shown may also be the light path corresponding to the light beams emitted by the two light emitting units 11 .

[0177] Continue reading Figure 9B The incident angle and refraction angle of the first or second probe beam on V-shaped refracting prism 900 are equal. For example, the incident angle and exit angle of the first probe beam on V-shaped refracting prism 900 are both (90° - α3), and the incident angle and exit angle of the second probe beam on V-shaped refracting prism 900 are both (90° - α4). This ensures that the first or second probe beam has the same propagation direction before and after passing through V-shaped refracting prism 900, facilitating the design of subsequent optical path shaping.

[0178] about Figure 9C The optical path diagram of the transmitting system shown can be referred to Figure 9B The optical path diagram shown is not repeated here.

[0179] Optionally, the virtual image 810' corresponding to the first light emitting module 810 and the virtual image 820' corresponding to the second light emitting module 820 are in the propagation direction ( Figure 8E For example, the positions of the first light emitting module 810 and the second light emitting module 820 in the propagation direction can be adjusted so that the positions of the virtual image 810' and the virtual image 820' in the propagation direction are the same, thereby reducing the interference of astigmatism.

[0180] The above content introduces the V-shaped refractive prism 800 and the V-shaped refractive prism 900 in turn. The present application also shows the relative positions of the light spots of the first detection beam and the second detection beam on the receiving end, which is used to exemplarily illustrate the influence of the V-shaped refractive prism 800 or the V-shaped refractive prism 900 on the first detection beam and the second detection beam.

[0181] See also Figure 10A and Figure 10B , Figure 10A and Figure 10B For showing that the first light emitting module 810 and the second light emitting module 820 are Figure 1 In the case of the laser 10 shown, the relative positions of the first detection beam and the second detection beam at the receiving end. Specifically, Figure 10A for showing the case that the light emitting units 11 are non-staggered arranged in the first direction, Figure 10B for showing the case that the light emitting units 11 are staggered arranged in the first direction. Correspondingly, the spots of the first probe beam and the second probe beam on the receiving end also respectively present non-staggered arrangement (as shown in (a) of Figure 10A or (c)) and staggered arrangement (as shown in (b) or (c) of Figure 10B ). Wherein, the spot 101 can be the spot formed by the first probe beam on the receiving end 20, and the spot 102 can be the spot formed by the second probe beam on the receiving end 20.

[0182] Please refer to Figure 10C and Figure 10D , Figure 10C and Figure 10D respectively for showing the relative positions of the spots of the first probe beam and the second probe beam on the receiving end in the case that the first light emitting module 810 and the second light emitting module 820 are the laser 10 shown in Figure 2 and Figure 3 . In the first direction, the two rows of light emitting units 11 included in the laser 10 shown in Figure 2 are non-staggered arranged, and the two rows of light emitting units 11 included in the laser 10 shown in Figure 3 are staggered arranged, so that the spot 101 and the spot 102 are respectively in Figure 10C and Figure 10D shown receiving end 20 arrangement mode is non-staggered arrangement and staggered arrangement.

[0183] Please continue to refer to Figure 10A , the case that the first probe beam and the second probe beam do not pass through the V-shaped refractive prism 800 (900), the interval between the spot 101 and the spot 102 on the receiving end 20 is d1 (as shown in (a) of Figure 10A ). The case that the first probe beam and the second probe beam pass through the V-shaped refractive prism 800 (900), the interval between the spot 101 and the spot 102 on the receiving end 20 is d2 (as shown in (b) or (c) of Figure 10A ), or the spot 101 and the spot 102 are mutually overlapped (as shown in (c) of Figure 10A ).

[0184] Please refer to the contents shown in Figure 10B , Figure 10C and Figure 10D , Figure 10B , Figure 10C and Figure 10D respectively, and Figure 10AThe contents shown in (a), (b) and (c) are similar, and in order to reduce the redundancy of the content, they will not be described here one by one.

[0185] As mentioned above FIG. 10A to FIG. 10D As shown, when the first detection beam and the second detection beam pass through the V-shaped refractive prism 800 (900), the light spot 101 and the light spot 102 have a smaller spacing, which achieves the effect of reducing the overall line width of the light-emitting area, so that the detection beam composed of the first detection beam and the second detection beam has a higher power density and better uniformity. Among them, the high-power density laser beam can improve the distance measurement performance of the detector and the miniaturization design of the detector. The highly uniform laser beam can be used in high-resolution detectors, thereby expanding the application range of the laser beam. In addition, the solution provided by the application does not change the actual spacing of the optical transmission module, avoiding the heat dissipation problem caused by reducing the actual spacing, thereby allowing the transmission system to emit the laser beam at full power.

[0186] The V-shaped refractive prism 800 and the V-shaped refractive prism 900 shown in the above content can combine the detection light beams emitted by the first light emitting module 810 and the second light emitting module 820, thereby improving the power density and uniformity of the detection light beams. The optical module shown in the present application can also be used to combine the detection light beams provided by more light emitting modules. For example, the optical module shown in the present application can also be used to combine the detection light beams provided by 3, 4 or 5 light emitting modules. Next, taking the optical module being used to combine the detection light beams provided by 4 light emitting modules as an example, the optical module (including the V-shaped refractive prism 1100, the V-shaped refractive prism 1200, the V-shaped refractive prism 1300 or the V-shaped refractive prism 1500) is exemplarily introduced for combining the detection light beams provided by more light emitting modules.

[0187] Next, another optical module provided in an embodiment of the present application will be introduced.

[0188] See also Figure 11A and Figure 11B , the optical modules include Figure 11A and Figure 11B The V-shaped refractive prism 1100 shown in FIG. 1 includes prism P1, prism P2, prism P3 and prism P4. Figure 11ATaking the perspective as an example, the front surface of prism P1 and prism P4 is called the first principal surface, the rear surface is called the second principal surface, the upper left surface is called the first side surface, the upper right surface is called the second side surface, the lower right surface is called the third side surface, and the lower left surface is called the fourth side surface. The front surface of prism P2 and prism P3 is called the first principal surface, the rear surface is called the second principal surface, the left surface is called the first side surface, the upper surface is called the second side surface, the right surface is called the third side surface, and the lower surface is called the fourth side surface. Among them, the second side surface of prism P1 is also called the third exit surface, the fourth side surface of prism P1 is also called the third incident surface, the second side surface of prism P2 is also called the first exit surface, the fourth side surface of prism P2 is also called the first incident surface, the second side surface of prism P3 is also called the second exit surface, the fourth side surface of prism P3 is also called the second incident surface, the first side surface of prism P4 is also called the fourth exit surface, and the third side surface of prism P4 is also called the fourth incident surface. The third side surface of prism P1 is in contact with the first side surface of prism P2, the third side surface of prism P2 is in contact with the first side surface of prism P3, and the third side surface of prism P3 is in contact with the fourth side surface of prism P4.

[0189] Optionally, in a prism structure, any two abutting sides may have the same shape and size. For example, see Figure 11A The third side surface of prism P1 has the same shape and size as the first side surface of prism P2, and the third side surface of prism P2 has the same shape and size as the first side surface of prism P3.

[0190] Optionally, there may be a certain air gap between the prism P1 , the prism P2 , the prism P3 and the prism P4 .

[0191] Combine Figure 11A and Figure 11B , the following relationship exists between the various surfaces included in the V-shaped refractive prism 1100: the first incident surface is parallel to the first exit surface, the second incident surface is parallel to the second exit surface, the third incident surface is parallel to the third exit surface, and the fourth incident surface is parallel to the fourth exit surface. The first exit surface, the second exit surface, the third exit surface, and the fourth exit surface are parallel to the beam propagation direction ( Figure 11BThe angles (in the vertical direction shown) are α5, α6, α7 and α8 respectively, wherein the value range of α5, α6, α7 and α8 is (0°, 90°), and α5 is smaller than α7, and α6 is smaller than α8, for example, α5=α6=30°, α7=α8=45°. This application does not limit the relationship between α5 and α6, α7 and α8, for example, α5 is equal to α6, and α7 is equal to α8. The spacing L5 between the first incident surface and the first exit surface, the spacing L6 between the second incident surface and the second exit surface, the spacing L7 between the third incident surface and the third exit surface, and the spacing L8 between the fourth incident surface and the fourth exit surface are all greater than 0. Optionally, L5=L6=L7=L8.

[0192] The present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 1100. For example, the first principal surface of prism P1, the second principal surface of prism P1, the first side surface of prism P1, or the third side surface of prism P1 may be perpendicular to the third exit surface or the third incident surface. For another example, the first principal surface of prism P2, the second principal surface of prism P2, the first side surface of prism P2, or the third side surface of prism P2 may be perpendicular to the first exit surface or the first incident surface.

