Light deflection device, transmitting module, laser radar system and electronic equipment

Abstract

The utility model discloses a light deflection device, a transmitting module, a laser radar system and electronic equipment. The light deflection device comprises a collimating device configured to collimate an incident light beam in a first direction and a second direction respectively; the length of the incident light beam in the first direction is smaller than the length of the incident light beam in the second direction, and the collimation degree of the collimation device on the incident light beam in the first direction is higher than the collimation degree of the collimation device on the incident light beam in the second direction; the first light deflection device is configured to deflect the collimated light beam by a plurality of preset first deflection angles in the first direction and project the deflected light beam to the second light deflection device; and a second light deflection device configured to deflect the deflected light beam by a preset second deflection angle. The detection requirements of long distance and large view field range can be met at the same time, and the detection effect is improved at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of depth sensing, and in particular to a light deflection device, a transmitting module, a laser radar system and an electronic device. Background Art

[0002] In recent years, depth sensing systems, such as LiDAR, have begun to be commercialized on a large scale in the fields of optoelectronic sensing, intelligent manufacturing, 3D navigation and imaging. Among them, the one with the highest commercial value and the greatest development potential is to provide real-time road information as a light detection device for intelligent driving. This requires LiDAR to be able to detect various road signs and obstacles less than one meter in a wide field of view within a range of about 300 meters, and have a signal update rate of ten to tens of frames per second to meet the application scenario of high-speed vehicle driving. While meeting the ranging performance, the product needs to have a relatively small size. In order to meet the above performance requirements, the current mainstream commercial vehicle-mounted lasers use mechanical rotating mirrors or MEMS galvanometer semi-solid scanning to time-share the targets in the scanned field of view. However, due to the presence of rotating parts, the system reliability and maintainability are not high.

[0003] Compared with traditional mechanical rotating mirror and semi-solid laser radars, all-solid-state laser radars have significant advantages in system cost and reliability. The current mainstream direct time of flight (DTOF) Flash-type all-solid-state blind laser radar, such as the laser radar disclosed in the Chinese patent application with application number CN202321460026.5, uses wide-area light emission to cover the entire field of view, and uses a planar array SPAD array at the receiving end to receive the reflected echo signal in time and partition, ultimately achieving three-dimensional imaging of targets within tens of meters. Without changing the frame rate, detection angle and angular resolution, in order to meet the needs of vehicle navigation, the detection power needs to be increased to make the detection distance reach hundreds of meters. This is currently limited by the system's heat dissipation capacity and cost control requirements, and is difficult to achieve in engineering.

[0004] In order to improve the detection distance of all-solid-state laser radar, during the all-solid-state optical scanning process, it is considered to use a light deflection structure to amplify the light deflection angle. For example, AOD combined with a liquid crystal polarization grating can be used for secondary deflection to achieve continuous and fine adjustment of the one-dimensional light beam deflection angle within a larger angle range. Utility Model Content

[0005] The inventors of the present application found that when using an acousto-optic deflector (AOD) in combination with a liquid crystal polarization grating to achieve light deflection, in order to meet the divergence angle requirements of the AOD for the incident beam, it is necessary to collimate the beam before it enters the AOD. The common method is to collimate the beam simultaneously in the horizontal and vertical directions with the same collimation requirements. Since the higher the collimation requirement, the smaller the divergence angle and the larger the size of the collimated beam; therefore, if the collimation requirement is increased and the divergence angle is small, the beam size will become larger, which requires the AOD device to have a larger light passing aperture, and it is difficult for general AODs to meet this requirement; moreover, when the divergence angle is small and the beam is more concentrated, it is also impossible to meet the scanning requirements of a large field of view; if the collimation requirement is reduced and the divergence angle is large, the scanning beam reaching a distance will be diffused, unable to meet the detection requirements at a long distance, and the beam diffusion will also reduce the energy per unit light receiving area and deteriorate the detection effect.

[0006] In view of the above problems, the present utility model is proposed to provide an optical deflection device, a transmitting module, a lidar system, an electronic device, and an optical scanning method that overcome or at least partially solve the above problems.

[0007] An embodiment of the present utility model provides an optical deflection device, including a collimation device, a first optical deflection device, and a second optical deflection device;

[0008] The collimation device is configured to collimate the incident beam in a first direction and a second direction respectively; the length of the incident beam in the first direction is less than its length in the second direction, and the collimation degree of the incident beam in the first direction after collimation is higher than that in the second direction;

[0009] The first optical deflection device is configured to deflect the collimated beam by a plurality of preset first deflection angles along the first direction and project the deflected beam onto the second optical deflection device;

[0010] The second optical deflection device is configured to deflect the deflected beam by a preset second deflection angle to project a scanning beam; the length of the scanning beam in the first direction is less than its length in the second direction;

[0011] The length of the scanning beam in the second direction is not less than the length of the beam emitted by the light source in the second direction.

[0012] In some alternative embodiments, the divergence angle of the collimated beam in the first direction is less than 1 / 10 of the divergence angle in the second direction.

[0013] In some alternative embodiments, the collimation device includes at least one collimation lens, and the emission position of the incident beam is set on the focal plane of the collimation lens; wherein,

[0014] When the collimating device includes at least two collimating lenses, the focal planes of the at least two collimating lenses coincide.

[0015] In some alternative embodiments, the collimating device includes a first cylindrical lens and a second cylindrical lens, the first cylindrical lens being configured to collimate a light beam in a first direction, and the second cylindrical lens being configured to collimate the light beam in a second direction; or

[0016] includes a spherical lens configured to collimate the light beam in the first direction and the second direction; or

[0017] includes a cylindrical lens and a spherical lens, the cylindrical lens being configured to collimate the light beam in the first direction, and the spherical lens being configured to collimate the light beam in the first direction and the second direction.

[0018] In some alternative embodiments, when the incident light beam is emitted from the emission position, the emission width V1 in the first direction, the divergence angle θ1 in the first direction, the waist diameter V2 of the light beam in the first direction when the light beam is incident on the first light deflector, the divergence angle θ2 of the light beam in the first direction when the light beam is incident on the first light deflector, and the focal length F2 of the collimating lens that collimates the light beam in the first direction satisfy the following relationship: θ2 = V1 / F2, θ2V2 = θ1V1.

[0019] In some alternative embodiments, when the incident light beam is emitted from the emission position, the emission length H1 in the second direction, the divergence angle Θ1 in the second direction, the waist diameter H2 of the light beam in the second direction when the light beam is incident on the first light deflector, the divergence angle Θ2 of the light beam in the second direction when the light beam is incident on the first light deflector, and the focal length F1 of the collimating lens that collimates the light beam in the second direction satisfy the following relationship: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

[0020] In some alternative embodiments, the incident light beam is a bar-shaped light beam when emitted from the emission position, and the aspect ratio thereof is 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflector is 3:1 to 1:2; the scanning light beam is a bar-shaped light beam, and the aspect ratio thereof is 20:1 to 80:1.

[0021] In some alternative embodiments, the aspect ratio of the incident light beam when emitted from the emission position is 50:1; the aspect ratio of the light beam incident on the first light deflector is 5:2; the aspect ratio of the scanning light beam is 75:1; or

[0022] the aspect ratio of the incident light beam when emitted from the emission position is 50:1; the aspect ratio of the light beam incident on the first light deflector is 5:2; the aspect ratio of the scanning light beam is 25:1.

[0023] In some alternative embodiments, the second light deflector is configured to deflect the deflected light beam by a plurality of different second deflection angles in at least one of a first direction and a second direction;

[0024] The first direction and the second direction are perpendicular.

[0025] In some alternative embodiments, the number of deflection angles of the deflected light beam by the second light deflector in the second direction is greater than twice the number of deflection angles in the first direction.

[0026] In some alternative embodiments, the first light deflector is an acousto-optic deflector, and the second light deflector is a liquid crystal polarization grating. The liquid crystal material of the liquid crystal layer in the liquid crystal polarization grating sheet included in the liquid crystal polarization grating is nematic liquid crystal or blue phase liquid crystal.

[0027] In some alternative embodiments, the deflection accuracy of the first light deflector for the light beam is higher than that of the second light deflector for the light beam.

[0028] In some alternative embodiments, among the plurality of different first deflection angles by which the first light deflector is configured to deflect the incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflector along the deflection direction.

[0029] In some alternative embodiments, the first light deflector is configured to use the direction in which the beam waist diameter is the smallest when the light beam enters the first light deflector as the deflection direction, deflect the collimated light beam by a plurality of different first deflection angles, and project the deflected light beam to different positions of the second light deflector.

[0030] In some alternative embodiments, the second light deflector includes at least one light deflection unit, and the at least one light deflection unit is configured to deflect the light beam in the first direction or the second direction;

[0031] Or

[0032] The second light deflector includes at least two light deflection unit groups, each light deflection unit group includes at least one of the light deflection units, wherein at least one light deflection unit group is configured to deflect the light beam in the first direction, and at least one light deflection unit group is configured to deflect the light beam in the second direction.

[0033] In some alternative embodiments, the first light deflector is configured to time-division deflect the incident light beam by a plurality of different first deflection angles within a deflection period;

[0034] The deflection period is the time required for the first optical deflection device to deflect an incident light beam by a plurality of different first deflection angles in full, or the deflection period is the time required for the first optical deflection device to deflect a specified part of the first deflection angle of the incident light beam by the first deflection angle.

[0035] In some alternative embodiments, within a deflection period, the plurality of different first deflection angles of the light beam vary from large to small, or from small to large, or vary according to a preset random rule in a first direction.

[0036] In some alternative embodiments, the second optical deflection device includes a plurality of deflection partitions, and the deflection angle of the light beam for each deflection partition can be adjusted independently; the plurality of deflection partitions are configured such that the currently scanned deflection partition deflects the incident light beam by a required second deflection angle.

[0037] The optical deflection device further includes a control device for controlling the currently scanned deflection partition in the second optical deflection device to deflect the light beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle for the light beam, so that the deflection angle of at least one deflection partition for the light beam is adjusted to the required second deflection angle for the next deflection period after the light beam finishes scanning in the current deflection period and before the light beam starts scanning in the next deflection period.

[0038] In some alternative embodiments, the control device is used to control the first optical deflection device to deflect the light beam by a plurality of different first deflection angles in a time-sharing manner within a deflection period, so as to correspondingly irradiate a plurality of deflection partitions on the second optical deflection device, and the plurality of deflection partitions receive the light beam in a time-sharing manner and deflect the light beam.

[0039] In some alternative embodiments, the first optical deflection device is configured to sequentially irradiate light beams with a plurality of different first deflection angles onto corresponding deflection partitions in the second optical deflection device in a preset order within a deflection period; one deflection partition is configured to deflect the light beam by a corresponding second deflection angle within a deflection period.

[0040] In some alternative embodiments, the plurality of deflection partitions are configured such that the plurality of second deflection angles by which the light beam is deflected within a deflection period are all the same, or all different, or partially the same and partially different.

[0041] In some alternative embodiments, one deflection partition can be configured to sequentially receive the expanded light beams corresponding to incident light beams with one, two or more different first deflection angles within a deflection period.

[0042] In some alternative embodiments, the arrangement direction of the plurality of deflection partitions is consistent with the scanning direction of the incident light beams with the plurality of different first deflection angles.

[0043] In some alternative embodiments, a plurality of deflection sub-regions included in the second light deflection device are arranged along a first direction of beam deflection.

[0044] In some alternative embodiments, the plurality of deflection sub-regions are configured such that the number of beams received by each deflection sub-region is the same, different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection sub-regions are the same, different, or partially the same and partially different.

[0045] In some alternative embodiments, the light incident surface of the deflection sub-region is a rectangle with an aspect ratio greater than a set threshold, the width direction of the deflection sub-region is consistent with the scanning direction of a plurality of beams with different first deflection angles, and the width of each deflection sub-region is determined according to the number of incident beams received and the width of the incident beams.

[0046] In some alternative embodiments, the control device is specifically configured to:

[0047] After determining that a deflection sub-region has completed the light deflection of the current deflection cycle and is in a non-scanning state, control the deflection sub-region to adjust its deflection angle for the beam, and before entering the scanning state in the next deflection cycle, adjust its deflection angle for the beam to a second deflection angle required for the next deflection cycle.

[0048] In some alternative embodiments, the control device is specifically configured to:

[0049] According to the scanning position of the beam on the second light deflection device, determine the deflection sub-regions in the scanning state and the deflection sub-regions in the non-scanning state; for the deflection sub-regions in the non-scanning state, if the scanning order of the deflection sub-region is before that of the deflection sub-regions in the scanning state, it is considered that the deflection sub-region has completed the beam deflection of the current deflection cycle.

[0050] In some alternative embodiments, if a deflection sub-region is the deflection sub-region currently scanned by the incident beam, it is determined that the deflection sub-region is in the scanning state, otherwise, it is determined that the deflection sub-region is in the non-scanning state; or

[0051] If a deflection sub-region is the deflection sub-region currently scanned by the beam or the next deflection sub-region to be scanned, it is determined that the deflection sub-region is in the scanning state, otherwise, it is determined that the deflection sub-region is in the non-scanning state.

[0052] In some alternative embodiments, the deflection sub-region currently scanned by the beam and the next deflection sub-region to be scanned are determined as the deflection sub-regions in the scanning state, and the remaining deflection sub-regions are determined as the deflection sub-regions in the non-scanning state; the deflection sub-region currently scanned by the beam and the next deflection sub-region to be scanned are adjacent deflection sub-regions in position.

[0053] In some alternative embodiments, when the second light deflection device has a non-zoned structure, the control device is configured to control the voltage applied to the electrodes of the second light deflection device to adjust the refractive index of the medium in the second light deflection device for the light beam, so as to adjust the deflection angle of the second light deflection device for the light beam;

[0054] When the second light deflection device has a zoned structure, the control device is configured to control the voltage applied to the electrodes of each deflection zone to adjust the refractive index of the medium in the deflection zone for the light beam, so as to adjust the deflection angle of the deflection zone for the light beam.

[0055] In some alternative embodiments, when the second light deflection device employs a liquid crystal polarization grating and has a non-zoned structure, the control device is configured to control the voltage applied to the electrodes of the second light deflection device to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the second light deflection device for the light beam;

[0056] When the second light deflection device employs a liquid crystal polarization grating and has a zoned structure, the control device is configured to control the voltage applied to the electrodes of each deflection zone to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection zone for the light beam.

[0057] In some alternative embodiments, when the second light deflection device includes at least one light deflection unit, the light deflection unit includes a plurality of sub-deflection zones; the deflection zone includes the sub-deflection zones corresponding in position in the at least one light deflection unit; the sub-deflection zones in at least one light deflection unit included in one deflection zone can form a deflection light path.

[0058] In some alternative embodiments, when the second light deflection device includes one light deflection unit, the deflection zone is a sub-deflection zone on this one light deflection unit; when the second light deflection device includes two light deflection units, the deflection zone includes two sub-deflection zones corresponding in position on these two light deflection units; when the second light deflection device includes a plurality of light deflection units, the deflection zone includes a plurality of sub-deflection zones corresponding in position on these plurality of light deflection units.

[0059] In some alternative embodiments, the control device is specifically configured to: respectively control the voltages on the electrodes at both ends of each sub-deflection zone, and change the deflection angle of at least one sub-deflection zone for the light beam by changing the voltages on the electrodes at both ends of at least one sub-deflection zone, so as to achieve changing the second deflection angle of the corresponding deflection zone for the light beam.

[0060] In some alternative embodiments, the optical deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating plate. The liquid crystal half-wave plate includes electrodes disposed oppositely on two sides and a half-wave plate liquid crystal layer disposed between the two electrodes on both sides;

[0061] One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode. Each rotor sub-region corresponds to at least one first electrode segment; each rotor sub-region includes a portion of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode segment and a portion of the liquid crystal polarization grating plate corresponding to the position of the at least one first electrode segment; or

[0062] Both sides electrodes of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair. Each sub-deflection region corresponds to at least one first electrode pair; each rotor sub-region includes a portion of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode pair and a portion of the liquid crystal polarization grating plate corresponding to the position of the at least one first electrode pair;

[0063] Wherein, the deflection angle of the corresponding rotor sub-region to the light beam is adjusted by changing the voltage applied to the electrode corresponding to the rotor sub-region in the liquid crystal half-wave plate.

[0064] In some alternative embodiments, the optical deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating plate; the liquid crystal half-wave plate includes electrodes disposed oppositely on two sides and a half-wave plate liquid crystal layer disposed between the two electrodes on both sides; the liquid crystal polarization grating plate includes electrodes disposed oppositely on two sides and a grating liquid crystal layer disposed between the two electrodes on both sides;

[0065] One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode; one side electrode of the liquid crystal polarization grating plate includes a plurality of second electrode segments, and the other side electrode is a second integral electrode; at least one second electrode segment on the liquid crystal polarization grating plate and at least one first electrode segment corresponding in position on the liquid crystal half-wave plate form a segment group; or

[0066] Both sides electrodes of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair; both sides electrodes of the liquid crystal polarization grating plate include a plurality of second electrode segments, and two opposite second electrode segments form a second electrode pair; at least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode pair corresponding in position on the liquid crystal half-wave plate form a segment group; or

[0067] One side electrode of the liquid crystal polarization grating sheet includes a plurality of second electrode sub-blocks, and the other side electrode is a second integral electrode; both side electrodes of the liquid crystal half-wave plate include a plurality of first electrode sub-blocks, and two opposite first electrode sub-blocks form a first electrode pair; at least one second electrode sub-block on the liquid crystal polarization grating sheet and at least one first electrode pair corresponding in position on the liquid crystal half-wave plate form a sub-block group; or

[0068] Both side electrodes of the liquid crystal polarization grating sheet include a plurality of second electrode sub-blocks, and two opposite second electrode sub-blocks form a second electrode pair. One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode sub-blocks, and the other side electrode is a first integral electrode; at least one second electrode pair on the liquid crystal polarization grating sheet and at least one first electrode sub-block corresponding in position on the liquid crystal half-wave plate form a sub-block group;

[0069] Each deflector sub-region corresponds to at least one sub-block group; each deflector sub-region includes a part on the liquid crystal half-wave plate corresponding to the position of the sub-block group and a part on the liquid crystal polarization grating sheet corresponding to the position of the sub-block group;

[0070] Wherein, the deflection angle of the corresponding deflector sub-region for the light beam is adjusted by changing the voltage applied to the electrodes corresponding to the deflector sub-region in the liquid crystal half-wave plate and the voltage applied to the electrodes corresponding to the deflector sub-region in the liquid crystal polarization grating sheet.