[0193] Optionally, the two sides of the V-shaped refractive prism 1100 include a first refractive edge and a second refractive edge, wherein the first refractive edge includes a first incident surface, a first exit surface, a third incident surface, and a third exit surface, and the second refractive edge includes a second incident surface, a second exit surface, a fourth incident surface, and a fourth exit surface. The first incident surface and the first exit surface are arranged opposite to each other along a second direction, the second incident surface and the second exit surface are arranged opposite to each other along a third direction, the third incident surface and the third exit surface are arranged opposite to each other along a fifth direction, and the fourth incident surface and the fourth exit surface are arranged opposite to each other along a sixth direction, wherein the second direction is perpendicular to the first incident surface, the third direction is perpendicular to the second incident surface, the fifth direction is perpendicular to the third incident surface, and the sixth direction is perpendicular to the fourth incident surface, and the second direction, the third direction, the fifth direction, and the sixth direction are different from the propagation direction of the above-mentioned light beam. The beneficial effects of the second direction, the third direction, and the propagation direction of the above-mentioned light beam being different from each other can be referred to the relevant description of the above-mentioned V-shaped refractive prism 800 and will not be repeated here. When the fifth or sixth direction differs from the beam propagation direction, the third and fourth probe beams can be obliquely incident on the third and fourth incident surfaces, respectively, ensuring that the first and second refractive edges have a certain degree of refraction for the third and fourth probe beams, respectively. Combined with the fact that the third and fourth probe beams have the same propagation direction and that the fifth and sixth directions are different, the refraction direction of the third probe beam by the first refractive edge is different from the refraction direction of the fourth probe beam by the second refractive edge, thus avoiding beam combining failures caused by the same refraction directions. The difference between the fifth and second directions allows the first refractive edge to refract the first and third probe beams to different degrees, while the difference between the sixth and third directions allows the second refractive edge to refract the second and fourth probe beams to different degrees.

[0194] Optionally, the opening direction of the V-shaped refractive prism 1100 is the same as the propagation direction of the light beam. Figure 11B As shown, the angle range between the first refractive edge and the second refractive edge is (0°, 180°), and the corresponding center direction is the same as the light beam propagation direction, so that the V-shaped refractive prism 1100 is placed in a positive V posture relative to the first light emitting module and the second light emitting module, so that the V-shaped refractive prism 1100 shifts the first detection beam and the second detection beam in opposite directions, and shifts the third detection beam and the fourth detection beam in opposite directions, thereby achieving the effect of reducing the distance between the first detection beam and the second detection beam, and reducing the distance between the third detection beam and the fourth detection beam.

[0195] Optionally, the angle range between the first refractive edge and the second refractive edge can be the angle between the first exit surface and the second exit surface or the angle between the first incident surface and the second incident surface, or the angle between the third exit surface and the fourth exit surface or the angle between the third incident surface and the fourth incident surface.

[0196] Optionally, in some designs, the two refractive edges of the V-shaped refractive prism 1100 are not axially symmetrical along the direction of light beam propagation, so that the opening direction of the V-shaped refractive prism 1100 forms a certain angle (greater than 0° and less than 90°) with the direction of light beam propagation. In this case, the opening direction is still the same as the light beam propagation direction in the present application.

[0197] Optionally, when the refractive index of the material used in the V-shaped refracting prism 1100 is the same, the above-mentioned α5, α6, α7, α8, L5, L6, L7 and L8 satisfy the following relationship, which can ensure that the first refractive edge and the second refractive edge have the same degree of refraction of the light beam, for example, the first refractive edge and the second refractive edge have the same degree of refraction for the first detection beam and the second detection beam, respectively, and / or the first refractive edge and the second refractive edge have the same degree of refraction for the third detection beam and the fourth detection beam, respectively.

[0198]

[0199]

[0200] Here, n is the ratio of the refractive index of the material used in the V-shaped refractive prism 1100 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.

[0201] Optionally, the material used for the V-shaped refractive prism 1100 includes one or more of quartz glass, borosilicate glass, and sapphire glass.

[0202] Optionally, the first and second refractive edges of the V-shaped refractive prism 1100 may have different refractive powers for the first and second probe beams, respectively, to ensure that the distance between the first and second probe beams after passing through the V-shaped refractive prism 1100 is less than the first distance. The first and second refractive edges of the V-shaped refractive prism 1100 may have different refractive powers for the third and fourth probe beams, respectively, to ensure that the distance between the third and first probe beams after passing through the V-shaped refractive prism 1100 is less than the second distance, and the distance between the fourth and second probe beams is less than the fourth distance.

[0203] For example, since α5 is smaller than α7 and α6 is smaller than α8, the degree of deviation of the light beam by prism P1 is greater than that by prism P2, and the degree of deviation of the light beam by prism P4 is greater than that by prism P3. The degree of deviation of the light beam by prism P2 satisfies the relationship The degree of deviation of the light beam by prism P3 satisfies the relationship The degree of deviation of the light beam by prism P4 satisfies the relationship

[0204] Another possible design is that the cross section of the V-shaped refractive prism 1100 in the first plane is along the direction of light beam propagation ( Figure 11B The vertical direction shown) is symmetrical, and the first plane is the first direction ( Figure 11B For example, the interface of the V-shaped refractive prism 1100 on the first plane is as shown in FIG. Figure 11B As shown, the cross section is axisymmetric along the vertical direction. By arranging the first plane and the cross section of the V-shaped refractive prism 1100 to be axisymmetric along the beam propagation direction, the first probe beam (third probe beam) and the second probe beam (fourth probe beam) can have the same optical path when passing through the V-shaped refractive prism 1100. This ensures that the degree of refraction of the first probe beam (third probe beam) and the second probe beam (fourth probe beam) by both sides of the V-shaped refractive prism 1100 is the same. Furthermore, the optical path lengths of the first probe beam (third probe beam) and the second probe beam (fourth probe beam) in the V-shaped refractive prism 1100 are the same, thus avoiding interference caused by astigmatism.

[0205] Optionally, to reduce unnecessary interference, some surfaces may be painted black. For example, one or more of the first principal surface, second principal surface, first side surface, and third side surface of prism P1, the first principal surface, second principal surface, first side surface, and third side surface of prism P2, the first principal surface, second principal surface, first side surface, and third side surface of prism P3, and the first principal surface, second principal surface, second side surface, and fourth side surface of prism P4 may be painted black. It will be appreciated that any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.

[0206] Optionally, the V-shaped refractive prism 1100 may further include more or fewer surfaces while satisfying the above-mentioned restrictions, and this application does not limit this. Figure 11C As shown, Figure 11C Taking the viewing angle as an example, the prism P2 further includes a fifth side surface 1101, and the prism P3 further includes a fifth side surface 1102. Setting the fifth side surface 1101 of the prism P2 and the fifth side surface 1102 of the prism P3 is conducive to placing the above-mentioned V-shaped refractive prism 1100.

[0207] It can be understood that the V-shaped refractive prism shown in this application is not limited to the standard V-shape. For example, it can be similar to the V-shape or a deformation based on the V-shape. For details, please refer to the description of the corresponding embodiment in this application.

[0208] It should be noted that the present application does not limit the casting process of the V-shaped refractive prism 1100. For example, the V-shaped refractive prism 1100 can be composed of a single optical element through an integrated casting process. For another example, the prism P1 and prism P2 can be combined into a single optical element, and the prism P3 and prism P4 can be combined into a single optical element through an integrated casting process.

[0209] The following includes Figure 11A 、 Figure 11B or Figure 11C The transmitting system of the V-shaped refractive prism 1100 is introduced.

[0210] See also Figure 11D The transmitting system includes a V-shaped refractive prism 1100, a first light transmitting module 810, a second light transmitting module 820, a third light transmitting module 830 and a fourth light transmitting module 840. The first light transmitting module 810, the second light transmitting module 820, the third light transmitting module 830 or the fourth light transmitting module 840 is, for example, the above-mentioned Figures 1 to 3 In any of the lasers 10 shown in FIG. 1 , the first light emitting module 810 and the second light emitting module 820 are arranged in a first direction ( Figure 11D There is a first interval (such as Figure 11D As shown in d1), the third light emitting module 830 and the first light emitting module 810 have a second interval in the first direction (as shown in Figure 11D d3 as shown), the fourth light emitting module 840 and the second light emitting module 820 are spaced apart from each other in the first direction (eg, Figure 11D d5 shown). In the first direction, the third light emitting module 830, the first light emitting module 810, the second light emitting module 820, and the fourth light emitting module 840 are arranged from left to right and are used to emit the third detection beam, the first detection beam, the second detection beam, and the fourth detection beam in sequence. The V-shaped refractive prism 1100 is set in the beam propagation direction of the first detection beam and the second detection beam. The beam propagation directions of the first detection beam, the second detection beam, the third detection beam, and the fourth detection beam are the same. It should be noted that Figure 11D The fact that the first light emitting module 810 , the second light emitting module 820 , the third light emitting module 830 and the fourth light emitting module 840 emit three detection light beams is for example only and should not be regarded as a limitation of the present application.