[0071] In some alternative embodiments, the liquid crystal polarization grating sheets of all the light deflection units in the second light deflection device are passive liquid crystal polarization grating sheets, or the liquid crystal polarization grating sheets of all the light deflection units in the second light deflection device are active liquid crystal polarization grating sheets, or the liquid crystal polarization grating sheets of some light deflection units in the second light deflection device are passive liquid crystal polarization grating sheets and the liquid crystal polarization grating sheets of some light deflection units are active liquid crystal polarization grating sheets; the liquid crystal material of the liquid crystal layer is nematic liquid crystal or blue phase liquid crystal.

[0072] In some alternative embodiments, the liquid crystal half-wave plate further includes a first substrate and a second substrate disposed opposite to each other, and the electrodes on both sides are respectively disposed on the inner surfaces of the first substrate and the second substrate facing each other, and the inner surfaces are flat surfaces;

[0073] The liquid crystal polarization grating sheet further includes a third substrate and a fourth substrate disposed opposite to each other, and the electrodes on both sides are respectively disposed on the inner surfaces of the third substrate and the fourth substrate facing each other, and the inner surfaces are flat surfaces.

[0074] In some alternative embodiments, the second light deflection device further includes a quarter-wave plate disposed in front of the first liquid crystal half-wave plate for changing the polarization state of the light beam.

[0075] In some alternative embodiments, the adjustment time for the second deflection angle of the beam by the deflection partition adjustment is not greater than the time interval between two adjacent deflection periods of the deflection partition scanned by the beam.

[0076] In some alternative embodiments, the number of the deflection partitions is determined according to the number of the second deflection angles deflected by the second optical deflector, the time required for the second optical deflector to deflect the beams with a plurality of different first deflection angles to a plurality of different second deflection angles, and the adjustment time required for the second optical deflector to complete one deflection angle adjustment.

[0077] In some alternative embodiments, the number D of the deflection partitions is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second optical deflector, F is the frame rate at which the second optical deflector deflects through M deflection angles in one round, and T is the time required for the second optical deflector to complete one deflection angle adjustment.

[0078] In some alternative embodiments, the second optical deflector is configured to deflect the beams incident at different positions by the same second deflection angle, so as to complete the scanning of a corresponding scanning partition within the field of view; deflect the beams incident at each position among different positions by a plurality of different second deflection angles, so as to complete the scanning of a plurality of scanning partitions corresponding to the plurality of different second deflection angles;

[0079] The scanning partition is rectangular, and the length of the bar-shaped beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition.

[0080] In some alternative embodiments, the second optical deflector is configured to: within one deflection period, deflect the incident beams with a plurality of different first deflection angles by the same second deflection angle to complete the scanning of a corresponding scanning partition within the field of view; the second deflection angles for deflecting the beams with the plurality of different first deflection angles are different in different deflection periods; or

[0081] Within one deflection period, deflect each of the incident beams with a plurality of different first deflection angles by one of a plurality of different second deflection angles to respectively scan partial regions in the corresponding scanning partitions; wherein, within one deflection period, the second deflection angles by which the incident beams with a plurality of different first deflection angles are deflected are the same or different; the second deflection angles by which the incident beams with each first deflection angle are deflected are different in different deflection periods.

[0082] In some alternative embodiments, the above optical deflection device further includes: a control device;

[0083] The control device is configured to control the first optical deflector and the second optical deflector to deflect the beam.

[0084] In some alternative embodiments, when the second light deflector includes a plurality of deflection partitions, the control device is specifically configured to perform the following control processes in parallel: controlling the currently scanned deflection partition in the second light deflector to deflect the light beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle of the light beam.

[0085] In some alternative embodiments, when the second light deflector includes a plurality of deflection partitions, the control device includes a first control unit and a second control unit;

[0086] The first control unit is configured to control the first light deflector to deflect out a plurality of different first deflection angles in a time-sharing manner within a deflection period, and make the light beam of each first deflection angle be incident on the corresponding deflection partition of the second light deflector;

[0087] The second control unit is configured to control the plurality of deflection partitions to receive the light beam in a time-sharing manner and deflect the second deflection angle required for deflecting the incident light beam, and control the deflection partition to pre-adjust its deflection angle of the light beam before being scanned by the light beam; wherein, the deflection angle of at least one deflection partition with respect to the light beam is adjusted to the second deflection angle required for the next deflection period after the light beam scanning of the current deflection period ends and before the light beam scanning of the next deflection period starts.

[0088] In some alternative embodiments, when the first light deflector is an acousto-optic deflector, the control device is configured to apply a driving signal to the acoustic wave generator of the first light deflector, and control the acoustic wave frequency of the acoustic wave generator acting on the acousto-optic crystal of the first light deflector through the driving signal, so as to change the deflection angle of the first light deflector with respect to the light beam.

[0089] In some alternative embodiments, the above-mentioned light deflection device further includes:

[0090] A temperature regulator configured to change the time for the second light deflector to adjust the deflection angle by changing the temperature of the second light deflector.

[0091] In some alternative embodiments, the above-mentioned light deflection device further includes: a beam expanding device;

[0092] The beam expanding device is configured to magnify the deflection angle of the light beam deflected by the first light deflector or the second light deflector in the corresponding deflection direction by a preset multiple.

[0093] In some alternative embodiments, the beam expanding device includes at least one beam expanding lens, and the beam expanding lens is a single lens or a combination of two or more lenses; the beam expanding lens includes at least one or any combination of a cylindrical lens, a spherical lens, a metasurface lens, and a Fresnel lens;

[0094] The at least one beam expanding lens is configured to amplify a deflection angle of a light beam deflected by a first light deflecting device by a preset multiple in at least one of a first direction and a second direction that are perpendicular to each other.

[0095] In some alternative embodiments, a focal length of the beam expanding lens is set according to a magnification of a deflection angle. When the beam expanding device includes two beam expanding lenses, one side focus of one beam expanding lens coincides with one side focus of the other beam expanding lens, and the magnification is a ratio of focal lengths of the two beam expanding lenses.

[0096] In some alternative embodiments, a distance between the first light deflecting device and a first beam expanding lens of the beam expanding device is a focal length of the first beam expanding lens; a distance between two adjacent beam expanding lenses is a sum of focal lengths of the two adjacent beam expanding lenses.

[0097] In some alternative embodiments, the beam expanding device includes at least one of a first cylindrical lens group and a second cylindrical lens group; the first cylindrical lens group includes a first beam expanding cylindrical lens and a second beam expanding cylindrical lens, and is configured to amplify a deflection angle of a light beam deflected by the first light deflecting device in the first direction by a preset multiple, and the preset multiple is a ratio of a focal length of the first beam expanding cylindrical lens to a focal length of the second beam expanding cylindrical lens; the second cylindrical lens group includes a third beam expanding cylindrical lens and a fourth beam expanding cylindrical lens, and is configured to amplify a deflection angle of a light beam deflected by the first light deflecting device in the second direction by a preset multiple, and the preset multiple is a ratio of a focal length of the third beam expanding cylindrical lens to a focal length of the fourth beam expanding cylindrical lens;

[0098] Or

[0099] The beam expanding device includes a first beam expanding spherical lens and a second beam expanding spherical lens, and is configured to amplify deflection angles of a light beam deflected by the first light deflecting device in the first direction and the second direction by a preset multiple, and the preset multiple is a ratio of a focal length of the first beam expanding spherical lens to a focal length of the second beam expanding spherical lens.

[0100] In some alternative embodiments, when a light beam emitted by a light source is linearly polarized light, a 1 / 2 wave plate is further included and disposed between a collimating device and the first light deflecting device for changing a polarization direction of the light beam.

[0101] An optical axis of the 1 / 2 wave plate is perpendicular to a direction of a light beam emitted from the collimating device, and an electric field direction of the linearly polarized light forms a 45-degree angle with a fast axis of the 1 / 2 wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with a slow axis of the 1 / 2 wave plate.

[0102] In some alternative embodiments, the light deflecting device is used in a transmitting module of a lidar system; or the light deflecting device is a light deflecting device in a transmitting module of a lidar system.

[0103] An embodiment of the present utility model further provides a transmitting module, which includes a light source and the above-mentioned light deflection device;

[0104] The light source is used to emit a light beam to the light deflection device;

[0105] The light deflection device is used to deflect the light beam to generate scanning light with different deflection angles and deflection angle switching sequences to achieve the scanning of the field of view range.

[0106] In some optional embodiments, the light source includes at least one light source unit, and the light source unit includes at least two light emitting units spliced along the long axis direction to emit a strip-shaped incident light beam with a shape and size meeting the requirements.

[0107] In some optional embodiments, the light emitting unit includes any one or a combination of an edge-emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), a light emitting diode (LED), a laser diode (LD), a semiconductor laser, and a fiber laser.

[0108] An embodiment of the present utility model further provides a lidar system, which includes a receiving module and the above-mentioned transmitting module;

[0109] The receiving module is configured to sense the light signal from the scanned field of view range and obtain the three-dimensional information of the field of view range through the processing and analysis of the sensed light signal.

[0110] An embodiment of the present utility model further provides an electronic device, which includes the above-mentioned lidar system.

[0111] An embodiment of the present utility model further provides a light scanning method, which includes:

[0112] A collimating device collimates the incident light beam in the first direction and the second direction respectively; the length of the incident light beam in the first direction is less than its length in the second direction, and the collimation degree of the collimated light beam in the first direction is higher than that in the second direction;

[0113] A first light deflection device deflects the collimated light beam by a plurality of preset first deflection angles along the first direction and projects the deflected light beam to a second light deflection device;

[0114] The second light deflection device deflects the deflected light beam by a preset second deflection angle to project a scanning light beam; the length of the scanning light beam in the first direction is less than its length in the second direction.

[0115] In some optional embodiments, the divergence angle of the collimated light beam in the first direction after collimation is less than 1 / 10 of the divergence angle of the collimated light beam in the second direction.

[0116] In some alternative embodiments, the collimation device collimates the incident light beam in the first direction and the second direction respectively, including:

[0117] One cylindrical lens collimates the incident light beam in the first direction, and another cylindrical lens collimates the incident light beam in the second direction; or

[0118] One spherical lens collimates the incident light beam in both the first direction and the second direction simultaneously; or

[0119] One cylindrical lens collimates the light beam in the first direction, and one spherical lens collimates the light beam in both the first direction and the second direction simultaneously.

[0120] In some alternative embodiments, when the incident light beam is emitted from the emission position, the following relationships are satisfied among the luminous width V1 in the first direction, the divergence angle θ1 in the first direction, the waist diameter V2 of the light beam in the first direction when the light beam is incident on the first light deflection device, the divergence angle θ2 of the light beam in the first direction when the light beam is incident on the first light deflection device, and the focal length F2 of the collimation lens for collimating the light beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1.

[0121] In some alternative embodiments, when the incident light beam is emitted from the emission position, the following relationships are satisfied among the luminous length H1 in the second direction, the divergence angle Θ1 of the light beam in the second direction, the waist diameter H2 of the light beam in the second direction when the light beam is incident on the first light deflection device, the divergence angle Θ2 of the light beam in the second direction when the light beam is incident on the first light deflection device, and the focal length F1 of the collimation lens for collimating the light beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

[0122] In some alternative embodiments, when the incident light beam is emitted from the emission position, it is a strip-shaped light beam with an aspect ratio of 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflection device is 3:1 to 1:2; the scanning light beam is a strip-shaped light beam with an aspect ratio of 20:1 to 80:1.

[0123] In some alternative embodiments, when the incident light beam is emitted from the emission position, the aspect ratio is 50:1; the aspect ratio of the light beam incident on the first light deflection device is 5:2; the aspect ratio of the scanning light beam is 75:1; or

[0124] When the incident light beam is emitted from the emission position, the aspect ratio is 50:1; the aspect ratio of the light beam incident on the first light deflection device is 5:2; the aspect ratio of the scanning light beam is 25:1.

[0125] In some alternative embodiments, the first light deflection device deflects the collimated light beam by a plurality of preset first deflection angles in the first direction, including:

[0126] The first light deflector deflects the collimated light beam at multiple different first deflection angles in a first direction in a preset order.

[0127] The second light deflector deflects the deflected light beam by a preset second deflection angle, including:

[0128] The second light deflector deflects the deflected light beam at multiple different second deflection angles in at least one of the first direction and the second direction; the first direction and the second direction are perpendicular.

[0129] In some alternative embodiments, the above method further includes: an expanding deflector magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector in the corresponding deflection direction by a preset multiple.

[0130] In some alternative embodiments, the expanding deflector magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector in the corresponding deflection direction by a preset multiple, including:

[0131] At least one expanding lens magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector in at least one of the mutually perpendicular first direction and the second direction by a preset multiple.

[0132] In some alternative embodiments, at least one expanding lens magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector in at least one of the mutually perpendicular first direction and the second direction by a preset multiple, including:

[0133] The first cylindrical lens group magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector in the first direction by a preset multiple, the first cylindrical lens group includes a first expanding cylindrical lens and a second expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the first expanding cylindrical lens to the focal length of the second expanding cylindrical lens;

[0134] The second cylindrical lens group magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector in the second direction by a preset multiple, the second cylindrical lens group includes a third expanding cylindrical lens and a fourth expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the third expanding cylindrical lens to the focal length of the fourth expanding cylindrical lens;

[0135] Or

[0136] The first expanding spherical lens and the second expanding spherical lens magnify the deflection angles of the light beam deflected by the first light deflector or the second light deflector in the first direction and the second direction by a preset multiple, and the preset multiple is the ratio of the focal length of the first expanding spherical lens to the focal length of the second expanding spherical lens.

[0137] In some alternative embodiments, the above method further includes:

[0138] Magnifying the divergence angle of the deflected light beam by a preset multiple in the corresponding deflection direction by the first light deflector or the second light deflector, and the magnification factor of the divergence angle is the same as the magnification factor of the deflection angle of the deflected light beam in this deflection direction.

[0139] In some alternative embodiments, within a deflection period, the multiple different first deflection angles of the light beam change from large to small, or from small to large, or change according to a preset random rule in the first direction.

[0140] In some alternative embodiments, the projecting the deflected light beam onto the second light deflector includes: correspondingly incidenting the deflected light beam onto the corresponding deflection sub-region of the second light deflector;

[0141] The second light deflector deflects the deflected light beam by a preset second deflection angle to project a scanning light beam, including:

[0142] The control device controls the multiple deflection sub-regions in the second light deflector to receive the deflected light beams corresponding to the multiple different first deflection angles of the light beam; the deflection angle of the light beam by each deflection sub-region can be adjusted independently;

[0143] Controlling the currently scanned deflection sub-region to deflect the light beam by the required second deflection angle; and

[0144] Controlling at least one currently unscanned deflection sub-region to adjust the deflection angle of the light beam to the required second deflection angle for the next deflection period after the light beam scanning of the current deflection period ends and before the light beam scanning of the next deflection period starts.

[0145] In some alternative embodiments, the controlling the multiple deflection sub-regions in the second light deflector to receive the deflected light beams corresponding to the multiple different first deflection angles of the light beam includes: controlling the multiple deflection sub-regions in the second light deflector to receive the deflected light beams corresponding to the multiple different first deflection angles of the light beam in a time-division manner;

[0146] The deflection period is the time required for the first light deflector to deflect the incident light beam by all the multiple different first deflection angles, or the deflection period is the time required for the first light deflector to deflect the incident light beam by a specified part of the first deflection angles among the first deflection angles.

[0147] In some alternative embodiments, the multiple second deflection angles for deflecting the light beam within one deflection period are all the same, or all different, or partially the same and partially different.

[0148] In some alternative embodiments, a deflection sub-region can sequentially receive one, two, or more than two light beams with different first deflection angles within a deflection period.

[0149] In some alternative embodiments, the plurality of deflection sub-regions are configured such that the plurality of second deflection angles by which the light beams are deflected within a deflection period are all the same, all different, or some are the same and some are different.

[0150] In some alternative embodiments, the number of light beams that each deflection sub-region can receive can be all the same, all different, or some are the same and some are different; correspondingly, the widths of the plurality of deflection sub-regions can be all the same, all different, or some are the same and some are different.

[0151] In some alternative embodiments, after controlling at least one currently unscanned deflection sub-region to complete the scanning of the light beam in the current deflection period and before the light beam starts to be scanned in the next deflection period, adjusting the deflection angle of the light beam to the second deflection angle required for the next deflection period includes:

[0152] After determining that a deflection sub-region has completed the deflection of the light beam in the current deflection period and is in a non-scanning state, controlling this deflection sub-region to adjust its deflection angle of the light beam, and before entering the scanning state in the next deflection period, adjusting its deflection angle of the light beam to the second deflection angle required for the next deflection period.

[0153] In some alternative embodiments, if a deflection sub-region is the deflection sub-region currently being scanned by the light beam, it is determined that this deflection sub-region is in a scanning state; otherwise, it is determined that this deflection sub-region is in a non-scanning state; or

[0154] If a deflection sub-region is the deflection sub-region currently being scanned or the next deflection sub-region to be scanned by the light beam, it is determined that it is in a scanning state; otherwise, it is determined that this deflection sub-region is in a non-scanning state.

[0155] In some alternative embodiments, the deflection sub-region currently being scanned by the light beam and the next deflection sub-region to be scanned are determined as the deflection sub-regions in the scanning state, and the remaining deflection sub-regions are determined as the deflection sub-regions in the non-scanning state; the deflection sub-region currently being scanned by the light beam and the next deflection sub-region to be scanned are adjacent deflection sub-regions in position.