[0211] Optionally, the plurality of light emitting units 11 included in the first light emitting module 810, the second light emitting module 820, the third light emitting module 830 or the fourth light emitting module 840 are arranged along the fourth direction (eg Figure 11DThe fourth direction is different from the first direction. Exemplarily, the fourth direction forms a specified angle with the first direction, for example, the fourth direction is perpendicular to the first direction.

[0212] Optionally, the plurality of light-emitting units 11 between the first light-emitting module 810, the second light-emitting module 820, the third light-emitting module 830, and the fourth light-emitting module 840 are staggered along a fourth direction, which is perpendicular to the beam propagation direction and different from the first direction. Therefore, in the fourth direction, some or all of the light-emitting units 11 in the first light-emitting module 810, the light-emitting units 11 in the second light-emitting module 820, the light-emitting units 11 in the third light-emitting module 830, and the light-emitting units 11 in the fourth light-emitting module 840 are not in the same position. Combined with the fact that the fourth direction is perpendicular to the beam propagation direction and different from the first direction, the light spots of the combined first to fourth detection beams are still staggered, thereby improving the uniformity of the light spots of the combined first to fourth detection beams.

[0213] Optionally, in the fourth direction, the multiple light-emitting units 11 included in the first light-emitting module 810, the second light-emitting module 820, the third light-emitting module 830, and the fourth light-emitting module 840 can also be arranged in a non-staggered manner. In this case, the first to fourth detection beams are affected by the V-shaped refractive prism 800, and the spacing between them is also reduced, which also helps to achieve better uniformity of the light spots of the first to fourth detection beams after the combined beams.

[0214] It can be understood that the first detection beam to the fourth detection beam in this application refer to the first detection beam, the second detection beam, the third detection beam and the fourth detection beam, and this representation method is also applicable below.

[0215] Below Figure 11D The optical path diagram of the transmission system is shown.

[0216] In one possible embodiment, the two sides of the V-shaped refracting prism 1100 are used to refract the first detection beam and the second detection beam respectively, and the two sides of the V-shaped refracting prism 1100 are also used to refract the third detection beam and the fourth detection beam respectively. Figure 11E An exemplary introduction is given to the optical path from the first detection beam to the fourth detection beam.

[0217] See also Figure 11E , Figure 11E A schematic diagram of a light path provided in an embodiment of the present application. Figure 11EThe light paths shown belong to the light beams emitted by the light emitting units 11 in the third light emitting module 830, the first light emitting module 810, the second light emitting module 820 and the fourth light emitting module 840 from left to right. Figure 11E As shown, the third detection beam, the first detection beam, the second detection beam and the fourth detection beam are incident on the third incident surface, the first incident surface, the second incident surface and the fourth incident surface in sequence, and are emitted from the third exit surface, the first exit surface, the second exit surface and the fourth exit surface in sequence. Figure 11E In the horizontal direction), the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam before passing through the V-shaped refracting prism 1100 are d1, d3, and d5, respectively. After passing through the V-shaped refracting prism 1100, the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam are d2, d4, and d6, respectively, and d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.

[0218] It should be noted that in this application, the phrase "light beams A, B, C, and D sequentially enter (emit) the first, second, third, and fourth planes" means that light beam A enters (emit) the first plane, light beam B enters (emit) the second plane, light beam C enters (emit) the third plane, and light beam D enters (emit) the fourth plane. The temporal order in which light beams A, B, C, and D enter (emit) the planes is not limited. For example, the phrase "the third probe beam, the first probe beam, the second probe beam, and the fourth probe beam sequentially obliquely enter the third incident plane, the first incident plane, the second incident plane, and the fourth incident plane" means that the third probe beam obliquely enters the third incident plane, the first probe beam obliquely enters the first incident plane, the second probe beam obliquely enters the second incident plane, and the fourth probe beam obliquely enters the fourth incident plane. The temporal order in which the third, first, second, and fourth probe beams enter the incident planes is not limited. Furthermore, the phrase "sequentially" used in other descriptions of this application is merely a matter of precedence and does not constitute a limitation on the temporal order.

[0219] like Figure 11EAs shown, the incident angle and refraction angle of the first, second, third, or fourth probe beam on the V-shaped refractive prism 1100 are equal. For example, the incident angle and exit angle of the first probe beam on the V-shaped refractive prism 1100 are both (90°-α5), the incident angle and exit angle of the second probe beam on the V-shaped refractive prism 1100 are both (90°-α6), the incident angle and exit angle of the third probe beam on the V-shaped refractive prism 1100 are both (90°-α7), and the incident angle and exit angle of the fourth probe beam on the V-shaped refractive prism 1100 are both (90°-α8). This ensures that the first to fourth probe beams have the same propagation direction before and after passing through the V-shaped refractive prism 1100, which facilitates the design of subsequent optical path shaping.

[0220] Optionally, the virtual image 810' corresponding to the first light emitting module 810, the virtual image 820' corresponding to the second light emitting module 820, the virtual image 830' corresponding to the third light emitting module 830, and the virtual image 840' corresponding to the fourth light emitting module 840 are in the propagation direction ( Figure 11E For example, by adjusting the position of one or more of the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, and the fourth light emitting module 840 in the propagation direction, the virtual images 810', 820', 830', and 840' can be positioned in the same direction in the propagation direction, thereby reducing interference caused by astigmatism.

[0221] The above-mentioned V-shaped refractive prism 1100 sets α7 to be greater than α5, α8 to be greater than α6, and L5=L6=L7=L8, so that the degree of refraction of the third detection beam by prism P1 is greater than the degree of refraction of the first detection beam by prism P2, and the degree of refraction of the fourth detection beam by prism P4 is greater than the degree of refraction of the second detection beam by prism P3. This can make d4 smaller than d3 and d6 smaller than d5, thereby increasing the power density of the detection beam emitted by the detector and having better uniformity.

[0222] Next, another optical module provided in an embodiment of the present application will be introduced.

[0223] The present application also provides another V-shaped refractive prism 1200, which ensures that the first detection beam to the fourth detection beam enter the V-shaped refractive prism 1200 at the same angle, and by increasing the transmission distance of the third detection beam and the fourth detection beam in the V-shaped refractive prism 1200, the V-shaped refractive prism 1200 has a greater degree of refraction of the third detection beam and the fourth detection beam, thereby making d4 smaller than d3 and d6 smaller than d5, thereby increasing the power density of the detection beam emitted by the detector and having better uniformity.

[0224] See also Figure 12A and Figure 12B 、 Figure 12C and Figure 12D 、 Figure 12E and Figure 12F ,or Figure 12G and Figure 12H The V-shaped refractive prism 1200 includes prism P1, prism P2, prism P3 and prism P4. Figure 12A Taking the perspective as an example, the front surface of prism P1 and prism P4 is called the first principal surface, the rear surface is called the second principal surface, the upper left surface is called the first side surface, the upper right surface is called the second side surface, the lower right surface is called the third side surface, and the lower left surface is called the fourth side surface. The front surface of prism P2 and prism P3 is called the first principal surface, the rear surface is called the second principal surface, the left surface is called the first side surface, the upper surface is called the second side surface, the right surface is called the third side surface, and the lower surface is called the fourth side surface. Among them, the second side surface of prism P1 is also called the third exit surface, the fourth side surface of prism P1 is also called the third incident surface, the second side surface of prism P2 is also called the first exit surface, the fourth side surface of prism P2 is also called the first incident surface, the second side surface of prism P3 is also called the second exit surface, the fourth side surface of prism P3 is also called the second incident surface, the first side surface of prism P4 is also called the fourth exit surface, and the third side surface of prism P4 is also called the fourth incident surface.