[0156] In some alternative embodiments, control the voltage applied to the electrodes of each deflection sub-region to adjust the refractive index of the medium in the deflection sub-region for the light beam, so as to adjust the deflection angle of the deflection sub-region for the light beam.

[0157] In some alternative embodiments, when the second light deflection device uses a liquid crystal polarization grating, control the voltage applied to the electrodes of each deflection sub-region to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection sub-region for the light beam.

[0158] In some alternative embodiments, the second light deflector includes at least one light deflection unit, the light deflection unit includes a plurality of rotor sub - partitions. When the deflection partition includes the rotor sub - partitions corresponding in position in at least one light deflection unit, the voltages on the electrodes at both ends of each rotor sub - partition are respectively controlled, and the deflection angle of the beam by at least one rotor sub - partition is changed by changing the voltages on the electrodes at both ends of at least one rotor sub - partition, so as to change the second deflection angle of the corresponding deflection partition for the beam.

[0159] In some alternative embodiments, the second light deflector includes at least two groups of light deflection units, and each group of light deflection units includes at least one of the light deflection units; controlling the second deflection angle required for the currently described deflection partition to deflect the beam includes:

[0160] The second deflection angle required for the beam to be deflected in the first direction by the currently scanned rotor sub - partition of the light deflection unit in at least one group of light deflection units, and / or the second deflection angle required for the beam to be deflected in the second direction by the currently scanned rotor sub - partition of the light deflection unit in at least one group of light deflection units, where the first direction and the second direction are perpendicular.

[0161] In some alternative embodiments, the adjustment time for the deflection partition to adjust the second deflection angle of the beam is not greater than the time interval between two adjacent scans of the deflection partition by the beam.

[0162] In some alternative embodiments, the number of the deflection partitions is determined according to the number of the second deflection angles deflected by the second light deflector, the time required for the second light deflector to deflect the beams with a plurality of different first deflection angles by a plurality of different second deflection angles, and the adjustment time required for the second light deflector to complete one deflection angle adjustment.

[0163] In some alternative embodiments, the number D of the deflection partitions is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second light deflector, F is the frame rate at which the second light deflector deflects through a round of M deflection angles, and T is the time required for the second light deflector to complete one deflection angle adjustment.

[0164] In some alternative embodiments, the following control processes are executed in parallel: controlling the currently scanned deflection partition in the second light deflector to deflect the beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle for the beam.

[0165] In some alternative embodiments, the field - of - view range of the light scan is divided into a plurality of scan partitions, the scan partitions are rectangular, and the incident beam is a strip - shaped beam;

[0166] Scanning the field of view range includes: deflecting a plurality of light beams with different first deflection angles by the same second deflection angle, so as to complete the scanning of a corresponding scanning partition of the field of view range; deflecting each of the light beams with different first deflection angles among the plurality of light beams with different first deflection angles by a plurality of different second deflection angles respectively, so as to complete the scanning of a plurality of scanning partitions corresponding to the plurality of different second deflection angles.

[0167] The length of the light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition.

[0168] In some alternative embodiments, within one deflection period, deflecting a plurality of light beams with different first deflection angles by the same second deflection angle to complete the scanning of a corresponding scanning partition of the field of view range; each deflection period corresponds to a different second deflection angle; different deflection periods deflect the second deflection angles of the plurality of light beams with different first deflection angles differently; or

[0169] Within one deflection period, deflecting each of the plurality of light beams with different first deflection angles by one of a plurality of different second deflection angles respectively to scan partial regions in the corresponding scanning partitions; wherein, within one deflection period, the second deflection angles by which the plurality of light beams with different first deflection angles are deflected are the same or different; and the second deflection angles by which each of the light beams with different first deflection angles is deflected in different deflection periods are different.

[0170] In some alternative embodiments, among the plurality of different first deflection angles by which the first light deflection device deflects the incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflection device along the deflection direction.

[0171] In some alternative embodiments, the above method further includes: changing the temperature of the second light deflection device to change the time for the second light deflection device to adjust the deflection angle.

[0172] The beneficial effects of the above technical solution provided by the embodiments of the present invention at least include:

[0173] In the light deflection device provided by the embodiment of the present utility model, the incident light beam is a strip-shaped light beam. Before the light beam is incident on the first light deflection device, the light beam is collimated by a collimating device. Strict collimation is carried out in the first direction (the width direction of the strip-shaped light beam). Since the first light deflection device deflects the light beam in the first direction, strict collimation in this direction can achieve sufficient deflection of the light beam; non-strict collimation is carried out in the second direction (the length direction of the strip-shaped light beam) to reduce the light beam size in this direction, so that the aspect ratio of the light beam incident on the first light deflection device is reduced to adapt to the light passing aperture size of the first light deflection device; in addition, since the shape of the scanning light beam reaching a distance is determined by the divergence angle, strict collimation in the first direction results in a smaller divergence angle, and non-strict collimation in the second direction results in a larger divergence angle. While meeting the requirements of the first light deflection device for the deflected light beam, the scanning light beam that reaches a distance after being deflected by the second light deflection device can be a strip-shaped light beam that meets the requirements; at the same time, due to strict collimation in the first direction, the light beam converges to a higher degree in this direction, and the detection power of the light beam can be relatively large when it reaches a distance, so that the detection distance can be farther, up to hundreds of meters, and the energy per unit light-receiving area increases, and a better detection effect can be obtained; it can simultaneously meet the detection requirements for long distances and large field-of-view ranges in application scenarios such as autonomous driving and vehicle-mounted navigation.

[0174] Other features and advantages of the present utility model will be described in the subsequent description, and part of them will be obvious from the description, or understood by implementing the present utility model. The objectives and other advantages of the present utility model can be achieved and obtained through the structures specifically pointed out in the written description, claims, and drawings.

[0175] The technical solutions of the present utility model will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0176] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the description. They are used together with the embodiments of the present utility model to explain the present utility model, and do not constitute a limitation to the present utility model. In the drawings:

[0177] Figure 1 is a schematic diagram of the composition structure of the light deflection device in Embodiment 1 of the present utility model;

[0178] Figure 2 is a three-dimensional structure schematic diagram of the light deflection device in Embodiment 1 of the present utility model;

[0179] Figure 3 is a three-dimensional structure schematic diagram of the light deflection device in Embodiment 1 of the present utility model;

[0180] Figure 4This is a specific structural example diagram of the optical deflection device in Embodiment 1 of the present utility model;

[0181] Figure 5a This is the optical path schematic diagram in the vertical direction in Embodiment 1 of the present utility model;

[0182] Figure 5b This is the optical path schematic diagram in the horizontal direction in Embodiment 1 of the present utility model;

[0183] Figure 6 This is the optical path schematic diagram when the beam expander in Embodiment 1 of the present utility model includes two positive lenses;

[0184] Figure 7 This is the optical path schematic diagram when the beam expander in Embodiment 1 of the present utility model includes one positive lens and one negative lens;

[0185] Figure 8 This is the structural schematic diagram of the first light source in Embodiment 1 of the present utility model;

[0186] Figure 9 This is the structural schematic diagram of the second light source in Embodiment 1 of the present utility model;

[0187] Figure 10 This is the structural schematic diagram of the third light source in Embodiment 1 of the present utility model;

[0188] Figure 11 This is the structural schematic diagram of the fourth light source in Embodiment 1 of the present utility model;

[0189] Figure 12 This is the structural schematic diagram of the fifth light source in Embodiment 1 of the present utility model;

[0190] Figure 13 This is the composition structural schematic diagram of the optical deflection device in Embodiment 2 of the present utility model;

[0191] Figure 14a This is the structural schematic diagram of the second optical deflection device with the electrode of the liquid crystal half-wave plate divided into blocks on one side in Embodiment 2 of the present utility model;

[0192] Figure 14b This is the structural schematic diagram of the second optical deflection device with the electrodes of the liquid crystal half-wave plate divided into blocks on both sides in Embodiment 2 of the present utility model;

[0193] Figure 14c This is the structural schematic diagram of the second optical deflection device with the electrodes of the liquid crystal half-wave plate and the liquid crystal polarization grating plate divided into blocks on one side in Embodiment 2 of the present utility model;

[0194] Figure 14d This is the structural schematic diagram of the second optical deflection device with the electrodes of the liquid crystal half-wave plate and the liquid crystal polarization grating plate divided into blocks on both sides in Embodiment 2 of the present utility model;

[0195] Figure 15a Schematic diagram of the second light deflection device structure using a passive liquid crystal grating sheet in the second embodiment of the present utility model;

[0196] Figure 15b Example diagram of the relationship between the voltage applied to the second light deflection device and the deflection angle of one-dimensional deflection in the second embodiment of the present utility model;

[0197] Figure 15c Example diagram of the relationship between the voltage applied to the second light deflection device and the deflection angle of two-dimensional deflection in the second embodiment of the present utility model;

[0198] Figure 16 One of the example diagrams of the scanning path of the light deflection unit in the second embodiment of the present utility model;

[0199] Figure 17 Another example diagram of the scanning path of the light deflection unit in the second embodiment of the present utility model;

[0200] Figure 18 Yet another example diagram of the scanning path of the light deflection unit in the second embodiment of the present utility model;

[0201] Figure 19 Schematic diagram of the composition structure of the light deflection device in the third embodiment of the present utility model;

[0202] Figure 20 Schematic diagram of the composition structure of the light deflection device in the fourth embodiment of the present utility model;

[0203] Figure 21 Schematic diagram of the composition structure of the light deflection device in the fifth embodiment of the present utility model;

[0204] Figure 22 Schematic diagram of the composition structure of the light deflection device in the sixth embodiment of the present utility model;

[0205] Figure 23 Schematic diagram of the composition structure of the light deflection device in the seventh embodiment of the present utility model;

[0206] Figure 24 Schematic diagram of the composition structure of the light deflection device in the eighth embodiment of the present utility model;

[0207] Figure 25 Schematic diagram of the composition structure of the light deflection device in the ninth embodiment of the present utility model;

[0208] Figure 26 Schematic diagram of the structure of the emission module in the first embodiment of the present utility model;

[0209] Figure 27 Schematic diagram of the structure of the lidar system in the embodiment of the present utility model;

[0210] Figure 28 This is a flowchart of the optical scanning method in the embodiments of the present utility model.

[0211] Explanation of the reference numerals in the drawings:

[0212] 1. Transmitting module; 2. Receiving module;

[0213] 10. Optical deflection device;

[0214] 100. First optical deflection device; 200. Second optical deflection device; 300. Light source; 400. Collimating device; 500. Beam expanding and deflecting device; 600. Control device;

[0215] 110. First control unit; 128. Lens group; 1281. First beam expanding lens; 1282. Second beam expanding lens;

[0216] 210. Optical deflection unit; 220. Optical deflection unit group; 230. Second control unit; 240. Temperature regulator;

[0217] 211. First electrode block; 2110. First electrode pair; 212. Deflection partition; 2121. Sub-deflection partition; 213. First integral electrode; 214. Liquid crystal half-wave plate; 215. Half-wave plate liquid crystal layer; 216. Liquid crystal polarization grating plate; 217. First substrate; 218. Second substrate; 2160. Second electrode pair; 2161. Third substrate; 2162. Fourth substrate; 2163. Second electrode block; 2164. Grating liquid crystal layer; 2165. Second integral electrode;

[0218] 310. Light emitting unit. Detailed implementation manners

[0219] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0220] When using AOD combined with a liquid crystal polarization grating to achieve beam deflection, before the beam enters the AOD, if the beam is collimated to the same collimation degree in all directions, according to the principle that the product of beam parameters remains unchanged during the beam propagation process, when the collimation degree is high, the sizes of the collimated beam in all directions will be very large, and the through-hole aperture of a general AOD cannot meet the requirements. Moreover, after being deflected twice by the liquid crystal polarization grating, the beam reaching a distant place has a high degree of convergence, and the scanning area of a single beam is small. The liquid crystal polarization grating needs to be deflected multiple times to cover a sufficiently large field of view range, which will slow down the scanning sensing frame rate and increase the cost of the liquid crystal polarization grating. If the collimation degree is low, the parallelism of the beam in all directions is low, and the beam is relatively divergent, which cannot meet the requirement of the AOD for a high collimation degree of the beam in the deflection direction, affecting the efficiency of the AOD in deflecting the beam. Moreover, after the deflected beam is deflected again by the liquid crystal polarization grating, the beam reaching a distant place is relatively diffuse, which cannot meet the detection requirements at a long distance, and the energy per unit light-receiving area is reduced, which will affect the detection effect.

[0221] In order to meet the detection requirements for a long distance and a large field of view range and obtain a better detection effect, the inventors of the present application have fully studied the deflection requirements of AOD and liquid crystal polarization gratings, as well as the characteristics of beam deflection and propagation. Generally, EEL light sources are suitable for being spliced along the long axis direction to emit strip-shaped beams. When the crystal in AOD is cut, it generally will not be cut into dimensions with a large aspect ratio difference. Therefore, the aspect ratio of the light passing aperture of AOD is generally smaller than that of the strip-shaped beam. At the same time, the inventors found that the beam entering AOD can be fully deflected as long as it has a high collimation degree in the deflection direction, and there is no need for a high collimation degree in the direction where deflection is not required. Therefore, the collimation standard can be reduced, making the beam waist size of the beam smaller in the direction where non-strict collimation is required. Therefore, in the scheme of the present application, in the direction where AOD deflects the beam (such as the width direction of the beam), strict collimation with a high collimation degree is performed on the beam to ensure the deflection effect of AOD on the beam. In the direction where deflection is not required (such as the length direction of the beam), non-strict collimation with a low collimation degree is performed on the beam, so that the beam waist diameter of the beam incident on AOD becomes smaller in the length direction and larger in the width direction, which can adapt to the light passing aperture size of AOD and at the same time enable the beam to be fully deflected. The beam emitted from AOD, after being deflected twice by the liquid crystal polarization grating and irradiated to a distance, since the size of the beam reaching the distance is related to the divergence angle of the beam, the larger the divergence angle, the larger the size in the corresponding direction. And the scheme of the present application is strictly collimated in the width direction, with a small divergence angle, and non-strictly collimated in the length direction. After being deflected twice by the LCPG, it can diverge moderately in this direction, with a large divergence angle. Therefore, the beam reaching the distance is relatively dispersed in the length direction and relatively converged in the width direction, and the aspect ratio increases, forming a long strip-shaped scanning beam. When scanning the distant space, if this direction is set as the length direction with a larger field of view range size, then the liquid crystal polarization grating only needs to deflect the beam by a smaller number of angles to scan the entire field of view range, which can correspondingly reduce the cost requirements for the liquid crystal polarization grating. Thus, it can scan a sufficient distance and cover a sufficient large time range, and at the same time, strict collimation in the deflection direction can also ensure that the energy of the unit light receiving area is sufficient to ensure the detection effect.

[0222] Embodiment 1

[0223] Embodiment 1 of the present utility model provides an optical deflection device 10, and its structure is shown in Figure 1 、 Figure 2 and Figure 3 As shown, an optional structure of the optical deflection device includes a collimation device 400, a first optical deflection device 100, and a second optical deflection device 200;

[0224] The collimating device 400 is configured to collimate the incident light beam in the first direction and the second direction respectively; the length of the incident light beam in the first direction is less than its length in the second direction, and the collimation degree of the incident light beam after collimation in the first direction is higher than that in the second direction. That is to say, the incident light beam is strictly collimated in the first direction and non-strictly collimated in the second direction; the first direction is the width direction of the strip-shaped incident light beam, and the second direction is the length direction of the strip-shaped incident light beam, and the collimation degree of strict collimation is higher than that of non-strict collimation.

[0225] The first light deflection device 100 is configured to deflect the collimated light beam by a plurality of preset first deflection angles in the first direction and project the deflected light beam onto the second light deflection device 200;

[0226] The second light deflection device 200 is configured to deflect the deflected light beam by a preset second deflection angle to project a scanning light beam; the length of the scanning light beam in the first direction is less than its length in the second direction;

[0227] The above-mentioned collimating device 400 can collimate the light beam emitted by the light source in the first direction and the second direction that are perpendicular to each other, and the collimated light beam is then incident on the first light deflection device 100. Among them, the collimation requirement in the first direction is higher than that in the second direction, that is, the divergence angle of the collimated light beam in the first direction is smaller than that in the second direction. When the collimating device 400 collimates the light beam, its collimation degree can be measured by the size of the divergence angle. Based on the general law of light propagation, in a certain direction, the higher the collimation degree, the smaller the divergence angle of the light beam, and the larger the size of the light beam in this direction. On the contrary, in a certain direction, the lower the collimation degree, the larger the divergence angle of the light beam, and the smaller the size of the light beam in this direction. Taking the AOD device as an example, the aspect ratio of the light passing aperture of the first light deflection device 100 is usually smaller than that of the strip-shaped light beam emitted after the light sources are spliced. In order to be able to fully deflect the light beam, a higher collimation requirement and a smaller divergence angle of the light beam are required in the deflection direction, while the collimation requirement in the non-deflection direction is lower and the divergence angle of the light beam is larger. Therefore, a suitable collimating device can be designed to strictly collimate only in the deflection direction of the light beam by the first light deflection device 100, and there is no need to strictly collimate in other directions. It can make the collimated light beam meet the deflection requirements of the AOD device in the deflection direction, improve the deflection efficiency of the light beam passing through the AOD device, and can also make the collimated light beam naturally spread with a larger divergence angle in the non-deflection direction, facilitating the formation of a strip-shaped light beam subsequently.

[0228] Embodiment 1 of the present utility model provides an optical deflection device 10, and its structure is as Figure 1 、 Figure 2 and Figure 3As shown, another alternative structure of the optical deflection device includes a control device 600, a collimation device 400, a first optical deflection device 100, and a second optical deflection device 200;

[0229] The collimation device 400 is configured to collimate the incident light beam in the first direction and the second direction respectively; the length of the incident light beam in the first direction is less than its length in the second direction, and the collimation degree of the incident light beam in the first direction after collimation is higher than that in the second direction. That is to say, the incident light beam is strictly collimated in the first direction and non-strictly collimated in the second direction; the first direction is the width direction of the strip-shaped incident light beam, and the second direction is the length direction of the strip-shaped incident light beam, and the collimation degree of the strict collimation is higher than that of the non-strict collimation.