[0225] Combine Figure 12A and Figure 12B 、 Figure 12C and Figure 12D 、 Figure 12E and Figure 12F ,or Figure 12G and Figure 12H , the following relationships exist between the various surfaces included in the V-shaped refractive prism 1200: the first incident surface, the first exit surface, the third incident surface and the third exit surface are parallel to each other, and the second incident surface, the second exit surface, the fourth incident surface and the fourth exit surface are parallel to each other. The first exit surface, the second exit surface, the third exit surface and the fourth exit surface are parallel to the light beam propagation direction ( Figure 12B The included angles of the vertical direction are α9, α 10 , α9 and α 10 , where α9 and α 10 The value range is (0°, 90°), for example, α9=45°, α 10 =45°. About α9 and α 10 The relationship between α and α is not limited in this application. For example, α9 is equal to α 10. The distance L9 between the first incident surface and the first exit surface, the distance L10 between the second incident surface and the second exit surface, the distance L11 between the third incident surface and the third exit surface, and the distance L12 between the fourth incident surface and the fourth exit surface are all greater than 0. The present application does not limit the relative position relationship of other planes in the V-shaped refractive prism 1200. For example, the first principal surface of prism P1, the second principal surface of prism P1, the first side surface of prism P1, or the third side surface of prism P1 can be perpendicular to the third exit surface or the third incident surface. For another example, the first principal surface of prism P2, the second principal surface of prism P2, the first side surface of prism P2, or the third side surface of prism P2 can be perpendicular to the first exit surface or the first incident surface.

[0226] The size relationship between L9, L10, L11 and L12 needs to be introduced separately with reference to the specific drawings. Figure 12A and Figure 12B or Figure 12C and Figure 12D As shown, the size relationship between L9, L10, L11 and L12 is not limited in this application, for example, L9 is equal to L10, and L11 is equal to L12. Figure 12E and Figure 12F or Figure 12G and Figure 12H As shown, L9 is smaller than L11, and L10 is smaller than L12.

[0227] The positional relationship between prisms P1, P2, P3, and P4 also needs to be described separately with reference to the specific drawings. Figure 12A and Figure 12B As shown, the fourth side surface of prism P1 is partially attached to the second side surface of prism P2, the third side surface of prism P4 is partially attached to the second side surface of prism P3, and the third side surface of prism P2 is attached to the first side surface of prism P3. For example, the leftmost side surface of the fourth side surface of prism P1 intersects with the leftmost side surface of the second side surface of prism P2, and the rightmost side surface of the third side surface of prism P4 intersects with the rightmost side surface of the second side surface of prism P3. Figure 12C and Figure 12D As shown, there is an air gap between the fourth side surface of prism P1 and the second side surface of prism P2, an air gap between the third side surface of prism P4 and the second side surface of prism P3, and the third side surface of prism P2 is in contact with the first side surface of prism P3. Figure 12E and Figure 12F or Figure 12G and Figure 12H As shown, the first side surface of prism P2 is partially attached to the third side surface of prism P1, the third side surface of prism P3 is partially attached to the fourth side surface of prism P4, and the third side surface of prism P2 is attached to the first side surface of prism P3. For example, the bottom edge of the first side surface of prism P2 intersects with the bottom edge of the third side surface of prism P1 (as shown in FIG. Figure 12E As shown), the bottom edge of the third side of the prism P3 intersects the bottom edge of the fourth side of the prism P4 (as shown Figure 12E As another example, the bottom and top edges of the third side surface of prism P1 intersect with the first side surface of prism P2 (as shown in FIG. Figure 12G As shown), the bottom and top edges of the third side of the prism P3 intersect with the fourth side of the prism P4 (as shown Figure 12G shown).

[0228] Optionally, in the prism structure, side A partially fits side B, indicating that side B is larger than side A. For example, see Figure 12A The fourth side surface of prism P1 is smaller than the second side surface of prism P2, and the third side surface of prism P4 is smaller than the second side surface of prism P3.

[0229] Optionally, the two sides of the V-shaped refracting prism 1200 include a first refracting edge and a second refracting edge. For an introduction to the first refracting edge and the second refracting edge, reference may be made to the description of the V-shaped refracting prism 1100 described above and will not be repeated here. Furthermore, the second direction, the third direction, and the propagation direction of the light beam are mutually different, and the second direction is parallel to the fifth direction, and the third direction is parallel to the sixth direction, such that the fifth direction, the sixth direction, and the propagation direction of the light beam are also mutually different. For the beneficial effects of the above embodiment, reference may be made to the description of the V-shaped refracting prism 1100 described above and will not be repeated here.

[0230] Optionally, the opening direction of the V-shaped refractive prism 1200 is the same as the propagation direction of the light beam. For a detailed introduction to this content, please refer to the relevant content of the above-mentioned V-shaped refractive prism 1100, which will not be repeated here.

[0231] Optionally, when the materials used for the V-shaped refracting prism 1200 have the same refractive index, the above-mentioned α9, α 10 , L9, L10, L11 and L12 satisfy the following relationship, which can ensure that the first refraction edge and the second refraction edge have the same degree of deviation of the light beam.

[0232]

[0233]

[0234] Here, n is the ratio of the refractive index of the material used in the V-shaped refractive prism 1200 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.

[0235] Optionally, the material used for the V-shaped refractive prism 1200 includes one or more of quartz glass, borosilicate glass, and sapphire glass.

[0236] Optionally, the refractive powers of the first refractive edge and the second refractive edge in the V-shaped refractive prism 1200 for the first detection beam (third detection beam) and the second detection beam (fourth detection beam) respectively may also be different. For details, please refer to the relevant description of the above-mentioned V-shaped refractive prism 1100, which will not be repeated here.

[0237] Another possible design is that the cross section of the V-shaped refractive prism 1200 in the first plane is along the beam propagation direction ( Figure 12B The vertical direction shown) is symmetrical, and the first plane is the first direction ( Figure 12B For example, the interface of the V-shaped refractive prism 1200 on the first plane is as shown in FIG. Figure 12B As shown, the cross section is axisymmetric along the vertical direction. Regarding the beneficial effects of the above design solution, reference may be made to the related description of the aforementioned V-shaped refractive prism 1100, which will not be repeated here.

[0238] Optionally, to reduce unnecessary interference, some surfaces may be painted black. For example, one or more of the first principal surface, second principal surface, first side surface, and third side surface of prism P1, the first principal surface, second principal surface, first side surface, and third side surface of prism P2, the first principal surface, second principal surface, first side surface, and third side surface of prism P3, and the first principal surface, second principal surface, second side surface, and fourth side surface of prism P4 may be painted black. It will be appreciated that any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.

[0239] Optionally, the V-shaped refractive prism 1200 may include more or fewer surfaces while satisfying the above-mentioned restrictions, and this application does not limit this. Figure 8C or Figure 11C The relevant description will not be repeated here.

[0240] It should be noted that the present application does not limit the casting process of the V-shaped refractive prism 1200. For example, an integrated casting process can be used to make the V-shaped refractive prism 1200 Figure 12E or Figure 12G The V-shaped refractive prism 1200 shown is composed of one optical element. For another example, the prism P2 and the prism P3 can be combined into one optical element through an integrated casting process.

[0241] The following includes Figures 12A to 12H The emission system of the V-shaped refractive prism 1200 shown in any one of the items is introduced.

[0242] See also Figure 12I , the transmitting system includes a V-shaped refractive prism 1200 ( Figure 12EAs shown), the first light emitting module 810, the second light emitting module 820, the third light emitting module 830 and the fourth light emitting module 840. For the introduction of the first light emitting module 810, the second light emitting module 820, the third light emitting module 830 and the fourth light emitting module 840, please refer to the above Figure 11D The V-shaped refractive prism 1200 is arranged in the beam propagation direction of the first detection beam, and the propagation directions of the first detection beam, the second detection beam, the third detection beam and the fourth detection beam are the same, for example, all of them are as follows Figure 12I It should be noted that the V-shaped refractive prism 1200 in the above-mentioned transmitting system can also be Figure 12A 、 Figure 12C or Figure 12G For the sake of brevity, the V-shaped refractive prism 1200 shown will not be described one by one here.

[0243] Below Figure 12I The optical path diagram of the transmission system is shown.

[0244] In a possible embodiment, the two sides of the V-shaped refracting prism 1200 are used to refract the first detection beam and the second detection beam respectively, and the two sides of the V-shaped refracting prism 1200 are also used to refract the third detection beam and the fourth detection beam respectively. Figure 12J or Figure 12K An exemplary introduction is given to the optical path from the first detection beam to the fourth detection beam.

[0245] See also Figure 12J , Figure 12J A schematic diagram of a light path provided in an embodiment of the present application. Figure 12J The light paths shown belong to the light beams emitted by the light emitting units 11 in the third light emitting module 830, the first light emitting module 810, the second light emitting module 820 and the fourth light emitting module 840 from left to right. Figure 12J As shown, the first and third probe beams are incident obliquely on different positions of the first incident surface and are emitted obliquely from different positions of the first exit surface, the second and fourth probe beams are incident obliquely on different positions of the second incident surface and are emitted obliquely from different positions of the second exit surface, and the third probe beam is again incident obliquely on the third incident surface and is emitted obliquely from the third exit surface, and the fourth probe beam is again incident obliquely on the fourth incident surface and is emitted obliquely from the fourth exit surface. In the first direction ( Figure 12JIn the horizontal direction), the intervals between the first and second detection beams, the intervals between the first and third detection beams, and the intervals between the second and fourth detection beams before passing through the V-shaped refractive prism 1200 are d1, d3, and d5, respectively. After passing through the V-shaped refractive prism 1200, the intervals between the first and second detection beams, the intervals between the first and third detection beams, and the intervals between the second and fourth detection beams are d2, d4, and d6, respectively. d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6. It can be understood that Figure 12J The optical path shown is used to introduce the launch system including Figure 12C The optical path of the probe beam in the case of a V-shaped refracting prism is shown.

[0246] See also Figure 12K , Figure 12K A schematic diagram of a light path provided in an embodiment of the present application. Figure 12K The light paths shown belong to the light beams emitted by the light emitting units 11 in the third light emitting module 830, the first light emitting module 810, the second light emitting module 820 and the fourth light emitting module 840 from left to right. Figure 12K As shown, the third detection beam, the first detection beam, the second detection beam and the fourth detection beam are incident on the third incident surface, the first incident surface, the second incident surface and the fourth incident surface in sequence, and are emitted from the third exit surface, the first exit surface, the second exit surface and the fourth exit surface in sequence. Figure 12K In the horizontal direction), the intervals between the first and second detection beams, the intervals between the first and third detection beams, and the intervals between the second and fourth detection beams before passing through the V-shaped refractive prism 1200 are d1, d3, and d5, respectively. After passing through the V-shaped refractive prism 1200, the intervals between the first and second detection beams, the intervals between the first and third detection beams, and the intervals between the second and fourth detection beams are d2, d4, and d6, respectively. d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6. It can be understood that Figure 12K The optical path shown is used to introduce the launch system including Figure 12A 、 Figure 12E or Figure 12G The optical path of the probe beam in the case of a V-shaped refracting prism is shown.

[0247] like Figure 12J or Figure 12K As shown, the incident angle and the refraction angle of the first probe beam, the second probe beam, the third probe beam or the fourth probe beam on the V-shaped refractive prism 1200 are equal. For example, the incident angle and the exit angle of the first probe beam on the V-shaped refractive prism 1200 are both (90°-α9), and the incident angle and the exit angle of the second probe beam on the V-shaped refractive prism 1200 are both (90°-α 10), the incident angle and the exit angle of the third detection beam on the V-shaped refractive prism 1200 are both (90°-α9), and the incident angle and the exit angle of the fourth detection beam on the V-shaped refractive prism 1200 are both (90°-α 10 ). This ensures that the first to fourth detection beams have the same propagation direction before and after passing through the V-shaped refractive prism 1200, which is beneficial to the design convenience of subsequent optical path shaping.

[0248] Optionally, the virtual image 810' corresponding to the first light emitting module 810, the virtual image 820' corresponding to the second light emitting module 820, the virtual image 830' corresponding to the third light emitting module 830, and the virtual image 840' corresponding to the fourth light emitting module 840 are in the propagation direction ( Figure 12E For example, by adjusting the position of one or more of the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, and the fourth light emitting module 840 in the propagation direction, the virtual images 810', 820', 830', and 840' can be positioned in the same direction in the propagation direction, thereby reducing interference caused by astigmatism.

[0249] Next, another optical module provided in an embodiment of the present application will be introduced.

[0250] See also Figure 13A The V-shaped refractive prism 1300 includes prism B1, prism B2, prism B3, prism B4, prism C1, prism C2, prism C3 and prism C4. Figure 13A Taking the perspective as an example, the surface of prism B1, prism C3 or prism C4 shown in front of the diagram is called the first principal surface, the surface behind the diagram is called the second principal surface, the surface above the diagram is called the first side surface, the surface to the right of the diagram is called the second side surface, and the surface below the diagram is called the third side surface. The surface of prism B2 or prism B3 shown in front of the diagram is called the first principal surface, the surface behind the diagram is called the second principal surface, the surface to the left of the diagram is called the first side surface, the surface above the diagram is called the second side surface, the surface to the right of the diagram is called the third side surface, and the surface below the diagram is called the fourth side surface. The surface of prism B4, prism C1 or prism C2 shown in front of the diagram is called the first principal surface, the surface behind the diagram is called the second principal surface, the surface to the left of the diagram is called the first side surface, the surface above the diagram is called the second side surface, and the surface below the diagram is called the third side surface. In addition, the first side surface of prism B1 can be called the third exit surface, the second side surface of prism B2 can be called the first exit surface, the second side surface of prism B3 can be called the second exit surface, the second side surface of prism B4 can be called the fourth exit surface, and the third side surfaces of prism C1, prism C2, prism C3 and prism C4 can be called the third incident surface, the first incident surface, the second incident surface and the fourth incident surface, respectively.

[0251] Combine Figure 13A and Figure 13B , the following relationships exist between the various surfaces included in the V-shaped refractive prism 1300: the third side surface of prism B1, the fourth side surface of prism B2, the fourth side surface of prism B3, the third side surface of prism B4, the second side surface of prism C1, the second side surface of prism C2, the first side surface of prism C3, and the first side surface of prism C4 are parallel to each other and are all aligned with the light beam propagation direction ( Figure 13B The first incident surface is parallel to the first exit surface, the second incident surface is parallel to the second exit surface, the third incident surface is parallel to the third exit surface, and the fourth incident surface is parallel to the fourth exit surface. The first exit surface, the second exit surface, the third exit surface, and the fourth exit surface are parallel to the beam propagation direction ( Figure 11B The included angles of the vertical direction are α 11 , α 12 , α 13 and α 14 , where α 11 , α 12 , α 13 and α 14 The value range of is (0°, 90°), and α 11 Less than α 13 , α 12 Less than α 14 , for example, α 11 =α 12 =30°, α 13 =α 14 =45°. About α 11 and α 12 , α 13 and α 14 This application does not limit the relationship between α 11 Equal to α 12 , α 13 Equal to α 14 . The distance L13 between the first incident surface and the first exit surface, the distance L14 between the second incident surface and the second exit surface, the distance L15 between the third incident surface and the third exit surface, and the distance L16 between the fourth incident surface and the fourth exit surface are all greater than 0. Optionally, L13=L14=L15=L16. Regarding the placement positions of other surfaces included in the V-shaped refractive prism 1300, the present application does not limit this. For example, the first principal surface and the second principal surface included in the V-shaped refractive prism 1300 are parallel to the propagation direction of the light beam or at a specified angle (for example, 20°). For another example, the second side surface of prism B1 and the first side surface of prism B2 are parallel to the propagation direction of the light beam or at a specified angle (for example, 30°).

[0252] Optionally, the two sides of the V-shaped refractive prism 1300 include a first refractive edge and a second refractive edge. For the introduction of the first refractive edge and the second refractive edge and possible beneficial effects, please refer to the relevant description of the above-mentioned V-shaped refractive prism 1200, which will not be repeated here.

[0253] Optionally, the opening direction of the V-shaped refractive prism 1300 is different from the propagation direction of the light beam. Figure 13B As shown, the angle range between the first refractive edge and the second refractive edge is (0°, 180°), and the corresponding center direction is different from the beam propagation direction, so that the V-shaped refractive prism 1300 is placed in an inverted V posture relative to the first light emitting module to the fourth light emitting module, so that the V-shaped refractive prism 1300 shifts the first detection beam and the second detection beam in opposite directions, and shifts the third detection beam and the fourth detection beam in opposite directions, thereby achieving the effect of reducing the distance between the first detection beam and the second detection beam, and reducing the distance between the third detection beam and the fourth detection beam. The implementation principle can refer to the above Figure 9B The relevant description will not be repeated here.

[0254] Optionally, the calculation of the angle between the first refraction edge and the second refraction edge, as well as the description of the opening direction can refer to the above Figure 11B The relevant content will not be repeated here.

[0255] Optionally, when the materials used for the V-shaped refracting prism 1300 have the same refractive index, the above α 11 , α 12 , α 13 , α 14 , L13, L14, L15 and L16 satisfy the following relationship, which can ensure that the first refraction edge and the second refraction edge have the same degree of deviation of the light beam.