[0230] The first optical deflection device 100 is configured to deflect the collimated light beam by a plurality of preset first deflection angles in the first direction and project the deflected light beam onto the second optical deflection device 200;

[0231] The second optical deflection device 200 is configured to deflect the deflected light beam by a preset second deflection angle to project a scanning light beam; the length of the scanning light beam in the first direction is less than its length in the second direction;

[0232] The control device 600 is used to control the first optical deflection device 100 and the second optical deflection device 200 to deflect the light beam.

[0233] For the optical deflection device provided in the first embodiment of the present invention, referring to Figure 5, on the basis of the above alternative structure, a specific alternative structure of the optical deflection device further includes: a beam expanding device 500, and the beam expanding device 500 is configured to magnify the deflection angle of the deflected light beam by a preset multiple in the corresponding deflection direction and magnify the divergence angle of the light beam by the corresponding preset multiple to form a strip-shaped light beam. Among them, the preset multiple U by which the beam expanding device 500 magnifies the deflection angle of the light beam can be set as needed. Optionally, 1 < U < 10.

[0234] Optionally, for the above optical deflection device, the length of the scanning light beam emitted by the second optical deflection device in the second direction is not less than the length of the light beam emitted by the light source in the second direction. Of course, optionally, the length of the scanning light beam emitted by the second optical deflection device in the second direction can also be less than the length of the light beam emitted by the light source in the second direction.

[0235] The following will describe in detail various alternative structures of the above optical deflection device and each device involved therein with reference to the accompanying drawings.

[0236] In the above light deflection device, the incident light beam of the collimating device 400 is the light beam emitted by the light source, the incident light beam of the first light deflection device 100 is the light beam collimated by the collimating device 400, and the incident light beam of the second light deflection device 200 is the light beam deflected by the first light deflection device 100.

[0237] The above light deflection device 10 can generate a light beam through a light source, and a light source control unit (not shown in the figure) can control the light source to emit light according to a preset time sequence. The length of the generated light beam along the first direction is less than its length along the second direction. Thus, the first direction can be used as the width direction of the light beam, and the second direction can be used as the length direction of the light beam. The first direction is the deflection direction of the incident light beam deflected by the first light deflection device 100. In some embodiments, the first direction can be set perpendicular to the second direction. For example, the first direction can be the vertical direction and the second direction can be the horizontal direction; alternatively, the first direction can be the horizontal direction and the second direction can be the vertical direction. In some embodiments, the light source can include multiple light emitting units, and the multiple light emitting units are spliced to emit a light beam of a required shape.

[0238] The light emitting unit is, for example but not limited to, at least one of light emitting structures such as Vertical Cavity Surface Emitting Laser (VCSEL, also translatable as vertical resonant cavity surface emitting laser), Edge Emitting Laser (EEL), Light Emitting Diode (LED), Laser Diode (LD), semiconductor laser, fiber laser, etc. Among them, the edge emitting laser can be a Fabry Perot (FP) laser, a Distributed Feedback (DFB) laser, an Electro-absorption Modulated (EML) laser, etc., and the embodiments of the present application do not limit this.

[0239] Optionally, the divergence angle of the collimated light beam after being strictly collimated in the first direction is less than 1 / 10 of the divergence angle of the non-strictly collimated light beam in the second direction, so that the size of the light beam incident on the first light deflection device 100 can better match the size of its light passing aperture.

[0240] The collimating device 400 may include at least one collimating lens. For example, it may include two cylindrical lenses, or include a spherical lens, or include a cylindrical lens and a spherical lens to collimate the strip-shaped light beam emitted by the light source in the first direction and the second direction perpendicular to each other. Optionally, in order to collimate the light beam according to the collimation requirements, the positional relationship between the collimating device 400 and the light source 300 can be set according to the light beam collimation requirements. An optional setting method is: the light source 300 is arranged on the focal plane of the collimating lens; when the collimating device 400 includes at least two collimating lenses, the focal planes of the at least two collimating lenses coincide.

[0241] Optionally, the collimating device may include a first cylindrical lens and a second cylindrical lens. The first cylindrical lens is configured to collimate the light beam in the first direction, and the second cylindrical lens is configured to collimate the light beam in the second direction. In this case, the first cylindrical lens and the second cylindrical lens can select lenses with different focal lengths to obtain outgoing light beams with different collimation degrees in different directions. Among them, the cylindrical lens with a smaller focal length is arranged closer to the light source, and the cylindrical lens with a larger focal length is arranged relatively farther from the light source. The focal planes of the two cylindrical lenses can coincide, and the light source is arranged at the focal plane.

[0242] Optionally, the collimating device may include a spherical lens, and the spherical lens is configured to collimate the light beam in the first direction and the second direction. The light beam can be collimated in the first direction and the second direction simultaneously. In this case, the light beam is collimated by the spherical lens in two directions. The focal length of the spherical lens is selected according to the collimation requirements in the two directions to meet the collimation requirements in the two directions. Optionally, at least in the direction with high collimation requirements, the collimation degree of the collimated light beam can reach the required collimation degree.

[0243] Optionally, the collimating device may include a cylindrical lens and a spherical lens. The cylindrical lens is configured to collimate the light beam in the first direction, and the spherical lens is configured to collimate the light beam in the first direction and the second direction. In this case, in the direction with high collimation requirements, the cylindrical lens and the spherical lens are used for collimation simultaneously, and in the direction with low collimation requirements, the spherical lens is used for collimation simultaneously to obtain outgoing light beams with different collimation degrees in different directions. Optionally, the focal planes of the cylindrical lens and the spherical lens can coincide, and the light source is arranged at the focal plane.

[0244] In some embodiments, the collimating device 400 is configured to collimate a beam with an aspect ratio of A into a beam with an aspect ratio of B, where A > B; the first light deflecting device 100 and the second light deflecting device 200 are configured to deflect the beam with an aspect ratio of B and then project a beam with an aspect ratio of C, where C > B. That is to say, if the aspect ratio of the beam incident on the collimating device 400 is A, after being collimated by the collimating device 400, the aspect ratio of the beam exiting the collimating device or incident on the first light deflecting device will become smaller, becoming B. After being deflected by the first light deflecting device at the first stage and the second light deflecting device at the second stage, the aspect ratio of the scanning beam projected to a distance will become larger again, becoming C, so as to form a long-strip-shaped beam.

[0245] The focal length of the collimating lens in the collimating device 400 can be selected as needed. For example, it can be selected according to the divergence angle and size of the beam after collimation, and the divergence angle and size of the beam before collimation. Refer to Figure 5a the vertical optical path shown in Figure 5b and the horizontal optical path shown in

[0246] Taking the example of using two cylindrical lenses, in the vertical direction: the luminous width V1 of the incident beam in the first direction when it emits from the emission position, that is, the luminous width V1 of the light source in the first direction (vertical direction) and the divergence angle θ1 of the light source emitting in the first direction, are collimated by a cylindrical lens with a focal length of F2. When the beam is incident on the first light deflecting device 100, the following relationships are satisfied among the waist diameter V2 of the beam in the first direction, the divergence angle θ2 of the beam in the first direction when it is incident on the first light deflecting device 100, and the focal length F2 of the collimating lens collimating the beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1. The distance between the optical center of the cylindrical lens with a focal length of F2 and the light source can be selected as the focal length F2. In the horizontal direction: the luminous length H1 of the incident beam in the second direction when it emits from the emission position, that is, the luminous length H1 of the light source in the second direction (horizontal direction) and the divergence angle Θ1 of the light source emitting in the second direction, the following relationships are satisfied among the waist diameter H2 of the beam in the second direction when the beam is incident on the first light deflecting device 100, the divergence angle Θ2 of the beam in the second direction when it is incident on the first light deflecting device 100, and the focal length F1 of the collimating lens collimating the beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1. The distance between the optical center of the cylindrical lens with a focal length of F1 and the light source can be selected as the focal length F1.

[0247] In some embodiments, when a long-strip light source is generally selected, H1 >> V1 can be chosen. Correspondingly, since Θ1 ∼ θ1, appropriate lens focal lengths F1 and F2 can be selected to make Θ2 >> θ2, so that after the light spot passes through the subsequent spherical lens, it will present as a long strip in the far field. To enable as much light energy as possible to pass through the first light deflection device 100, the light passing aperture of the first light deflection device 100 in the vertical direction can be selected to be greater than or equal to V2, and the light passing aperture in the horizontal direction can be selected to be greater than or equal to H2. The distance between the first light deflection device 100 and the light source 300 can be selected to be 2*F1. This is because Θ2 << θ2, so after collimation, the light beam is approximately parallel in the vertical direction, while still having a relatively large divergence angle in the horizontal direction. Placing the first light deflection device 100 at a distance of twice the F1 focal length from the light source ensures that the light passing aperture of the first light deflection device 100 in the vertical direction can be minimized, that is, its size can be V2.

[0248] For the above light deflection device, the light source can emit a light beam with a certain aspect ratio, and the aspect ratio of the light beam when it is incident on the first light deflection device 100 can also be within a certain range to adapt to the light passing aperture size of the first light deflection device. After being deflected by the first light deflection device 100 and the second light deflection device 200, a scanning light beam with a certain aspect ratio is formed.

[0249] In some embodiments, the light beam emitted by the light source 300 is a strip-shaped light beam, and its aspect ratio is 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflection device 100 is 3:1 to 1:2; the scanning light beam is a strip-shaped light beam, and its aspect ratio is 20:1 to 80:1. By using light beams with aspect ratios within a certain range, the two light deflection devices deflect, and optionally combined with collimation and / or beam expansion, to form a strip-shaped scanning light beam with a certain aspect ratio, so that the scanning light beam can cover the length of one direction of a scanning partition within the field of view, thereby realizing sub-region scanning of the field of view.

[0250] Optionally, the aspect ratio of the light beam emitted by the light source 300 is 50:1; the aspect ratio of the light beam incident on the first light deflection device 100 is 5:2; the aspect ratio of the scanning light beam is 75:1; or optionally, the aspect ratio of the light beam emitted by the light source 300 is 50:1; the aspect ratio of the light beam incident on the first light deflection device 100 is 5:2; the aspect ratio of the scanning light beam is 25:1.

[0251] The above-mentioned light deflection device collimates the light beam before the first light deflection device 100, where the collimation is performed with a high degree of collimation in the deflection direction of the light beam to meet the requirements of the first light deflection device 100 for the light beam in the deflection direction of the light beam, so that the size of the light passing aperture of the first light deflection device does not need to be very large in the deflection direction of the light beam, and the incident light beam can be accommodated and deflected, improving the deflection efficiency of the light beam and also improving the utilization rate of the light beam energy by the first light deflection device 100; the collimation is performed with a lower degree of collimation in another direction to form a strip-shaped light beam through the normal diffusion of the divergence angle of the light beam on the premise of meeting the incident requirements of the first light deflection device 100, and the second light deflection device 200 deflects the strip-shaped light beam to achieve scanning with a strip-shaped light beam of a smaller size within the field of view. In this case, after the field of view can be divided into multiple scanning partitions, the strip-shaped light beam only needs to cover one scanning partition, and the length of the strip-shaped light beam only needs to be the length of one direction of the scanning partition. Compared with the scanning method of the prior art, the size of the light beam can be much smaller, thus significantly reducing the crosstalk effect caused by high-reflection objects; on this basis, the length direction (second direction) of the used strip-shaped light beam is kept consistent with the length direction of the field of view, so that the number of deflection times of the second light deflection device 200 in the second direction can be reduced, and further the number of light deflection units required by the second light deflection device 200 can be reduced, making the second light deflection device 200 thinner and smaller in size. In addition, since the size of the light beam for scanning is reduced, there is no need to specifically expand the light beam when forming the light beam, and it can be formed by the free divergence of the light beam during the deflection process, thus effectively avoiding light beam distortion.

[0252] In some alternative embodiments, a specific structural example of the above-mentioned light deflection device is shown in Figure 4 as shown, and it includes a collimation device 400, a first light deflection device 100, a beam expansion device 500, and a second light deflection device 200. The difference between this light deflection device and Figure 1 the device shown is that it further includes a beam expansion device 500, which is configured to magnify the deflection angle of the light beam deflected by the first light deflection device by a preset multiple in the corresponding deflection direction, and then project the expanded beam onto the corresponding position of the second light deflection device 200. Figure 4 For the light deflection device shown, the collimation device is exemplified by using two cylindrical lenses, the beam expansion device is exemplified by using two spherical lenses, and the second light deflection device 200 is exemplified by using a partitioned structure. Figure 4 The optical path of the light deflection device shown in the vertical direction (first direction) is shown in Figure 5a as shown, and the optical path in the horizontal direction (second direction) is shown in Figure 5bAs shown. After adding the beam expanding and deflecting device 500, the incident beam of the collimating device 400 is the beam emitted by the light source, the incident beam of the first light deflecting device 100 is the beam collimated by the collimating device 400, the incident beam of the beam expanding and deflecting device 500 is the beam deflected by the first light deflecting device 100, and the incident beam of the second light deflecting device 200 is the beam expanded by the beam expanding and deflecting device 500.

[0253] In some embodiments, the first light deflecting device 100 may optionally deflect the beam periodically or aperiodically, or may deflect more than one beam in a time-division manner or simultaneously in a certain order. Taking periodic time-division deflection as an example, the first light deflecting device 100 is configured to deflect the incident beam at a plurality of different first deflection angles in a preset order within a deflection period; the first light deflecting device 100 deflects the incident beam at a plurality of different first deflection angles within a deflection period and projects the deflected beam to different positions of the second light deflecting device; the deflection period is the time required for the first light deflecting device 100 to deflect the incident beam at all the plurality of different first deflection angles, or the deflection period is the time required for the first light deflecting device 100 to deflect a specified part of the first deflection angles among the first deflection angles of the incident beam.

[0254] Taking the first light deflecting device 100 as the fine deflection device and the second light deflecting device 200 as the coarse deflection device to deflect the beam, that is, the first light deflecting device 100 deflects the beam in turn at a relatively fine angle interval within a relatively small deflection angle range, and the first light deflecting device 100 deflects the beam in turn by a relatively small angle; the second light deflecting device 200 deflects the beam deflected by the first light deflecting device 100 in turn at a relatively coarse angle interval within a relatively large deflection angle range in a time-division manner, that is, the second light deflecting device 200 deflects the beam deflected by the first light deflecting device 100 by a relatively large angle in a time-division manner, and finally, fine scanning of a relatively wide field of view range can be realized. By combining the fine deflection device and the coarse deflection device, the advantages of the fast response speed and high resolvable point number of the fine deflection device are utilized to realize detailed scanning within a small angle range. By utilizing the advantages of high diffraction efficiency and large deflection angle of the coarse deflection device, the scanning range can be extended to cover a wide field of view angle with a relatively small number of deflection angles of the coarse deflection device. The second light deflecting device 200 can deflect the beam at a plurality of different second deflection angles in at least one of the first direction and the second direction. That is, the first light deflecting device 100 can perform one-dimensional deflection on the beam, and the second light deflecting device 200 can perform one-dimensional or two-dimensional deflection on the beam, which can reduce the number of deflection angles of the second light deflecting device 200 and make the second light deflecting device 200 thinner.

[0255] The first light deflector 100 is configured to deflect an incident light beam by a plurality of different first deflection angles in a first direction successively; the first light deflector 100 can deflect the collimated light beam by a plurality of preset first deflection angles at preset deflection time intervals within each preset deflection period, and project the deflected light beam onto the second light deflector 200, or project it onto the second light deflector 200 after expanding the beam by the beam expander 500; the first light deflector 100 can deflect the light beam by a plurality of first deflection angles within a preset angle range along the first direction. For example, within the range of -1.5 to +1.5 degrees, the light beam is deflected by a plurality of first deflection angles with a certain interval. The first deflection angle is an angle sequence: for example, -1.5, -1.0, -0.5, 0, 0.5, 1, 1.5, etc., and the angle interval can be set as needed. In some embodiments, the first light deflector 100 can repeatedly deflect the light beam by all or part of the plurality of first deflection angles according to a plurality of preset deflection periods. The deflection period refers to the time required for the first light deflector 100 to deflect the light beam by a plurality of first deflection angles within a preset angle range. In other words, the deflection period refers to the time required for the first light deflector 100 to sequentially deflect the light beam by all or part of the preset first deflection angles among the plurality of first deflection angles. It should be understood that the durations of any two different deflection periods can be set to be the same or different; within any two different deflection periods, the number and order of the first deflection angles by which the first light deflector 100 deflects the light beam can be set to be the same or different. Within one of the deflection periods, the first light deflector 100 can also repeatedly deflect the light beam by one or more of the first deflection angles two or more times. After completing the deflection of one deflection period, the first light deflector 100 can enter the next deflection period and continue to deflect the light beam in a new round according to the corresponding number and order of the set first deflection angles.

[0256] Among the plurality of different first deflection angles by which the first light deflector 100 is configured to deflect the incident light beam, the angle interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflector along the deflection direction, so that a small part of the edges of two adjacent light beams deflected by the first light deflector can overlap, thereby ensuring that the scanning area is fully covered without missing any scanning.

[0257] In the above light deflection device, the deflection accuracy of the first light deflector 100 for the light beam is higher than that of the second light deflector 200 for the light beam.

[0258] Optionally, the first light deflection device 100 deflects the light beam by a plurality of first deflection angles within a deflection period, and the second light deflection device 200 deflects the light beam with the plurality of first deflection angles deflected by the first light deflection device 100 by the same or different second deflection angles within the deflection period. Optionally, the second light deflection device 200 can deflect the light beam deflected by the first light deflection device 100 by one, or two or more second deflection angles within the deflection period.

[0259] In some embodiments, the deflection speed of the first light deflection device 100 for the light beam is higher than that of the second light deflection device 200 for the light beam. Around each second deflection angle of the rough deflection of the second light deflection device 200, the first light deflection device 100 performs multiple fine deflections of the first deflection angles. It can be seen that the number of fine deflections of the first light deflection device 100 is several times that of the rough deflection of the second light deflection device 200 in one scan of the entire field of view. Therefore, matching the first light deflection device 100 with a faster deflection speed to perform fine deflections with more times required can reduce the light deflection time required for scanning.

[0260] In some embodiments, among the multiple different first deflection angles at which the first light deflection device 100 deflects the incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the incident light beam along the deflection direction. Thereby, a small part of the edges of two adjacent light beams deflected by the first light deflection device 100 can overlap, so as to ensure that the scanning area is completely covered without missing any scan.

[0261] The length of the light beam incident on the first light deflection device 100 in the first direction is less than the length in the second direction; the first direction is the deflection direction in which the first light deflection device 100 deflects the incident light beam.

[0262] In some embodiments, the deflection angle range of the first light deflection device 100 for deflecting the light beam in the first direction is greater than or equal to the angular interval between two adjacent second deflection angles of the second light deflection device 200 in the first direction. Thereby, a small part of the edges of the light beams deflected by two adjacent second deflection angles in the first direction can overlap, so as to ensure that the scanning area is completely covered without missing any scan.

[0263] Optionally, the second light deflection device 200 includes at least one light deflection unit, and the at least one light deflection unit is configured to deflect the expanded light beam in the first direction or the second direction; or the second light deflection device 200 includes at least two light deflection unit groups, each light deflection unit group includes at least one light deflection unit, wherein at least one light deflection unit group is configured to deflect the expanded light beam in the first direction, and at least one light deflection unit group is configured to deflect the expanded light beam in the second direction.

[0264] The number of deflection angles of the deflected light beam by the second light deflection device 200 in the second direction is greater than twice the number of deflection angles in the first direction.

[0265] The second light deflection device 200 may adopt a partitioned structure or a non-partitioned structure.

[0266] In some embodiments, when the light beam emitted by the light source is linearly polarized light, the above light deflection device further includes a half-wave plate disposed between the collimating device 400 and the first light deflection device 100 for changing the polarization direction of the light beam. Wherein, the optical axis of the half-wave plate is perpendicular to the direction of the light beam emitted by the collimating device 400, and the electric field direction of the linearly polarized light forms a 45-degree angle with the fast axis of the half-wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with the slow axis of the half-wave plate.

[0267] In the solution where the first light deflection device 100 combines with the second light deflection device 200 to deflect the light beam, in some cases, it is necessary to rotate the polarization direction of the light beam. At this time, it can be achieved by setting a half-wave plate between the collimating device 400 and the first light deflection device 100. Taking the EEL light source as an example, the light beam emitted by the EEL is generally approximately a TE-mode linearly polarized light, and the electric field direction is parallel to the slow axis direction, which is, for example, the horizontal direction in the present application. On the other hand, when designing the first light deflection device 100, it is generally required that the polarization direction of the incident light is parallel to the ultrasonic wave direction, which is, for example, the vertical direction in the present application. In this case, it is necessary to rotate the polarization direction by 90 degrees before the light beam is incident, for example, in the present application. The polarization direction rotation can be achieved by setting a half-wave plate for rotating the polarization direction. The optical axis of the half-wave plate is perpendicular to the direction of the emitted light beam, and the electric field direction of the linearly polarized light forms a 45-degree angle with the fast axis of the half-wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with the slow axis of the half-wave plate. Placing the half-wave plate after the collimating device 400 can ensure that the incident light beam has a small divergence angle when incident on the half-wave plate, preventing additional optical power loss caused by a large divergence angle. The half-wave plate can be, for example, but not limited to, a zero-order wave plate.

[0268] In Figure 4In the optional structure shown, in the present utility model, in order to miniaturize the optical deflection device, a beam expanding device 500 is added between the first optical deflection device 100 and the second optical deflection device 200. The first optical deflection device 100 is configured to deflect a light beam by a plurality of first deflection angles during a deflection period and project the deflected light beam onto the beam expanding device 500; the beam expanding device 500 can magnify the deflection angle of the light beam in the corresponding deflection direction by a preset multiple and project the beam-expanded light beam onto a corresponding position of the second optical deflection device 200; the second optical deflection device 200 is configured to deflect the light beam by a preset second deflection angle during the deflection period to project a scanning light beam. Corresponding to the directions of deflecting the light beam by the first optical deflection device 100 and the second optical deflection device 200, the beam expanding device 500 magnifies the deflection angle of the light beam in at least one of the first direction and the second direction by a preset multiple. By means of the beam expanding device 500, the light beams with adjacent deflection angles deflected by the first optical deflection device 100 can be distinguished from each other within as short a distance as possible, thereby shortening the distance between the second optical deflection device 200 and the first optical deflection device 100 and making the overall structure of the optical deflection device smaller. After the distance between the two-stage optical deflection devices is reduced, the light spot of the light beam deflected by the first optical deflection device 100 and then irradiated onto the second optical deflection device 200 will become smaller as the distance decreases, and the size of the second optical deflection device 200 can also be smaller, thereby further reducing the overall structure of the optical deflection device and meeting the requirements for miniaturization of vehicle-mounted lidar in application scenarios such as intelligent driving; in addition, through the cooperation of the two-stage optical deflection devices and the beam expanding device, continuous and refined adjustment of the deflection angle of the light beam can be achieved within a larger angle range, and at the same time, the angle interval of the light beam deflected by the first optical deflection device can be made smaller, realizing more refined light scanning and improving the coverage effect of lidar light scanning.

[0269] The above-mentioned beam expanding device 500 includes at least one beam expanding lens, and the beam expanding lens is a single lens or a combination of two or more lenses; the beam expanding lens includes at least one or any combination of a cylindrical lens, a spherical lens, a meta-lens, and a Fresnel lens. When the beam expanding lens includes a combination of two or more lenses, the combination of the two or more lenses included can be regarded as one lens.

[0270] The at least one beam expanding lens is configured to magnify the deflection angle of the light beam deflected by the first light deflector 100 by a preset multiple in at least one of the first direction and the second direction that are perpendicular to each other. The beam expanding device 500 can also magnify the divergence angle of the light beam deflected by the first light deflector 100 by a preset multiple in the corresponding deflection direction, and the divergence angle magnification factor is the same as the deflection angle magnification factor of the deflected light beam in this deflection direction. Among them, the focal length of the beam expanding lens is set according to the magnification factor of the deflection angle. When the beam expanding device 500 includes two beam expanding lenses, one side focus of one beam expanding lens coincides with one side focus of the other beam expanding lens, and the magnification factor is the ratio of the focal lengths of the two beam expanding lenses.

[0271] The positional relationship among the first light deflector 100, the second light deflector 200, and the beam expanding device 500 can be designed according to the parameters of each device. Optionally, the distance between the first light deflector 100 and the first beam expanding lens of the beam expanding device 500 is the focal length of the first beam expanding lens; the distance between two adjacent beam expanding lenses is the sum of the focal lengths of the two adjacent lenses, so that the light beam deflected by the first light deflector 100 can converge at its rear focus after passing through the beam expanding lens and then diverge further, enabling the deflection angle of the light beam to be expanded to the required angle within a short distance, so that the second light deflector 200 can be arranged closer to the first light deflector 100.

[0272] In some embodiments, the beam expanding device includes two beam expanding lenses, both of the two beam expanding lenses are single lenses, both of the two beam expanding lenses are combinations of two or more lenses, or one of the two beam expanding lenses is a single lens and the other is a combination of two or more lenses.

[0273] In some embodiments, the divergence angle of the bar-shaped light beam formed after beam expansion by the beam expanding device 500 along the second direction is greater than or equal to the angular interval between two adjacent second deflection angles of the second light deflector 200 along the second direction. Thereby, a small part of the edges of two adjacent light beams deflected by two adjacent second deflection angles in the second direction can overlap, ensuring that the scanning area is fully covered without missing any scanning.

[0274] Optionally, an alternative setting where both of the two beam expanding lenses included in the beam expanding device 500 are a combination of two or more lenses is as follows: the beam expanding device 500 includes at least one of a first cylindrical lens group and a second cylindrical lens group; the first cylindrical lens group includes a first beam expanding cylindrical lens and a second beam expanding cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first beam deflection device in a first direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expanding cylindrical lens to the focal length of the second beam expanding cylindrical lens; the second cylindrical lens group includes a third beam expanding cylindrical lens and a fourth beam expanding cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first beam deflection device in a second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the third beam expanding cylindrical lens to the focal length of the fourth beam expanding cylindrical lens. In specific applications, the cylindrical lens group can be set as needed. For example, the first cylindrical lens group can be set alone to expand the beam in the first direction; the second cylindrical lens group can be set alone to expand the beam in the second direction; or both the first cylindrical lens group and the second cylindrical lens group can be set simultaneously to expand the beam in both the first direction and the second direction.

[0275] Optionally, an alternative setting where both of the two beam expanding lenses included in the beam expanding device 500 are single lenses is as follows: the beam expanding device 500 includes a first beam expanding spherical lens and a second beam expanding spherical lens, and is configured to magnify the deflection angle of the beam deflected by the first beam deflection device in a first direction and a second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expanding spherical lens to the focal length of the second beam expanding spherical lens. Using spherical lenses as the beam expanding lenses can reduce the number of lenses used.

[0276] In some embodiments, referring to Figure 6 and Figure 7 as shown, the beam expanding device 500 can be a lens group 128, for example, including a first beam expanding lens 1281 and a second beam expanding lens 1282. The first beam expanding lens 1281 and the second beam expanding lens 1282 are arranged in sequence along the propagation direction of the beam, and the foci on one side of the first beam expanding lens 1281 and the foci on one side of the second beam expanding lens 1282 coincide with each other within the section between the first beam expanding lens 1281 and the second beam expanding lens 1282. That is, the beam deflected by the first beam deflection device or the second beam deflection device is first converged by the first beam expanding lens 1281 on the focal plane of the second beam expanding lens 1282, and then deflected by the second beam expanding lens 1282 to achieve magnification of the deflection angle.

[0277] For example, in Figure 6In the illustrated embodiment, both the first beam expanding lens 1281 and the second beam expanding lens 1282 have positive optical power. If the focal length of the first beam expanding lens 1281 is F1 and the focal length of the second beam expanding lens is F2, then the magnification M of the beam deflection angle by the beam expanding device 500 is M = F1 / F2. That is, the angle by which the beam is deflected from the center direction of the field of view range by the first optical deflection device or the second optical deflection device before entering the beam expanding device 500 will be magnified by M times after passing through the beam expanding device 500.

[0278] For example, in the embodiment as Figure 7 illustrated, the first beam expanding lens 1281 has positive optical power and the second beam expanding lens 1282 has negative optical power. If the focal length of the first beam expanding lens 1281 is F1 and the focal length of the second beam expanding lens is F2, then the magnification M of the beam deflection angle by the beam expanding device 500 is M = F1 / F2. That is, the angle by which the beam is deflected from the center direction of the field of view range by the first optical deflection device or the second optical deflection device before entering the beam expanding device 500 will be magnified by M times after passing through the beam expanding device 500.

[0279] It should be understood that the first beam expanding lens 1281 can be a single lens or a lens group including multiple lenses. Similarly, the second beam expanding lens 1282 can be a single lens or a lens group including multiple lenses.

[0280] It should be understood that the first beam expanding lens 1281 and the second beam expanding lens 1282 can both be spherical mirrors that are rotationally symmetric about the optical axis, and are configured to magnify the deflection angles of the passing beam in all directions by the same multiple. For example, the first beam expanding lens 1281 and the second beam expanding lens 1282 magnify the deflection angles of the passing beam by M times in both the first direction and the second direction, where the first direction is perpendicular to the second direction.

[0281] In the case where the incident beam is a bar-shaped beam, the above optical deflection device: The first optical deflection device 100 is configured to use the direction in which the beam waist diameter is the smallest when the beam enters the first optical deflection device 100 as the deflection direction, deflect the collimated beam by multiple different first deflection angles, and project the deflected beam to different positions of the second optical deflection device 200; The second optical deflection device 200 is configured to deflect the deflected beam incident at different first deflection angles by the same second deflection angle to complete the scanning of a corresponding scanning partition within the field of view; and so on, the second optical deflection device 200 deflects each beam with a first deflection angle among the deflected beams incident at different first deflection angles by multiple second deflection angles corresponding to complete the scanning of multiple scanning partitions corresponding to different multiple second deflection angles.

[0282] In practical applications, the second light deflection device 200 can be configured to deflect the light beams incident at different positions by the same second deflection angle, so as to complete the scanning of a corresponding scanning partition within the field of view; deflect the light beams incident at each position among different positions by a plurality of different second deflection angles, so as to complete the scanning of a plurality of scanning partitions corresponding to the plurality of different second deflection angles; the scanning partition is rectangular, and the length of the bar-shaped light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. Optionally, the second light deflection device 200 is configured to deflect the light beams with a plurality of different first deflection angles by the same second deflection angle within one deflection period to complete the scanning of a corresponding scanning partition within the field of view; the second deflection angles for deflecting the light beams with the plurality of different first deflection angles are different in different deflection periods; or within one deflection period, deflect the light beams with a plurality of different first deflection angles by one of a plurality of different second deflection angles respectively to scan partial regions in the corresponding scanning partitions; wherein, within one deflection period, the second deflection angles by which the light beams with a plurality of different first deflection angles are deflected are the same or different; the second deflection angles by which the light beams with each first deflection angle are deflected are different in different deflection periods.

[0283] For the above light deflection device, the light beam is deflected by the first light deflection device 100 and the second light deflection device 200 at different times by a plurality of different deflection angles to scan a preset field of view, and the length of the preset field of view in the first direction is less than the length in the second direction. Setting the second direction with the longer bar-shaped light beam formed by secondary deflection to be consistent with the longer direction of the entire field of view to be scanned can reduce the number of times the second light deflection device deflects the bar-shaped light beam in the second direction, thereby reducing the volume and cost of the second light deflector, and can also shorten the light beam deflection time required for scanning.

[0284] It can be understood that in some embodiments, when completing the scanning of the entire field of view area, by configuring the deflection angles and orders of the first light deflection device 100 and the second light deflection device 200 for deflecting the light beam, first complete the scanning of one scanning area, and then perform the scanning of the next scanning area, and so on, until all the scanning areas are scanned. That is, the second light deflection device 200 can deflect the deflected light beams incident at different first deflection angles by the same second deflection angle within one deflection period to centrally complete the scanning of a corresponding scanning partition within one deflection period, and thus the scanning of a plurality of different scanning partitions can be correspondingly completed after a plurality of deflection periods.

[0285] See Figure 2 As shown, the entire field of view angle can be divided into a plurality of scanning partitions. Figure 2Taking 16 scanning partitions as an example, it corresponds to 16 grids in the figure. The second light deflector 200 deflects by 2 second deflection angles in the first direction and 8 second deflection angles in the second direction, which can achieve the scanning of Figure 2 the 16 scanning partitions shown. Each scanning partition corresponds to a second deflection angle, that is, after the multiple first deflection angles deflected by the first light deflector 100 are deflected by the same second deflection angle by the second light deflector 200, a scanning partition can be covered. Among them, the scanning partition is rectangular, and the length of the bar-shaped light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. During actual scanning, in the first deflection period, the light beams of multiple first deflection angles deflected by the first light deflector 100 can be deflected by the first second deflection angle, and the scanning of the scanning partition corresponding to the first grid in the first row is completed; in the second deflection period, the light beams of multiple first deflection angles deflected by the first light deflector 100 can be deflected by the second second deflection angle, and the scanning of the scanning partition corresponding to the second grid in the first row is completed; and so on. In the fourth deflection period, the light beams of multiple first deflection angles deflected by the first light deflector 100 are deflected by the fourth second deflection angle, and as Figure 2 shown, the scanning of the scanning partition corresponding to the fourth grid in the first row is completed; thus, after 16 deflection periods, the scanning of all scanning partitions corresponding to 16 grids is completed.

[0286] In some other embodiments, the second light deflector 200 can deflect the deflected light beams incident at different first deflection angles by more than two different second deflection angles within one deflection period; in this case, within one deflection period, instead of concentrating on scanning one corresponding scanning partition, it skips to scan different positions along the deflection direction of the first light deflector 100 in more than two different scanning partitions; thus, after multiple deflection periods, the scanning of all scanning partitions can also be completed. For example, in this embodiment, within one deflection period, the light beams formed by the first light deflector 100 and the second light deflector 200 correspond to scanning the scanning partitions corresponding to different second deflection angles, and the scanned positions are relatively far apart from each other, which can reduce the mutual crosstalk between adjacent scans.

[0287] See Figure 3As shown, the entire field of view angle can be divided into multiple scanning partitions, and the number of scanning partitions is 16, corresponding to the 16 grids in the figure. During a deflection period, the second optical deflection device 200 can deflect the beams with multiple first deflection angles deflected by the first optical deflection device 100 by different second deflection angles, so as to alternately scan different scanning partitions. For example, during the first deflection period, the second optical deflection device 200 deflects the beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the first square of the first row; deflects the beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the second square of the first row;... During the second deflection period, the second optical deflection device 200 deflects the beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the second square of the first row; deflects the beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the third square of the first row;... And so on, cross-scanning the scanning areas corresponding to each square, and after multiple deflection periods, complete the scanning of all scanning partitions corresponding to all squares.

[0288] Compared with the case of using a circular or nearly circular light spot for scanning, scanning the field of view range with a long-strip beam and deflecting the beam by the AOD in the width direction of the beam can greatly reduce the number of deflection angles of the LCPG in the first direction and the second direction. For example Figure 2 and Figure 3 as shown, deflect 16 angles, 8 angles in the horizontal direction and 2 angles in the vertical direction, and the number of deflection angles of the LCPG is related to the number of layers it contains (i.e., the number of optical deflection units in the second optical deflection device 200). Therefore, the number of layers of the LCPG can also be reduced. For example, when deflecting 16 angles, the LCPG only needs four layers, and the LCPG can be made thinner and smaller in size.

[0289] The splicing method of the light source 300 in the above optical deflection device can be selected according to needs.