[0256]

[0257]

[0258] Here, n is the ratio of the refractive index of the material used in the V-shaped refractive prism 1300 to the refractive index of air. For example, if the refractive index of the material used is 1.5 and the refractive index of air is 1.0003, then n is approximately equal to 1.49955.

[0259] Optionally, the material used for the V-shaped refractive prism 1300 includes one or more of quartz glass, borosilicate glass, and sapphire glass.

[0260] Optionally, the refractive powers of the first refractive edge and the second refractive edge in the V-shaped refractive prism 1300 for the first detection beam (third detection beam) and the second detection beam (fourth detection beam) respectively may also be different. For details, please refer to the relevant description of the above-mentioned V-shaped refractive prism 1100, which will not be repeated here.

[0261] Another possible design is that the cross section of the V-shaped refractive prism 1300 in the first plane is along the beam propagation direction ( Figure 13B The vertical direction shown) is symmetrical, and the first plane is the first direction ( Figure 13B For example, the V-shaped refractive prism 1300 has an interface on the first plane as shown in FIG. Figure 13B As shown, the cross section is axisymmetric along the vertical direction. Regarding the beneficial effects of the above design solution, reference may be made to the related description of the aforementioned V-shaped refractive prism 1100, which will not be repeated here.

[0262] Optionally, to reduce unnecessary interference, some surfaces may be painted black. For example, one or more of the first principal surface, second principal surface, and second side surface of prism B1, and the first principal surface, second principal surface, and first side surface of prism B2 may be painted black. It will be appreciated that any black material may be used for the blackening, such as ink, water-based paint, varnish, or ink.

[0263] Optionally, the V-shaped refracting prism 1300 may include more or fewer surfaces while satisfying the above-mentioned restrictions, and this application does not limit this. Figure 8C or Figure 11C The relevant description will not be repeated here.

[0264] It should be noted that the present application does not limit the casting process of the V-shaped refractive prism 1300. For example, an integrated casting process can be used to make the V-shaped refractive prism 1300 Figure 13A The prism B1, prism B2, prism B3 and prism B4 are shown as being composed of one optical element. For another example, the prism C1, prism C2, prism C3 and prism C4 can be composed of one optical element through an integrated casting process.

[0265] It is understandable that based on the V-shaped refractive prism 1300, the distance between the first incident surface and the first exit surface can be made smaller than the distance between the third incident surface and the third exit surface, so that the refractive intensity of the first refractive edge on the third probe beam is greater than the refractive intensity of the first refractive edge on the first probe beam. Similarly, the distance between the second incident surface and the second exit surface can be made smaller than the distance between the fourth incident surface and the fourth exit surface, so that the refractive intensity of the second refractive edge on the fourth probe beam is greater than the refractive intensity of the second refractive edge on the first probe beam. As a result, after passing through the V-shaped refractive prism 1300, the first to fourth probe beams have higher power density and uniformity. Combined with the description of the foregoing content, this embodiment is easy to implement and easy to think of, and therefore this method also falls within the scope of protection of the present application.

[0266] The following includes Figure 13A The transmitting system of the V-shaped refractive prism 1300 is introduced.

[0267] See also Figure 13B (The main view of the launch system. The stereoscopic view of the launch system can be understood in conjunction with the above description and will not be repeated here). The launch system includes a V-shaped refractive prism 1300 ( Figure 13A As shown), the first light emitting module 810, the second light emitting module 820, the third light emitting module 830 and the fourth light emitting module 840. For the introduction of the first light emitting module 810, the second light emitting module 820, the third light emitting module 830 and the fourth light emitting module 840, please refer to the above Figure 12I The V-shaped refractive prism 1300 is set in the propagation direction of the first detection beam, the second detection beam, the third detection beam and the fourth detection beam. The propagation direction of the four detection beams is the same, for example, Figure 13B Vertical orientation shown.

[0268] Below Figure 13B The optical path diagram of the transmission system is shown.

[0269] In one possible embodiment, the two sides of the V-shaped refracting prism 1300 are used to refract the first detection beam and the second detection beam respectively, and the two sides of the V-shaped refracting prism 1300 are also used to refract the third detection beam and the fourth detection beam respectively. Figure 13B An exemplary introduction is given to the optical path from the first detection beam to the fourth detection beam.

[0270] Please continue reading Figure 13B , Figure 13B A schematic diagram of a light path provided in an embodiment of the present application. Figure 13BThe light paths shown belong to the light beams emitted by the light emitting units 11 in the third light emitting module 830, the first light emitting module 810, the second light emitting module 820 and the fourth light emitting module 840 from left to right. Figure 11B As shown, the third detection beam, the first detection beam, the second detection beam and the fourth detection beam are incident vertically on the third side surface of prism B1, the fourth side surface of prism B2, the fourth side surface of prism B3 and the third side surface of prism B4 in turn, and are obliquely emitted from the third exit surface, the first exit surface, the second exit surface and the fourth exit surface in turn and enter the air. Furthermore, the third detection beam, the first detection beam, the second detection beam and the fourth detection beam will also be incident obliquely on the third incident surface, the first incident surface, the second incident surface and the fourth incident surface in turn, and are vertically emitted from the second side surface of prism C1, the second side surface of prism C2, the first side surface of prism C3 and the first side surface of prism C4 in turn into the air. In the first direction ( Figure 13B In the horizontal direction), the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam before passing through the V-shaped refracting prism 1300 are d1, d3, and d5, respectively. After passing through the V-shaped refracting prism 1300, the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam are d2, d4, and d6, respectively, and d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.

[0271] like Figure 13B As shown, the incident angle and the refraction angle of the first probe beam, the second probe beam, the third probe beam or the fourth probe beam on the V-shaped refractive prism 1300 are equal. For example, the incident angle of the first probe beam on the first incident surface and the exit angle on the first exit surface are both (90°-α 11 ), the incident angle of the second detection beam on the second incident surface and the exit angle of the second exit surface are both (90°-α 12 ), the incident angle of the third detection beam on the third incident surface and the exit angle on the third exit surface are both (90°-α 13 ), the incident angle of the fourth detection beam on the fourth incident surface and the exit angle on the fourth exit surface are both (90°-α 14 ). This ensures that the first to fourth detection beams have the same propagation direction before and after passing through the V-shaped refractive prism 1300, which is beneficial to the design convenience of subsequent optical path shaping.

[0272] Optionally, the virtual image 810' corresponding to the first light emitting module 810, the virtual image 820' corresponding to the second light emitting module 820, the virtual image 830' corresponding to the third light emitting module 830, and the virtual image 840' corresponding to the fourth light emitting module 840 are in the propagation direction ( Figure 13BFor example, by adjusting the position of one or more of the first light emitting module 810, the second light emitting module 820, the third light emitting module 830, and the fourth light emitting module 840 in the propagation direction, the virtual images 810', 820', 830', and 840' can be positioned in the same direction in the propagation direction, thereby reducing interference caused by astigmatism.

[0273] The above content introduces the V-shaped refractive prism 1100, the V-shaped refractive prism 1200 and the V-shaped refractive prism 1300 in turn. The present application also shows the relative positions of the light spots from the first detection beam to the fourth detection beam on the receiving end, and exemplarily demonstrates the beam combining effect of the V-shaped refractive prism 1100, the V-shaped refractive prism 1200 or the V-shaped refractive prism 1300 on the first detection beam to the fourth detection beam.

[0274] See also Figure 14 , Figure 14 For showing that the first light emitting module 810 to the fourth light emitting module 840 are the above Figure 1 In the case of the laser 10 shown in FIG. 1 , the relative positions of the light spots of the first to fourth detection beams on the receiving end. Figure 14 As shown, light spots 101, 102, 103, and 104 included in receiving end 20 are all arranged non-offset in the first direction. Light spot 101 is the light spot formed on receiving end 20 by the first probe beam, light spot 102 is the light spot formed on receiving end 20 by the second probe beam, light spot 103 is the light spot formed on receiving end 20 by the third probe beam, and light spot 104 is the light spot formed on receiving end 20 by the fourth probe beam.

[0275] Continue to see Figure 14 , when the first to fourth detection beams do not pass through the V-shaped refractive prism 1100 (1200 or 1300), the spacing between the light spots 101, 102, 103 and 104 on the receiving end 20 is d1 (e.g. Figure 14 As shown in (a) in FIG. 1 ). When the first to fourth detection beams pass through the V-shaped refractive prism 1100 ( 1200 or 1300 ), the spacing between the light spots 101, 102, 103, and 104 on the receiving end 20 is d2 (as shown in FIG. Figure 14 (b) or (c) in FIG. 1 ). Or the light spots 101, 102, 103 and 104 overlap with each other (as shown in FIG. 1 ). Figure 14 (as shown in (c) in the figure).