[0290] Optionally, referring to Figure 8 as shown, multiple light-emitting units can be spliced into a row along the long axis direction to form a long-strip beam that meets the aspect ratio. This splicing method can form a relatively slender long-strip beam, and the length direction of the formed beam is the horizontal direction. This shape of the beam is more suitable for the scanning method in which the first optical deflection device performs one-dimensional deflection in the vertical direction and then performs one-dimensional or two-dimensional deflection through the second optical deflection device.

[0291] Optionally, referring to Figure 9As shown, multiple light-emitting units can be spliced into two rows along the long axis direction to form a long-strip light beam that meets the aspect ratio. The width of the long-strip light beam formed by this splicing method is Figure 8 slightly wider than the method shown. This shape of the light beam is more suitable for the scanning method in which the first light deflector deflects one-dimensionally in the vertical direction and then the second light deflector deflects one-dimensionally or two-dimensionally.

[0292] Optionally, referring to Figure 10 As shown, multiple light-emitting units can be spliced into a column along the long axis direction to form a long-strip light beam that meets the aspect ratio. This splicing method can form a relatively slender long-strip light beam, and Figure 8 differently, the length direction of the light beam is the vertical direction. This shape of the light beam is more suitable for the scanning method in which the first light deflector deflects one-dimensionally in the horizontal direction and then the second light deflector deflects one-dimensionally or two-dimensionally.

[0293] Optionally, referring to Figure 11 As shown, multiple light-emitting units can be spliced into two columns along the long axis direction to form a long-strip light beam that meets the aspect ratio. The width of the long-strip light beam formed by this splicing method is Figure 10 slightly wider than the method shown. This shape of the light beam is more suitable for the scanning method in which the first light deflector deflects one-dimensionally in the horizontal direction and then the second light deflector deflects one-dimensionally or two-dimensionally.

[0294] Optionally, referring to Figure 12 As shown, multiple light-emitting units can be spliced into a row along the short axis direction to form a long-strip light beam that meets the aspect ratio. This splicing method can form a relatively square block-shaped light beam with a small difference between the length and width dimensions. Relatively speaking, this light beam is more suitable for the scanning method in which the first light deflector deflects two-dimensionally and then the second light deflector deflects one-dimensionally or two-dimensionally.

[0295] The first light deflector 100 is, for example but not limited to, an acousto-optic deflector (AOD). The AOD can deflect the light beam according to a preset acoustic wave frequency. The AOD can include an incident aperture, an acousto-optic crystal, an acoustic wave generator, and an exit aperture. According to the specific scheme, configuring the acousto-optic crystal can achieve quasi-continuous deflection of one-dimensional or two-dimensional light, and the deflection response time is proportional to the width of the light beam in the crystal. The control device 600 is used to apply a driving signal to the acoustic wave generator of the first light deflector 100, and control the acoustic wave frequency of the acoustic wave generator acting on the acousto-optic crystal of the first light deflector 100 through the driving signal to change the deflection angle of the first light deflector 100 for the light beam.

[0296] The second light deflection device 200 is, for example but not limited to, a liquid crystal polarization grating. By adjusting the arrangement state of the liquid crystal molecules of the liquid crystal polarization grating, deflection at different second deflection angles can be achieved; the second light deflection device 200 can deflect the light beam at more than one angle in the first direction, and can also deflect the light beam at more than one angle in the second direction, for example Figure 2 and Figure 3 As shown, taking deflection of 2 angles in the first direction and 8 angles in the second direction as an example, in actual application, the number of angles of deflection in each direction is set as needed. The second light deflection device 200 can adopt a partitioned structure or a non-partitioned structure. The liquid crystal material of the liquid crystal layer in the liquid crystal polarization grating sheet included in the liquid crystal polarization grating is, for example but not limited to, nematic liquid crystal or blue phase liquid crystal. When blue phase liquid crystal is used, the speed of the second light deflection device to adjust the deflection angle can be further improved, and the time for adjusting the deflection angle can be shortened.

[0297] In some embodiments, the control device 600 of the above-mentioned light deflection device 10 may be an independent device, and the control of the first light deflection device 100 and the second light deflection device 200 is realized by an independent device. The control device 600 may also be a discrete device. As shown in FIG. 5 , the control device 600 includes a first control unit 110 and a second control unit 230;

[0298] The first control unit 110 is used to control the first light deflection device 100 to deflect a plurality of different first deflection angles in a deflection period, and to cause the light beam of each first deflection angle to be incident on the second light deflection device 200;

[0299] The second control unit 230 is used to control the second light deflection device 200 to receive the light beam in time division and deflect the light beam to a required second deflection angle.

[0300] In the above-mentioned optical deflection device, the incident light beam of each device is different according to the different positional relationship thereof. For example, when the deflection expanding device 500 is not included, the incident light beam of the collimating device 400 is the light beam emitted by the light source, the light beam collimated by the collimating device of the first optical deflection device 100, and the incident light beam of the second optical deflection device 200 is the light beam deflected by the first optical deflection device 100. For another example, when the deflection expanding device 500 is included, if the deflection expanding device 500 is disposed between the first optical deflection device 100 and the second optical deflection device 200, the incident light beam of the collimating device 400 is the light beam emitted by the light source, the light beam collimated by the collimating device of the first optical deflection device 100, the incident light beam of the deflection expanding device 500 is the light beam deflected by the first optical deflection device 100, and the incident light beam of the second optical deflection device 200 is the light beam deflected by the deflection expanding device 500. The same applies to other arrangements.

[0301] In the above light deflection device according to the embodiment of the present utility model, during the process of the light beam scanning the entire field of view angle (FOV), increasing the number of deflection angle times of the light beam deflected by the light deflection device can reduce the divergence angle of the light beam after being deflected by the light deflection device. This is because the light beam needs to cover the angular range of the entire FOV after being deflected a preset number of times. The more the number of deflection angles, the smaller the requirement for the divergence angle of the light beam. Reducing the divergence angle can increase the power of the light beam per unit divergence angle, which is beneficial to improving the detection distance of the lidar.

[0302] The above light deflection device is used in the emission module of the lidar system; or the light deflection device is the light deflection device in the emission module of the lidar system.

[0303] The above light deflection device can design a specific design scheme according to needs. When carrying out different scheme designs, the aspect ratio of the scanning field of view range, the length ratio of the scanning spot reaching far away, the splicing method of the light source, etc. can be determined first, and these can all be adjusted and designed according to needs. Then, according to parameters such as the liquid crystal response time of the liquid crystal polarization grating, the vertical optical path and the horizontal optical path are designed, and the number and type of lenses in the optical path are selected. For example, how many collimating lenses and beam expanding lenses are used respectively, and whether to use cylindrical lenses or spherical lenses; and the positional relationship between each device. Thus, a light beam with a certain aspect ratio emitted by the light source is collimated, and after collimating a light beam with a relatively smaller aspect ratio, it is incident on the first light deflection device 100. The first light deflection device 100 performs a more refined deflection. After being beam-expanded by the beam expansion device 500, it is then roughly deflected by the second light deflection device 200, so as to cover the required scanning field of view range.

[0304] Design scheme 1:

[0305] Assume that the liquid crystal response time of the liquid crystal polarization grating is 5 ms. The collimating device 400 uses two cylindrical lenses F1 and F2, the first light deflection device 100 uses an AOD, the second light deflection device 200 uses a partitioned LCPG module, and the beam expansion device 500 uses four cylindrical lenses F3, F4, F5, and F6. Among them, in the vertical direction, the collimating lens F2 is used to collimate the light beam, and the beam expansion lenses F3 and F4 are used to expand the light beam. In the horizontal direction, the collimating lens F1 is used to collimate the light beam, and the beam expansion lenses F5 and F6 are used to expand the light beam.

[0306] The length L from the light source to the second light deflection device (LCPG module) is calculated by the following formula;

[0307] L = 2 * (F1 + F3 + F4) + d;

[0308] F1, F3, and F4 are the focal lengths of the lenses F1, F3, and F4 respectively, and d is the distance from the rear focal plane of the lens F4 to the length of the LCPG. The calculation formula for d is:

[0309] d * 2 * tan(Θv / 2) ≥ m * {θv 2 * d + Wv 2} 1 / 2 ,

[0310] where Θv is the vertical deflection angle of the light beam after passing through the AOD and the beam expander and beam shaper lens group, θv is the divergence angle of the light beam in the vertical direction at this time, and Wv is the vertical beam waist diameter of the light beam after passing through the AOD and the beam expander and beam shaper lens group. Θv and θv are given by the scanning spot parameters. The calculation formula of Wv is as follows;

[0311] Wv = Wv0 * θv0 / θv

[0312] Wv0 and θv0 are the beam waist diameter and divergence angle of the laser beam emitted by the laser light source in the vertical direction.

[0313] The total dimensions of the LCPG in the horizontal and vertical directions are respectively

[0314] Lh = d * 2 * tan(Θh / 2)

[0315] Lv = d * 2 * tan(Θv / 2)

[0316] Θh is the divergence angle of the laser beam incident on the LCPG module in the horizontal direction.

[0317] Although this solution requires a large number of cylindrical lenses, the power per unit FOV is relatively high and the requirement for the LCPG speed is relatively low. In this solution, the combination of cylindrical lenses F5 and F6 for beam expansion in the horizontal direction may affect the divergence of the light beam in the vertical direction. Considering this point, the cylindrical lenses F5 and F6 can be omitted, but the size of the LCPG module needs to be correspondingly increased to receive all the light beams.

[0318] Design solution 2:

[0319] Assume that the liquid crystal response time of the liquid crystal polarization grating is 5 ms. The collimating device uses two cylindrical lenses F1 and F2, the first light deflection device 100 uses an AOD, the second light deflection device 200 uses a partitioned LCPG module, and the beam expander and beam shaper device uses two spherical lenses F3 and F4. Among them, in the vertical direction, the collimating lens F2 is used for beam collimation, and the beam expander and beam shaper lenses F3 and F4 are used for beam expansion. In the horizontal direction, the collimating lens F1 is used for beam collimation, and the beam expander and beam shaper lenses F3 and F4 are used for beam expansion. The LCPG module has 4 layers, that is, 4 light deflection units achieve deflection of 16 separation angles.

[0320] In the vertical direction: The light-emitting width V1 of the light source in the vertical direction (the first direction) and the divergence angle θ1 of the light emitted in the vertical direction (the first direction) are collimated by a cylindrical lens with a focal length of F2. When the light beam is incident on the first light deflector, the waist diameter V2 of the light beam in the first direction, the divergence angle θ2 of the light beam in the first direction when it is incident on the first light deflector, and the focal length F2 of the collimating lens that collimates the light beam in the first direction satisfy the following relationship: θ2 = V1 / F2, θ2V2 = θ1V1. The distance between the optical center of the cylindrical lens with a focal length of F2 and the light source can be optionally selected as the focal length F2.

[0321] In the horizontal direction: The length H1 of the light source emitting light in the horizontal direction (the second direction) and the divergence angle Θ1 of the light emitted in the horizontal direction (the second direction) are collimated by a cylindrical lens with a focal length of F1. When the light beam is incident on the first light deflector, the waist diameter H2 of the light beam in the second direction, the divergence angle Θ2 of the light beam in the second direction when it is incident on the first light deflector, and the focal length F1 of the collimating lens that collimates the light beam in the second direction satisfy the following relationship: Θ2 = H1 / F1, Θ2H2 = Θ1H1. The distance between the optical center of the cylindrical lens with a focal length of F1 and the light source can be optionally selected as the focal length F1.

[0322] In some embodiments, when a long-strip light source is generally selected, H1 >> V1 can be chosen. Correspondingly, since Θ1 ∼ θ1, appropriate lens focal lengths F1 and F2 can be selected such that Θ2 >> θ2. In this way, after the light spot passes through the subsequent spherical lens, it will present as a long strip in the far field.

[0323] To enable as much light energy as possible to pass through the AOD, the light-transmitting aperture of the AOD in the vertical direction is preferably greater than or equal to V2, and the light-transmitting aperture of the AOD in the horizontal direction is preferably greater than or equal to H2. The distance between the AOD and the light source is preferably 2*F1. This is because Θ2 << θ2, so after collimation, the laser is approximately parallel in the vertical direction, while still having a relatively large divergence angle in the horizontal direction. Placing the AOD at a distance of twice the F1 focal length from the light source ensures that the light-transmitting aperture of the AOD in the vertical direction can be minimized to V2.

[0324] The AOD is configured to deflect the light beam in the vertical direction. In the collimating device, the first cylindrical lens strictly collimates the light beam in the vertical direction, and the required divergence angle Θ2 ≤ 0.3°; the second cylindrical lens non-strictly collimates the light beam in the horizontal direction, and in practice, a divergence angle θ2 ≥ 3° is allowed.

[0325] The light beam exits the AOD and enters the polarization expansion device, which amplifies the deflection angle of the light beam emitted by the AOD. This scheme takes the Kepler lens group as an example. The focal lengths of the two polarization expansion lenses are F3 and F4, respectively, and the polarization expansion multiple is F3 / F4. If the AOD deflects the light beam by +-1.5 degrees, the deflection range becomes +-(1.5*F3 / F4) degrees after passing through the AOD. Synchronously, the divergence angles of the light beam, θ2, θ2, are also enlarged by F3 / F4 times accordingly. The distance between the AOD and the first polarization expansion lens F3 is its focal length F3, and the interval between the polarization expansion lens groups F3 and F4 is F3+F4. After passing through F3 and F4, the light beam is narrowed to the minimum at the rear focal plane of the lens, where V3=V2*F4 / F3 in the vertical direction and H3=H2*F4 / F3 in the horizontal direction.

[0326] This method does not require cylindrical lenses, the number of lenses is reduced, and the power per unit FOV is relatively high, and the LCPG speed requirement is relatively low. In addition, using a spherical lens to enlarge the deflection angle of the light beam can reduce optical distortion compared to a cylindrical lens.

[0327] The LCPG module includes at least one LCPG unit, and each LCPG unit includes a liquid crystal half-wave plate and an LCPG sheet.

[0328] The thickness of the liquid crystal half-wave plate and LCPG plate is mainly determined by the thickness of the glass substrate. In practice, the thickness of the glass substrate is generally <<1mm, and the total thickness of the multi-layer liquid crystal is <1mm. In this case, the thickness of the LCPG can be ignored in the optical path design.

[0329] The LCPG sheet in this solution can be passive LCPG or active LCPG. The difference between the two is:

[0330] Passive LCPG does not require voltage to be applied during operation. The LCPG module using passive LCPG only needs to apply corresponding voltage to the liquid crystal half-wave plate to realize the deflection of the light beam during operation.

[0331] During operation, the active LCPG needs to apply corresponding voltages corresponding to different deflection angles. During operation, the LCPG module using the active LCPG needs to apply corresponding voltages to the liquid crystal half-wave plate and the active LCPG respectively.

[0332] In this solution, the LCPG units that deflect the light beam along the deflection direction with fewer deflection angles can be arranged in the front order on the optical path to improve the diffraction efficiency of the light beam. However, the corresponding light beam deflection function can also be achieved without following the above order requirements.

[0333] The above are several design examples of the light deflection device. In practical applications, the optical path design and device selection of the light deflection device can be designed according to scanning requirements.

[0334] The following describes several typical structures of the above-mentioned light deflection device of the present utility model through specific embodiments.

[0335] Embodiment 2

[0336] For the light deflection device provided in Embodiment 2 of the present utility model, see the Figure 13 shown in the structural schematic diagram, and see the Figure 3 shown in the three-dimensional structural diagram. The device includes a collimating device 400, a first light deflection device 100, a beam expanding device 500, a second light deflection device 200, and a control device 600. In this embodiment, the first light deflection device 100 performs one-dimensional deflection of the light beam in the first direction, and the second light deflection device 200 performs two-dimensional deflection of the light beam in the first direction and the second direction. The second light deflection device 200 adopts a partitioned structure. Specifically, the first light deflection device 100 deflects the incident light beam by a plurality of different first deflection angles in sequence in the first direction, and the second light deflection device 200 deflects the light beam by a plurality of different second deflection angles in the first direction and the second direction. In this light deflection device:

[0337] The collimating device 400 is configured to collimate the incident light beam in the first direction and the second direction respectively; the length of the incident light beam in the first direction is less than its length in the second direction, and the collimation degree of the collimating device 400 for the incident light beam in the first direction is higher than that in the second direction;

[0338] The first light deflection device 100 is configured to deflect the collimated light beam by a plurality of preset first deflection angles along the first direction and project the deflected light beam onto the second light deflection device 200;

[0339] The second light deflection device 200 is configured to deflect the deflected light beam by a preset second deflection angle;

[0340] The beam expanding device 500 is disposed between the first light deflection device and the second light deflection device, and is configured to magnify the deflection angle of the light beam deflected by the first light deflection device 100 by a preset multiple and then incident it onto the second light deflection device 200. In this embodiment, this method is taken as an example. Of course, optionally, the beam expanding device 500 can also be disposed after the second light deflection device 200.

[0341] The control device 600 is used to control the first light deflection device 100 and the second light deflection device 200 to deflect the light beam.

[0342] The collimating device 400 can adopt a collimating lens, the first light deflection device 100 can adopt an AOD, the beam expanding device 500 can adopt a beam expanding lens, and the second light deflection device 200 can adopt an LCPG module. See the optical path of the device in the first direction (vertical direction)Figure 5a As shown, the optical path in the second direction (horizontal direction) is shown in Figure 5b shown below.

[0343] The light source 300 emits a bar-shaped light beam. After being collimated by the collimating lens, the bar-shaped light beam is irradiated onto the first light deflection device 100, where the width direction of the bar-shaped light beam is the first direction and the length direction is the second direction. The structure of the light source can be seen in Figure 8 shown below. The light source 300 may include a plurality of light-emitting units 310.

[0344] The collimating device 400 collimates the light beam in both the first direction and the second direction. The light source can be controlled by a light source control unit to emit light according to a preset time sequence. Among them, the collimation requirement in the first direction is higher, so that the divergence angle of the light beam in the first direction is smaller. This requirement can be achieved by the characteristics of the collimating device. Since the size and divergence angle of the light beam after collimation by the collimating device are inversely proportional, higher collimation can be obtained in the width direction of the bar-shaped light beam than in the length direction. See Figure 4 shown in and Figure 5, two collimating lenses collimate the light beam in the first direction and the second direction respectively. In the figure, two cylindrical lenses are taken as an example.

[0345] The first light deflection device 100 deflects the light beam in the first direction. It can deflect the light beam at multiple first deflection angles within a preset angle range, and the multiple first deflection angles can have a set angle interval. The first light deflection device 100 can deflect the light beam according to a preset time sequence.

[0346] The light beam deflected by the first light deflection device 100 is expanded by the beam expanding device 500 to expand the deflection angles of the light beam in the first direction and the second direction. See Figure 5a shown below. Two beam expanding lenses expand the light beam in the first direction. The deflection angle of the light beam in the first direction is increased after passing through the two beam expanding lenses, and the expanded light beam is then projected onto the corresponding position of the second light deflection device 200. See Figure 5b shown below. Two beam expanding lenses expand the light beam in the second direction. The deflection angle of the light beam in the first direction is increased after passing through the two beam expanding lenses, and the expanded light beam is then projected onto the corresponding position of the second light deflection device 200.

[0347] The second light deflection device 200 deflects the light beam. In this embodiment, it is taken as an example that the second light deflection device 200 can deflect the light beam at multiple different angles in both the first direction and the second direction. For example, it can deflect two angles in the first direction and eight angles in the second direction.

[0348] The second light deflector 200 can adopt a partitioned structure or a non-partitioned structure.

[0349] In this embodiment, taking the second light deflector 200 adopting a partitioned structure as an example for description, when the lidar uses a liquid crystal polarization grating to realize beam deflection, the second light deflector 200 adopting a partitioned structure can solve the problems of long waiting time for deflection angle switching, slow adjustment of the angle, and affecting the scanning detection frame rate of the lidar. The second light deflector is divided into different deflection partitions. After the beams with different first deflection angles are expanded, they can be projected onto different deflection partitions of the second light deflector 200. Each deflection partition can use the time when it is not irradiated to adjust the deflection angle. The scanning system does not need to wait for the light deflector to adjust its state to change the deflection angle, so that the scanning can be continuous, thereby avoiding the waiting time for angle adjustment, improving the switching speed, and still meeting the requirements of the detection frame rate when increasing the number of times of beam deflection angle. This design realizes high frame rate, large field of view angle and long ranging ability, and can meet the application scenarios requirements of vehicle-mounted lidar, etc. In this embodiment, the deflection partitions in the second light deflector 200 are arranged corresponding to the first direction.

[0350] For the structure of the second light deflector 200 adopting a partitioned structure, see Figure 14a 、 14b Figures 14a, 14b, 14c and 14d. The second light deflector 200 may include a plurality of deflection partitions 212, and the plurality of deflection partitions 212 can independently adjust the deflection angle, that is, the deflection angle of each deflection partition 212 for the incident beam can be adjusted separately; in the case of adopting a partitioned structure:

[0351] The first light deflector 100 is configured to deflect the incident beam by a plurality of different first deflection angles within a deflection period so as to correspondingly enter the corresponding deflection partitions 212 of the second light deflector 200;

[0352] A plurality of deflection partitions 212 are configured to deflect the incident beam by the required second deflection angle of the currently scanned deflection partition 212;

[0353] The control device 600 is used to control the first light deflector 100 to deflect the incident beam and control the currently scanned deflection partition 212 in the second light deflector 200 to deflect the incident beam, and control at least one currently unscanned deflection partition 212 to adjust its deflection angle for the beam, so that the deflection angle of at least one deflection partition 212 for the incident beam is adjusted to the required second deflection angle for the next deflection period after the incident beam finishes scanning in the current deflection period and before the incident beam starts scanning in the next deflection period.

[0354] A control device 600 can be used to control a first light deflector 100 to deflect an incident light beam by a plurality of different first deflection angles within a deflection period, so as to correspondingly be incident on corresponding deflection sub-regions of a second light deflector 200; it can also be used to control the second light deflector 200 to deflect the incident light beam by a required second deflection angle for the currently scanned deflection sub-region; it can also be used to control at least one currently unscanned deflection sub-region 212 to adjust its deflection angle for the light beam, so that the deflection angle of at least one deflection sub-region 212 for the incident light beam is adjusted to the second deflection angle required for the next deflection period after the incident light beam finishes scanning in the current deflection period and before the incident light beam starts scanning in the next deflection period. Optionally, the control device 600 is specifically configured to perform the following control processes in parallel: controlling the currently scanned deflection sub-region of the second light deflector 200 to deflect the incident light beam, and controlling at least one currently unscanned deflection sub-region 212 to adjust its deflection angle for the light beam. That is to say, while the currently scanned deflection sub-region 212 of the second light deflector 200 deflects the incident light beam, at least one currently unscanned deflection sub-region 212 can adjust its deflection angle for the light beam under the control of the control device 600.

[0355] Within a deflection period, the control device 600 controls the first light deflector 100 to deflect the light beam by multiple different first deflection angles in a time-sharing manner, so as to be correspondingly incident on multiple deflection sub-regions 212 of the second light deflector 200. The multiple deflection sub-regions 212 receive the incident light beam in a time-sharing manner and deflect the incident light beam; wherein, the deflection period is the time required for the multiple deflection sub-regions 212 to be scanned once by incident light beams with multiple different first deflection angles. Or rather, the deflection period is the time required for incident light beams with multiple different first deflection angles to traverse and scan multiple deflection sub-regions 212. In this case, within a deflection period, all the incident light beams with multiple different first deflection angles will scan all the deflection sub-regions 212, that is, each deflection sub-region 212 is scanned and will not be missed.

[0356] Or, the deflection period is the time required for a specified part of the deflection sub-regions 212 among the multiple deflection sub-regions 212 to be scanned once by incident light beams with a specified part of the multiple different first deflection angles. Or rather, the deflection period is the time required for incident light beams with a specified part of the multiple different first deflection angles to traverse and scan a specified part of the multiple deflection sub-regions 212. Within a deflection period, a part of the deflection sub-regions 212 among the multiple deflection sub-regions 212 are scanned, that is, there are some deflection sub-regions 212 that are missed. The specified part of the deflection sub-regions 212 specified in different deflection periods can be the same or different. Correspondingly, the incident light beams with the specified part of the multiple different first deflection angles can be the same or different.

[0357] In each deflection period, the control device 600 can control the first optical deflection device 100 to generate a plurality of incident light beams with different first deflection angles within a preset angular range at preset deflection time intervals and project them onto corresponding deflection partitions of the second optical deflection device 200. In one deflection period, the control device 600 can control the first optical deflection device 100 to deflect the incident light beam into a plurality of different first deflection angles at different times, and the incident light beams with a plurality of different first deflection angles are incident into a plurality of deflection partitions at different times. The plurality of deflection partitions of the second optical deflection device 200 receive the incident light beam at different times and deflect the incident light beam. And the first optical deflection device 100 is configured to, within one deflection period, sequentially project the incident light beams with a plurality of different first deflection angles onto the corresponding deflection partitions in the second optical deflection device 200 in a preset order; one deflection partition 212 is configured to deflect the incident light beam by a corresponding second deflection angle within one deflection period.

[0358] The above-mentioned second optical deflection device 200 can achieve the adjustment of the second deflection angle once within the scanning interval between two adjacent deflection periods by controlling at least one deflection partition 212 through the control device 600, so that at least one deflection partition can be adjusted to the required second deflection angle before the incident light beam on the previously scanned deflection partition 212 ends. That is to say, the control device 600 can control the light beam emitted by the first optical deflection device 100 to hit each deflection partition 212 at different times, and at least one deflection partition 212 will make a response in advance to prepare for receiving the incident light beam in the next deflection period. Before the light beam is incident on this deflection partition 212 in the next deflection period, the deflection angle of the incident light beam on this deflection partition 212 has been pre-adjusted to the second deflection angle required in the next deflection period, which can reduce the waiting time for angle adjustment to a certain extent, so that at least one incident light beam in the next deflection period can be irradiated without waiting, thereby improving the scanning frame rate of the optical scanning. Optionally, in order to further improve the scanning frame rate, the control device 600 can control each deflection partition 212 to complete the adjustment of the second deflection angle once within the incident interval between two adjacent deflection periods, so that each deflection partition 212 can be adjusted to the required second deflection angle before the incident light beam on the previously scanned deflection partition 212 ends, so that the incident light beam of each first deflection angle can be directly irradiated without waiting, thereby improving the scanning frame rate of the optical scanning.

[0359] Within a deflection period, incident light beams with multiple different first deflection angles can be incident on corresponding deflection sub-regions 212 in a preset order; the incident order of the incident light beams with multiple different first deflection angles can be preset in advance and can be achieved through the control of a control device 600. Within a deflection period, the multiple different first deflection angles of the light beams change from large to small, or from small to large, or change according to a preset random rule in a first direction. Optionally, the incident angles of the incident light beams with multiple different first deflection angles can change from large to small, for example: sequentially change from -1.5, -1.0, -0.5, 0, 0.5, 1, 1.5. Optionally, the incident angles of the incident light beams with multiple different first deflection angles can change from small to large, for example: sequentially change from 1.5, 1.0, 0.5, 0, -0.5, -1, -1.5. Optionally, the incident angles of the incident light beams with multiple different first deflection angles of the optical deflection unit group can also change according to a preset random rule, for example: randomly change from -1.5, 1, -0.5, 0, -1.0, 0.5, 1.5. Within different deflection periods, the incident order of the incident light beams can be the same or different.

[0360] For the above-mentioned second optical deflection device 200, the multiple deflection sub-regions 212 are configured such that the multiple second deflection angles for deflecting the incident light beams within a deflection period are all the same, or all different, or partially the same and partially different. Optionally, within a deflection period, the second deflection angle for further deflecting the incident light beams with multiple first deflection angles can be one, or two or more. For example: within a deflection period, the multiple deflection sub-regions 212 deflect all the incident light beams with multiple different first deflection angles by 1 degree; in the next period, the multiple deflection sub-regions 212 deflect all the incident light beams with multiple different first deflection angles by 2 degrees;... and so on; and for another example: within a deflection period, the first deflection sub-region 212 deflects the incident light beams with at least one first deflection angle by 1 degree; the second deflection sub-region 212 deflects the incident light beams with at least one first deflection angle by 2 degrees;... and so on. And for another example: within a deflection period, the first deflection sub-region 212 deflects the incident light beams with at least one first deflection angle by 1 degree; the second deflection sub-region 212 deflects the incident light beams with at least one first deflection angle by 1 degree; the third deflection sub-region 212 deflects the incident light beams with at least one first deflection angle by 3 degrees; the fourth deflection sub-region 212 deflects the incident light beams with at least one first deflection angle by 5 degrees;... and so on.

[0361] For the above-mentioned second optical deflection device 200, one deflection sub-region 212 can be configured to correspondingly receive incident light beams with at least one first deflection angle. Optionally, one deflection sub-region 212 can be configured to sequentially receive one, two or more different first deflection angles of incident light beams within a deflection period.

[0362] For the second light deflection device 200 described above, the arrangement direction of the plurality of deflection partitions 212 is consistent with the scanning direction of the incident light beams with a plurality of different first deflection angles. The plurality of deflection partitions 212 can be arranged in a one-dimensional manner along one direction, or can be arranged in a two-dimensional array manner, and their arrangement direction can be consistent with the scanning direction of the incident light beams with the first deflection angle. For example, if the incident light beam scans along the first direction, then the plurality of deflection partitions 212 are also arranged along the first direction; if the incident light beam performs two-dimensional array scanning, then the plurality of deflection partitions are arranged in a two-dimensional array manner. The scanning mode of the incident light beam can be related to the shape of the incident light beam. In this application, the example of arrangement along one direction is taken.

[0363] When the incident light beam is a strip-shaped light beam with an aspect ratio greater than a set threshold, the first light deflection device 100 is configured to deflect the incident light beam by a plurality of different first deflection angles along the first direction within one deflection period to perform one-dimensional scanning on the second light deflection device 200, and the plurality of deflection partitions 212 included in the second light deflection device 200 are arranged along the first direction of the light beam; for example Figure 14a 、 14b As shown in 14c and 14d, the plurality of deflection partitions 212 are arranged in the vertical direction. The deflection partition 212 can be a rectangle with an aspect ratio greater than a set threshold. The width direction of the deflection partition is consistent with the scanning direction of the incident light beams with a plurality of different first deflection angles, that is, the width direction of the deflection partition is along the first direction, and the length direction of the deflection partition is along the second direction.

[0364] For the second light deflection device 200 described above, the plurality of deflection partitions 212 are configured such that the number of incident light beams received by each deflection partition 212 is the same, different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection partitions 212 are the same, different, or partially the same and partially different. The light incident surface of the deflection partition is a rectangle with an aspect ratio greater than a set threshold, the width direction of the deflection partition is consistent with the scanning direction of the light beams with a plurality of different first deflection angles, and the width of each deflection partition 212 is determined according to the number of incident light beams received and the width of the incident light beam.

[0365] It can be set such that the number of incident light beams received by each deflection partition 212 is the same. For example: each deflection partition 212 receives one incident light beam, that is, the incident light beams of the deflection partitions 212 are in one-to-one correspondence, or each deflection partition 212 receives two or more incident light beams, and the relationship between the deflection partition 212 and the incident light beam is one-to-two or one-to-many. In this case, the widths of each deflection partition 212 can be the same, and the width of each deflection partition 212 is equal to the sum of the widths of the light beams it receives correspondingly. For example, in the case of one-to-two, the width of one deflection partition 212 is equal to the sum of the widths of two light beams.

[0366] It can be set such that the number of incident light beams received by each deflection partition 212 is different. For example, the first deflection partition 212 receives one incident light beam, the second deflection partition 212 receives two incident light beams, the third deflection partition 212 receives three incident light beams, and so on. In this case, the width of each deflection partition 212 is different, and the width of each deflection partition 212 is equal to the total width of the light beams it receives correspondingly.

[0367] It can be set such that the number of incident light beams received by each deflection partition 212 is partly the same and partly different. For example, the first deflection partition 212 receives one incident light beam, the second deflection partition 212 receives two incident light beams, the third deflection partition 212 receives one incident light beam, the fourth deflection partition 212 receives two incident light beams, and so on. In this case, the width of each deflection partition 212 is partly the same and partly different, and the width of each deflection partition 212 is equal to the total width of the light beams it receives correspondingly.

[0368] In some alternative embodiments, the control device 600 can determine whether it is possible to adjust the deflection angle of the light beam for each deflection partition 212 according to the scanning state of each deflection partition 212. Each deflection partition 212 can adjust the deflection angle of the light beam when it is in a non-scanning state. The above control device 600 can also be used to determine whether each deflection partition 212 is in a scanning state. After determining that a deflection partition 212 has completed the deflection of the incident light beam in the current deflection cycle and is in a non-scanning state, the control device controls the deflection partition 212 to adjust the deflection angle of the light beam, and before entering the scanning state in the next deflection cycle, adjusts the deflection angle of the light beam of the deflection partition 212 to the second deflection angle required in the next deflection cycle. Each deflection partition 212 can start to adjust the deflection angle of the light beam of the deflection partition 212 after it has completed the deflection of the light beam in the current deflection cycle and is in a non-scanning state, so as to better ensure that the angle can be adjusted in time. The non-scanning state means that there is no incident light beam currently and no light beam deflection is required.

[0369] In practical applications, the deflection partition 212 currently scanned by the light beam can be determined as the deflection partition in the scanning state, and the remaining deflection partitions 212 can be determined as the deflection partitions in the non-scanning state. That is to say, if a deflection partition is the deflection partition currently scanned by the incident light beam, it is determined that the deflection partition is in the scanning state; otherwise, it is determined that the deflection partition is in the non-scanning state.

[0370] Optionally, the deflection partition 212 currently scanned by the light beam and the next deflection partition 212 to be scanned can also be determined as the deflection partitions in the scanning state, and the remaining deflection partitions 212 are determined as the deflection partitions in the non-scanning state. The remaining deflection partitions 212 include all the deflection partitions in the second light deflector 200 except the deflection partition 212 currently scanned by the light beam and the next deflection partition 212 to be scanned; the deflection partition currently scanned by the light beam and the next deflection partition to be scanned are adjacent deflection partitions in position, or can also be non-adjacent deflection partitions in position. That is to say, if a deflection partition 212 is the deflection partition currently scanned by the incident light beam or the next deflection partition to be scanned, then it is determined that this deflection partition 212 is in the scanning state; otherwise, it is determined that this deflection partition 212 is in the non-scanning state. The deflection partition currently scanned by the incident light beam and the next deflection partition to be scanned can be adjacent deflection partitions in position or non-adjacent deflection partitions in position. The incident light beam is usually scanned into each deflection partition 212 in a set order, and the control device 600 can determine the next deflection partition to be scanned according to the currently scanned deflection partition and the scanning order.

[0371] Since the incident light beam deflected by the first light deflector 100 can irradiate different positions of the second light deflector 200, and different positions of the second light deflector 200 correspond to different deflection partitions, it is possible to determine which deflection partitions are in the scanning state and which deflection partitions are in the non-scanning state according to the incident position. The control device 600 is specifically configured to determine the deflection partitions 212 currently in the scanning state and the deflection partitions 212 in the non-scanning state according to the scanning position of the incident light beam on the second light deflector 200; for the deflection partitions 212 in the non-scanning state, if the scanning order of this deflection partition 212 is before that of the deflection partitions 212 in the scanning state, it is considered that this deflection partition has completed the beam deflection of the current deflection cycle, and the deflection angle of the beam by this deflection partition 212 can be adjusted to the second deflection angle required for the next deflection cycle.