[0276] It is understandable that the light emitting units 11 in the first light emitting module 810 to the fourth light emitting module 840 may also be staggered in the first direction, and the first light emitting module 810, the second light emitting module 820, the third light emitting module 830 and the fourth light emitting module 840 may also be the above-mentioned Figure 2 or Figure 3 The laser 10 shown is not described here one by one in order to reduce the redundancy of the content.

[0277] As mentioned above Figure 14 As shown, when the first to fourth detection beams pass through the V-shaped refractive prism 1100 (1200 or 1300), the light spots 101, 102, 103, and 104 have a smaller spacing between each other, thereby reducing the overall line width of the light-emitting area, so that the detection beam composed of the first to fourth detection beams has a higher power density and better uniformity. Among them, the high-power density laser beam can improve the distance measurement performance of the detector and the miniaturization design of the detector. The highly uniform laser beam can be used in high-resolution detectors, thereby expanding the application range of the laser beam. In addition, the solution provided in the application does not change the actual spacing between the first light emitting module 810 and the fourth light emitting module 840, avoiding the heat dissipation problem caused by reducing the actual spacing, thereby enabling the emission system to emit the laser beam at full power.

[0278] Next, another optical module provided in an embodiment of the present application will be introduced.

[0279] See also Figure 15A and Figure 15B The V-shaped refractive prism 1500 includes prism P1, prism P2, prism P3 and prism P4. Figure 15ATaking the perspective as an example, the front surface of prism P1 and prism P4 is called the first principal surface, the rear surface is called the second principal surface, the upper left surface is called the first side surface, the upper right surface is called the second side surface, the lower right surface is called the third side surface, and the lower left surface is called the fourth side surface. The front surface of prism P2 and prism P3 is called the first principal surface, the rear surface is called the second principal surface, the left surface is called the first side surface, the upper surface is called the second side surface, the right surface is called the third side surface, and the lower surface is called the fourth side surface. Among them, the second side surface of prism P1 is also called the third exit surface, the fourth side surface of prism P1 is also called the third incident surface, the second side surface of prism P2 is also called the first exit surface, the fourth side surface of prism P2 is also called the first incident surface, the second side surface of prism P3 is also called the second exit surface, the fourth side surface of prism P3 is also called the second incident surface, the first side surface of prism P4 is also called the fourth exit surface, and the third side surface of prism P4 is also called the fourth incident surface. The third side surface of prism P1 is in contact with the first side surface of prism P2, the third side surface of prism P2 is in contact with the first side surface of prism P3, and the third side surface of prism P3 is in contact with the fourth side surface of prism P4.

[0280] Combine Figure 15A and Figure 15B , the following relationship exists between the various surfaces included in the V-shaped refractive prism 1500: the first incident surface is parallel to the first exit surface, the second incident surface is parallel to the second exit surface, the third incident surface is parallel to the third exit surface, and the fourth incident surface is parallel to the fourth exit surface. The first exit surface, the second exit surface, the third exit surface, and the fourth exit surface are parallel to the beam propagation direction ( Figure 15B The included angles of the vertical direction are α 15 , α 16 , α 15 and α 16 , where α 15 and α 16 The value range of is (0°, 90°), for example, α 15 =30°, α 16 =30°. About α 15 and α 16 This application does not limit the relationship between α 15 Equal to α 16 The distance between the first incident surface and the first exit surface, the distance between the second incident surface and the second exit surface, the distance between the third incident surface and the third exit surface, and the distance between the fourth incident surface and the fourth exit surface are all L17, and L17 is greater than 0.

[0281] Optionally, there may be a certain air gap between the prism P1 , the prism P2 , the prism P3 and the prism P4 .

[0282] The present application does not limit the relative positional relationship of other planes in the V-shaped refractive prism 1500. For example, the first principal surface of prism P1, the second principal surface of prism P1, the first side surface of prism P1, or the third side surface of prism P1 may be perpendicular to the third exit surface or the third incident surface. For another example, the first principal surface of prism P2, the second principal surface of prism P2, the first side surface of prism P2, or the third side surface of prism P2 may be perpendicular to the first exit surface or the first incident surface.

[0283] Optionally, the two sides of the V-shaped refractive prism 1500 include a first refractive edge and a second refractive edge. For an introduction to the first refractive edge and the second refractive edge and possible beneficial effects, please refer to the relevant description of the above-mentioned V-shaped refractive prism 1200, which will not be repeated here.

[0284] The refractive index n1 of the material used in prism P1 is greater than the refractive index n2 of the material used in prism P2, and the refractive index n4 of the material used in prism P4 is greater than the refractive index n3 of the material used in prism P4. The refraction degree of the target prism to the detection beam satisfies the following relationship: Where L is the thickness of the target prism, α is the angle between the target prism and the direction of light beam propagation, and N is the ratio of the refractive index of the material used for the target prism to the refractive index of air. In conjunction with the above description, L and α are the same for prisms P1, P2, P3, and P4 in V-shaped refracting prism 1500. Furthermore, the refractive index n1 of the material used for prism P1 is greater than the refractive index n2 of the material used for prism P2, and the refractive index n4 of the material used for prism P4 is greater than the refractive index n3 of the material used for prism P4. As a result, prism P1 refracts the light beam more than prism P2, and prism P4 refracts the light beam more than prism P3.

[0285] The following includes Figure 15A The transmitting system of the V-shaped refractive prism 1500 is introduced.

[0286] See also Figure 15B The launch system shown, about Figure 15B The introduction of the launch system can be found in the above Figure 11D The description of the transmission system shown in FIG. Figure 15B It can be seen that in the first direction ( Figure 15BIn the horizontal direction), the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam before passing through the V-shaped refracting prism 1500 are d1, d3, and d5, respectively. After passing through the V-shaped refracting prism 1300, the interval between the first detection beam and the second detection beam, the interval between the first detection beam and the third detection beam, and the interval between the second detection beam and the fourth detection beam are d2, d4, and d6, respectively, and d1 is smaller than d2, d3 is smaller than d4, and d5 is smaller than d6.

[0287] about Figure 15A For an introduction to the combining effect of the V-shaped refractive prism 1500 on the first detection beam to the fourth detection beam, please refer to the above Figure 14 The description of is omitted here. Obviously, Figure 15A The V-shaped refractive prism 1500 shown can combine the first to fourth detection beams, so that the detection beam composed of the first to fourth detection beams has higher power density and better uniformity. Among them, the high-power density laser beam can improve the distance measurement performance of the detector and the miniaturization design of the detector. The highly uniform laser beam can be used in high-resolution detectors, thereby expanding the application range of the laser beam. In addition, Figure 15A The V-shaped refractive prism 1500 shown does not need to change the actual distance between the first light emitting module 810 and the fourth light emitting module 840, thus avoiding the heat dissipation problem caused by reducing the actual distance, thereby enabling the emitting system to emit laser beams at full power.

[0288] Optionally, other possible designs of the V-shaped refractive prism 1500 and corresponding beneficial effects can be combined with the description of the aforementioned V-shaped refractive prism 800, V-shaped refractive prism 900, V-shaped refractive prism 1100, V-shaped refractive prism 1200 or V-shaped refractive prism 1300, and will not be repeated here.

[0289] In a possible implementation, the laser 10 includes one or more of the following light sources: VCSEL, PCSEL, EEL, LD, DFB-LD, GCSR-LD, MOEMS-LD, etc.

[0290] The present application also provides a laser radar, which includes the aforementioned transmitting system for transmitting a detection beam, such as Figure 8D The launch system shown, Figure 9B The launch system shown, Figure 11D The launch system shown, Figure 12I The launch system shown, Figure 13B The launch system shown or Figure 15B The launch system shown.

[0291] Optionally, the laser radar further comprises a detection system. The detection system is configured to receive the detection light beam reflected by the object to obtain relevant information of the target in the object space. The relevant information of the target includes one or more of distance, position, angle, coordinate, reflectivity, reflection intensity, color, or speed of the target.

[0292] The embodiments of the present application also provide a terminal, which comprises the aforementioned V-shaped refractive prism 800 (900, 1100, 1200, 1300, or 1500), or comprises the aforementioned emission system, or comprises the aforementioned laser radar.

[0293] Optionally, the terminal can be an intelligent terminal or a transportation tool such as a vehicle, a drone, or a robot, or the terminal can also be an industrial device. It should be understood that the terminal involved in the present application can include an intelligent terminal or a transportation tool such as a vehicle, a robot, a drone, a ship, a steamship, etc. The vehicle is a vehicle in a broad sense, which can be a transportation tool (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), etc. For example, the robot can be an automated guided vehicle (AGV), a walkable conversational robot, a service robot, etc. The industrial device is, for example, an industrial robot, a mechanical arm, etc. The leisure and entertainment device is, for example, a virtual reality (VR) device, a mixed reality (MR) device, or a 4D cinema cabin, etc.

[0294] Optionally, the laser radar can be installed in various possible positions, for example, on a platform of the dashboard of the vehicle, or on the top of the cabin, or can also be installed at one or more positions of the head, the side, or the tail of the vehicle, etc.

[0295] In the description of the present application, the terms "center", "upper", "lower", "vertical", "horizontal", "left", "right", "inner", "outer", "side", etc. indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. It should be understood that the Z direction, Y direction, X direction, etc. mentioned in some embodiments of the present application are taken as a reference in the XYZ rectangular coordinate system to facilitate the description of the features in the present solution, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation.

[0296] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0297] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0298] Furthermore, unless otherwise specified, the embodiments of the present application use ordinal numbers such as "first" and "second" to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.

Claims

1. A launch system, characterized in that: The transmitting system includes a first light transmitting module, a second light transmitting module and an optical module, wherein the first light transmitting module and the second light transmitting module are respectively used to transmit a first detection beam and a second detection beam; In a first direction, a first interval exists between the first light emitting module and the second light emitting module. The optical module is arranged in a propagation direction of the first detection beam and the second detection beam. The optical module includes a V-shaped refractive prism. Two sides of the V-shaped refractive prism are respectively used to refract the first detection beam and the second detection beam. The incident angle and the refraction angle of the first detection beam or the second detection beam on the V-shaped refractive prism are equal. The interval between the first detection beam after passing through the V-shaped refractive prism and the second detection beam after passing through the V-shaped refractive prism is smaller than the first interval.

2. The system according to claim 1, wherein: The cross section of the V-shaped refractive prism in a first plane is axisymmetric along the propagation direction, and the first plane is a plane formed by the first direction and the propagation direction.

3. The system according to claim 1 or 2, characterized in that The two sides of the V-shaped refractive prism include a first refractive edge and a second refractive edge; The first refractive edge includes a first incident surface and a first exit surface, and the first incident surface and the first exit surface are arranged opposite to each other along the second direction; The second refractive edge includes a second incident surface and a second exit surface, and the second incident surface and the second exit surface are arranged opposite to each other along a third direction; The second direction, the third direction, and the propagation direction are different from each other.

4. The system according to claim 3, characterized in that The first incident surface is parallel to the first exit surface, and the second incident surface is parallel to the second exit surface.

5. The system according to claim 3 or 4, characterized in that The opening direction formed by the first refractive edge and the second refractive edge is the same as the propagation direction; The angle between the first refractive edge and the propagation direction is in the range of 0° to 90°, and / or, The included angle between the second refractive edge and the propagation direction is in the range of 0° to 90°.

6. The system according to any one of claims 3 to 5, characterized in that: The first detection beam passes through the first incident surface and the first exit surface in sequence and is refracted by the first incident surface and the first exit surface. The second detection beam passes through the second incident surface and the second exit surface in sequence, and is refracted by the second incident surface and the second exit surface.

7. The system according to any one of claims 1 to 6, characterized in that: The first detection beam emitted by the first light emitting module is parallel to the second detection beam emitted by the second light emitting module, and the first detection beam after passing through the V-shaped refractive prism is parallel to the second detection beam after passing through the V-shaped refractive prism.

8. The system according to any one of claims 1 to 7, characterized in that: The first light emitting module and the second light emitting module are vertical cavity surface emitting lasers (VCSELs).

9. The system according to any one of claims 1 to 8, characterized in that: The first light emitting module includes a plurality of first light emitting holes, and the second light emitting module includes a plurality of second light emitting holes; the plurality of first light emitting holes and the plurality of second light emitting holes are staggered along a fourth direction, the fourth direction is perpendicular to the propagation direction, and the fourth direction is different from the first direction.

10. The system according to claim 9, characterized in that The plurality of first light-emitting holes and the plurality of second light-emitting holes are arranged in a plurality of columns along the fourth direction; the plurality of columns of the first light-emitting holes are staggered in the fourth direction, and the plurality of columns of the second light-emitting holes are staggered in the fourth direction.

11. The system according to any one of claims 3 to 6, characterized in that: The transmitting system further includes a third light transmitting module and a fourth light transmitting module, wherein the third light transmitting module and the fourth light transmitting module are respectively used to transmit a third detection beam and a fourth detection beam; In the first direction, the third light emitting module, the first light emitting module, the second light emitting module and the fourth light emitting module are arranged in sequence, the third light emitting module and the first light emitting module are separated by a second interval, and the second light emitting module and the fourth light emitting module are separated by a third interval; The two sides of the V-shaped refractive prism are further used to refract the third detection beam and the fourth detection beam respectively, and the incident angle and the refraction angle of the third detection beam or the fourth detection beam on the V-shaped refractive prism are equal; The interval between the third detection beam after passing through the V-shaped refractive prism and the first detection beam after passing through the V-shaped refractive prism is smaller than the second interval, and the interval between the fourth detection beam after passing through the V-shaped refractive prism and the second detection beam after passing through the V-shaped refractive prism is smaller than the third interval.

12. The system according to claim 11, wherein: The first refractive edge further includes a third incident surface and a third exit surface, and the third incident surface and the third exit surface are arranged opposite to each other along a fifth direction; The second refractive edge further includes a fourth incident surface and a fourth exit surface, and the fourth incident surface and the fourth exit surface are arranged opposite to each other along a sixth direction; The fifth direction, the sixth direction, and the propagation direction are different from each other.

13. The system according to claim 12, wherein: The third incident surface is parallel to the third exit surface, and the fourth incident surface is parallel to the fourth exit surface.

14. The system according to claim 12 or 13, characterized in that The third detection beam passes through the third incident surface and the third exit surface in sequence and is refracted by the third incident surface and the third exit surface. The fourth detection beam passes through the fourth incident surface and the fourth exit surface in sequence, and is refracted by the fourth incident surface and the fourth exit surface.

15. The system according to any one of claims 12 to 14, characterized in that: The angle between the fifth direction and the propagation direction is greater than the angle between the second direction and the propagation direction, or, The fifth direction is parallel to the second direction, and the distance between the third incident surface and the third exit surface in the fifth direction is greater than the distance between the first incident surface and the first exit surface in the second direction.

16. The system according to any one of claims 12 to 15, characterized in that: The refractive index of the material between the third incident surface and the third exit surface is greater than the refractive index of the material between the first incident surface and the first exit surface.

17. The system according to any one of claims 12 to 14, characterized in that: The angle between the sixth direction and the propagation direction is greater than the angle between the third direction and the propagation direction, or, The sixth direction is parallel to the third direction, and the distance between the fourth incident surface and the fourth exit surface in the sixth direction is greater than the distance between the second incident surface and the second exit surface in the third direction.

18. The system according to any one of claims 12 to 14 or claim 17, characterized in that: The refractive index of the material between the fourth incident surface and the fourth exit surface is greater than the refractive index of the material between the second incident surface and the second exit surface.

19. The system according to any one of claims 11 to 18, characterized in that: The first detection beam emitted by the first light emitting module, the second detection beam emitted by the second light emitting module, the third detection beam emitted by the third light emitting module, and the fourth detection beam emitted by the fourth light emitting module are parallel to each other; The first detection beam after passing through the V-shaped refractive prism, the second detection beam after passing through the V-shaped refractive prism, the third detection beam after passing through the V-shaped refractive prism, and the fourth detection beam after passing through the V-shaped refractive prism are parallel to each other.

20. The transmitting system according to any one of claims 1 to 19, characterized in that: The material of the optical module includes one or more of quartz glass, borosilicate glass and sapphire glass.

21. A detection device, characterized in that: The detection device includes a transmitting system and a receiving system; Wherein, the transmitting system is used to transmit a light beam, and the receiving system is used to receive the light beam reflected by an object; the transmitting system is the transmitting system as described in any one of claims 1-20.

22. A radar, characterized in that: The radar comprises the transmitting system according to any one of claims 1 to 20, or the detecting device according to claim 21.

23. A terminal device, characterized in that: The terminal device includes the transmitting system according to any one of claims 1 to 20, or the detecting device according to claim 21, or the radar according to claim 22.

24. A vehicle, characterized in that: The vehicle includes the transmitting system according to any one of claims 1 to 20, or the detecting device according to claim 21, or the radar according to claim 22, or the terminal device according to claim 23.

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