[0372] The deflection angle adjustment of each deflection sub-region in the second light deflection device 200 described above can be achieved by changing the voltage on the electrodes. Different light deflection devices have different principles for deflecting light beams. For a light deflection device that changes the deflection angle by changing the refractive index, when the second light deflection device 200 has a non-partitioned structure, the control device 600 is used to control the voltage applied to the electrodes of the second light deflection device 200 to adjust the refractive index of the medium in the second light deflection device 200 for the incident light beam, so as to adjust the deflection angle of the second light deflection device 200 for the incident light beam; when the second light deflection device 200 has a partitioned structure, the control device 600 is used to control the voltage applied to the electrodes of each deflection sub-region 212 to adjust the refractive index of the medium in the deflection sub-region 212 for the incident light beam, so as to adjust the deflection angle of the deflection sub-region 212 for the incident light beam.

[0373] For example: when the second light deflection device 200 uses a liquid crystal polarization grating and has a non-partitioned structure, the control device 600 is used to control the voltage applied to the electrodes of the second light deflection device to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the second light deflection device for the light beam; when the second light deflection device 200 uses a liquid crystal polarization grating and has a partitioned structure, the control device 600 is used to control the voltage applied to the electrodes of each deflection sub-region 212 to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection sub-region for the incident light beam.

[0374] In some alternative embodiments, referring to Figure 14a 、 14b As shown in 14c and 14d, the second light deflection device 200 includes at least one light deflection unit 210, and the light deflection unit 210 includes a plurality of sub-deflection sub-regions 2121; the deflection sub-region 212 includes the sub-deflection sub-regions 2121 corresponding in position in at least one light deflection unit 210. When the second light deflection device 200 includes one light deflection unit 210, the deflection sub-region is one sub-deflection sub-region 2121 on this one light deflection unit 210; when the second light deflection device 200 includes two light deflection units 210, the deflection sub-region includes two sub-deflection sub-regions 2121 corresponding in position on these two light deflection units 210. When the second light deflection device 200 includes a plurality of light deflection units 210, the deflection sub-region 212 includes a plurality of sub-deflection sub-regions 2121 corresponding in position on these plurality of light deflection units 210. The second light deflection device 200 described above may include one or several light deflection units 210, and the number of light deflection units 210 is related to the number of second deflection angles. Figure 14a 、 14b, in 14c and 14d, four optical deflection units 210 are used as an example for illustration. In practical applications, the number of optical deflection units 210 can be set as needed. Through the deflection angles of each optical deflection unit 210, multiple required deflection angles can be combined. For example, when one optical deflection unit 210 can achieve two-angle deflection, if four-angle deflection is required during optical scanning, then two optical deflection units 210 are set; if eight-angle deflection is required, then three optical deflection units 210 are set; if sixteen-angle deflection is required, then four optical deflection units 210 are set; and so on. That is, the relationship between the number N of optical deflection units 210 and the number M of required deflection angles satisfies M = 2 N .

[0375] The optical deflection unit 210 includes a rotor sub-region 2121 whose deflection angle of the light beam can be independently adjusted. Since the optical deflection unit 210 has multiple rotor sub-regions 2121 that can independently control the deflection angle, light beams with different deflection angles can be respectively incident on one of the rotor sub-regions 2121 and deflected. Therefore, the deflection angle of the light beam can be adjusted by using the time when the rotor sub-region 2121 is not scanned. When the second optical deflection device 200 includes at least one optical deflection unit 210, the control device 600 is specifically configured to respectively control the voltages on the two ends of each rotor sub-region 2121, and change the deflection angle of at least one rotor sub-region for the incident light beam by changing the voltages on the two ends of at least one rotor sub-region, so as to realize changing the second deflection angle of the corresponding deflection sub-region 212 for the incident light beam. That is to say, by adjusting the deflection angles of some or all of the multiple rotor sub-regions 2121 for the light beam, the second deflection angle of the entire deflection sub-region 212 for the incident light beam is changed.

[0376] The above-mentioned second optical deflection device 200 can deflect the incident light beam in one direction or in two different directions. When only one-direction deflection of the light beam is required, at least one optical deflection unit 210 included in the second optical deflection device 200 deflects the incident light beam in the same direction. In this case, the number of optical deflection units 210 is set according to the number of required second deflection angles, and can be one, two or more.

[0377] In order to achieve angular deflection of a light beam in two different directions, the second light deflection device 200 may include at least two light deflection units 210, or rather, the second light deflection device 200 includes at least two light deflection unit groups 220, and each light deflection unit group 220 includes at least one light deflection unit 210. Among them, at least one light deflection unit group 220 is configured to deflect the light beam in a first direction, and at least one light deflection unit group 220 is configured to deflect the light beam in a second direction, and the first direction and the second direction may be perpendicular to each other.

[0378] Optionally, the light deflection unit group 220 with a smaller number of deflection angles of the light beam is arranged at a position relatively closer to the light incident side, so as to obtain a better deflection effect. For example Figure 14a 、 14b As shown in 14c and 14d, the light deflection unit group 220 for deflecting in the first direction includes one light deflection unit 210, which is placed on the leftmost side to achieve deflection of two angles in the first direction. Refer to Figure 5a As shown in the schematic optical path diagram of the light deflection device 10 deflecting the light beam in the first direction, the light beam emitted by the light source 300 is collimated by the collimating device 400 and then incident on the first light deflection device 100. After being deflected, the light beam is expanded by the beam expanding device 500 and then incident on different deflection zones corresponding to the second light deflection device 200. The second light deflection device 200 can deflect the light beam by two different angles in the first direction; the light deflection unit group 220 for deflecting in the second direction includes 3 light deflection units 210, which are placed on the rightmost side to achieve deflection of 8 angles in the second direction. Refer to Figure 5b As shown in the schematic optical path diagram of the light deflection device 10 deflecting the light beam in the second direction, the light beam emitted by the light source 300 is collimated by the collimating device 400 and then incident on the first light deflection device 100. After being deflected, the light beam is expanded by the beam expanding device 500 and then incident on the second light deflection device 200. The second light deflection device 200 can deflect the light beam by 8 different angles in the second direction. Figure 5b Only 3 angles are schematically shown in. Placing the light deflection unit 210 for deflecting the light beam in the deflection direction with a smaller number of deflection angles earlier in the optical path can improve the diffraction efficiency of the passing light beam. The corresponding light beam deflection function can also be achieved without setting according to the above order requirements.

[0379] The above-mentioned second light deflection device can be used in a lidar system with all-solid-state scanning. As a light deflection structure, it can achieve full-field coverage scanning, thereby increasing the detection range and improving the emission power per unit field of view. The second light deflection device 200 can further deflect the light beam emitted by the first light deflection device 100. The first light deflection device 100 performs fine deflection on the light beam, and the second light deflection device performs coarse deflection. The first light deflection device can also adopt an optical phased array (OPA), an acousto-optic deflector (AOD), an electro-optic deflection device (EOD), etc. Since the deflection angles of these deflection devices are only about 2-3 degrees, the second light deflection device 200 is required to further expand the deflection angle or deflect in different directions to achieve the coverage of the field of view area. The second light deflection device 200 can adopt a liquid crystal light deflection device.

[0380] In some alternative embodiments, the light deflection unit 210, for example but not limited to, adopts a liquid crystal polarization grating. The liquid crystal polarization grating can deflect the outgoing light to a predetermined angle without magnifying the divergence angle of the incident light, and the angle range can reach plus or minus dozens of degrees. Therefore, it is very suitable for expanding the scanning field of view angle. It can only deflect discrete angles and has a slow response speed. Therefore, in this application, a partitioned method is adopted for angle switching adjustment. Each light deflection unit 210 can deflect left-handed and right-handed circularly polarized lights by two different angles respectively, corresponding to the +1 and -1 diffraction order angles of the liquid crystal grating. Through the cascading of N light deflection units 210, the light deflection of 2 N discrete angles is achieved.

[0381] The light deflection unit 210 includes a liquid crystal half-wave plate 214 and a liquid crystal polarization grating (LCPG) plate 216; the liquid crystal half-wave plate 214 includes electrodes disposed oppositely on both sides and a half-wave plate liquid crystal layer 215 disposed between the electrodes on both sides.

[0382] One side electrode of the liquid crystal half-wave plate 214 includes a plurality of first electrode blocks 211, and the other side electrode is a first integral electrode 213. Each rotor partition corresponds to at least one first electrode block 211; each rotor partition 2121 includes a part of the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode block 211 and a part of the liquid crystal polarization grating plate 216 corresponding to the position of at least one first electrode block 211; or

[0383] Both sides electrodes of the liquid crystal half-wave plate 214 include a plurality of first electrode blocks 211, and two opposite first electrode blocks 211 form a first electrode pair 2110. Each rotor partition 2121 corresponds to at least one first electrode pair 2110; each rotor partition 2121 includes a part of the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode pair 2110 and a part of the liquid crystal polarization grating plate 216 corresponding to the position of at least one first electrode pair 2110;

[0384] Wherein, the deflection angle of the corresponding rotor sub-region 2121 for the light beam is adjusted by changing the voltage applied to the electrodes corresponding to the rotor sub-region 2121 in the liquid crystal half-wave plate 214.

[0385] That is to say, electrodes are provided on the liquid crystal half-wave plate 214 in the light deflection unit 210. The electrodes can be divided into blocks on one side or on both sides. The liquid crystal polarization grating 216 can be provided with electrodes or not. The following describes these two cases separately.

[0386] In some alternative embodiments, the liquid crystal polarization grating 216 is a passive liquid crystal deflection grating without electrodes provided. The light deflection unit 210 changes the deflection direction of the light beam passing through the passive liquid crystal deflection grating by adjusting the voltage applied to the electrodes on both sides of the liquid crystal half-wave plate 214. The rotor sub-region 2121 of the light deflection unit 210 can be realized by making the electrodes on one side or both sides of the liquid crystal half-wave plate 214 into a segmented structure. Desired voltages can be respectively applied to each electrode segment, so that independent adjustment of the deflection angles of the respective rotor sub-regions 2121 can be achieved.

[0387] For the case where the electrodes on one side are made into a segmented structure, see Figure 14a as shown. The electrodes on one side of the liquid crystal half-wave plate 214 include a plurality of first electrode segments 211, and the electrodes on the other side are a first integral electrode 213. Each rotor sub-region 2121 corresponds to at least one first electrode segment 211. Each rotor sub-region 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode segment and the part of the liquid crystal polarization grating 216 corresponding to the position of at least one first electrode segment 211. The corresponding parts in position refer to the parts that are directly opposite in position. See Figure 14a as shown by the dashed box in. The part corresponding to the position of at least one first electrode segment 211 refers to the part of the liquid crystal polarization grating 216 located in the same dashed box as at least one first electrode segment 211. In this case, each first electrode segment 211 corresponds to one rotor sub-region 2121. Alternatively, a plurality of first electrode segments 211 can also correspond to one rotor sub-region 2121. The plurality of first electrode segments 211 includes the case of 2 or more first electrode segments 211. The plurality of first electrode segments 211 can be arranged in a regular array, such as but not limited to a one-dimensional or two-dimensional array arrangement, or can also be arranged in an irregular array.

[0388] For the case where the electrodes on both sides are made into a segmented structure, see, for example, Figure 14bAs shown, both sides of the liquid crystal half-wave plate 214 include a plurality of first electrode segments 211. Two opposite first electrode segments form an electrode pair, and each rotor partition 2121 corresponds to at least one electrode pair; each rotor partition includes a portion on the liquid crystal half-wave plate 214 corresponding to the position of at least one electrode pair and a portion on the liquid crystal polarization grating plate 216 corresponding to the position of at least one electrode pair. The corresponding portions refer to the portions that are directly opposite in position. Refer to Figure 14b As shown by the dashed box in Figure 14b , the portion corresponding to the position of at least one electrode pair refers to the portion on the liquid crystal polarization grating plate 216 that is in the same dashed box as at least one electrode pair. Figure 14b In Figure 14b , the electrode segments provided correspondingly on both sides of the liquid crystal half-wave plate 214 are directly opposite to each other. However, these corresponding partition electrodes may not be strictly directly opposite, and a little misalignment between them is also acceptable. In this case, each electrode pair corresponds to one rotor partition 2121. Alternatively, multiple electrode pairs may also correspond to one rotor partition 2121. Multiple electrode pairs include the case of two or more electrode pairs. The plurality of first electrode segments 211 in each side electrode may be arranged in a regular array, such as, for example but not limited to, a one-dimensional or two-dimensional array arrangement, or may also be arranged in an irregular array.

[0389] Among them, the deflection angle of the corresponding rotor partition 2121 for the light beam is adjusted by changing the voltage applied to the electrodes on the liquid crystal half-wave plate 214 corresponding to the rotor partition 2121.

[0390] In some alternative embodiments, the light deflection unit 210 includes a liquid crystal half-wave plate 214 and a liquid crystal polarization grating plate 216. The liquid crystal half-wave plate 214 includes electrodes provided oppositely on both sides and a liquid crystal layer provided between the two side electrodes; the liquid crystal polarization grating plate 216 is an active liquid crystal polarization grating plate. The active liquid crystal polarization grating plate 216 includes electrodes provided oppositely on both sides and a grating liquid crystal layer 2164 provided between the two side electrodes. The control device 600 needs to correspondingly adjust the voltages applied to the electrodes of the liquid crystal half-wave plate 214 and the electrodes of the active liquid crystal polarization grating plate 216 to change the deflection angle of the passing light beam; the rotor partition 2121 of the light deflection unit 210 can be realized by making the electrodes on one or both sides of the liquid crystal half-wave plate into a segmented structure and making the electrodes on one or both sides of the liquid crystal polarization grating plate into a segmented structure as well. The required voltages can be respectively applied to each electrode segment, so that the independent adjustment of the deflection angles of each rotor partition 2121 can be realized. In the light deflection unit 210, the liquid crystal half-wave plate 214 further includes a first substrate 217 and a second substrate 218 provided oppositely; the liquid crystal polarization grating plate 216 further includes a third substrate 2161 and a fourth substrate 2162 provided oppositely.

[0391] The case where one side electrode of the liquid crystal polarization grating sheet 216 is made into a segmented structure is similar to the case where one side electrode of the above-mentioned liquid crystal half-wave plate 214 is made into a segmented structure. The case where both side electrodes of the liquid crystal polarization grating sheet 216 are made into a segmented structure is similar to the case where both side electrodes of the above-mentioned liquid crystal half-wave plate 214 are made into a segmented structure, which will not be elaborated here. It should be noted that:

[0392] In an optical deflection unit 210, it is possible to select that both the liquid crystal polarization grating sheet 216 and the liquid crystal half-wave plate 214 have one side electrode made into a segmented structure; see Figure 14c As shown, one side electrode of the liquid crystal half-wave plate 214 includes a plurality of first electrode segments 211, and the other side electrode is a first integral electrode 213; one side electrode of the liquid crystal polarization grating sheet 216 includes a plurality of second electrode segments 2163, and the other side electrode is a second integral electrode 2165; at least one second electrode segment 2163 on the liquid crystal polarization grating sheet 216 and at least one first electrode segment 211 at the corresponding position on the liquid crystal half-wave plate 214 form a segment group; each rotor partition 2121 corresponds to at least one segment group, that is, each rotor partition 2121 corresponds to at least one first electrode segment 211 of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode segment 2163 of the liquid crystal polarization grating sheet 216. Each rotor partition 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of the segment group and the part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segment group.

[0393] In an optical deflection unit 210, it is possible to select that both the liquid crystal polarization grating sheet 216 and the liquid crystal half-wave plate 214 have both side electrodes made into a segmented structure, see Figure 14d As shown, both side electrodes of the liquid crystal half-wave plate 214 include a plurality of first electrode segments 211, and two opposite first electrode segments 211 on the liquid crystal half-wave plate 214 form a first electrode pair 2110; both side electrodes of the liquid crystal polarization grating sheet 216 include a plurality of second electrode segments 2163, and two opposite second electrode segments 2163 on the liquid crystal polarization grating sheet 216 form a second electrode pair 2160; at least one second electrode pair 2160 on the liquid crystal polarization grating sheet 216 and at least one first electrode pair 2110 at the corresponding position on the liquid crystal half-wave plate 214 form a segment group; each rotor partition 2121 corresponds to at least one segment group, that is, each rotor partition 2121 corresponds to at least one first electrode pair 2110 of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode pair 2160 of the liquid crystal polarization grating sheet 216. Each rotor partition 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of the segment group and the part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segment group.

[0394] In an optical deflection unit 210, one side electrode of the liquid crystal polarization grating sheet 216 can be selected to be made into a segmented structure, and both side electrodes of the liquid crystal half-wave plate 214 are made into a segmented structure. Two opposite first electrode segments on the liquid crystal half-wave plate form a first electrode pair, and at least one second electrode segment on the liquid crystal polarization grating sheet 216 and at least one first electrode pair corresponding in position on the liquid crystal half-wave plate 214 form a segmented group; each rotor segment 2121 corresponds to at least one segmented group, that is, each rotor segment 2121 corresponds to at least one first electrode pair of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode segment of the liquid crystal polarization grating sheet 216. Each rotor segment 2121 includes a part of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group, and a part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segmented group.

[0395] In an optical deflection unit 210, both side electrodes of the liquid crystal polarization grating sheet 216 can be selected to be made into a segmented structure, and one side electrode of the liquid crystal half-wave plate 214 is made into a segmented structure. Two opposite second electrode segments on the liquid crystal polarization grating sheet 216 form a second electrode pair, and at least one second electrode pair on the liquid crystal polarization grating sheet 216 and at least one first electrode segment corresponding in position on the liquid crystal half-wave plate 214 form a segmented group; each rotor segment 2121 corresponds to at least one segmented group, that is, each rotor segment 2121 corresponds to at least one first electrode segment of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode pair of the liquid crystal polarization grating sheet 216. Each rotor segment 2121 includes a part of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group, and a part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segmented group.

[0396] Wherein, the deflection angle of the corresponding rotor segment 2121 on the light beam is adjusted by changing the voltage applied to the electrode corresponding to the rotor segment 2121 in the liquid crystal half-wave plate 214 and the voltage applied to the electrode corresponding to the rotor segment 2121 in the liquid crystal polarization grating sheet 216.

[0397] It should be noted that for the case where the second optical deflection device 200 includes at least two optical deflection units 210, the respective rotor segments 2121 on at least two different optical deflection units 210 are arranged corresponding to each other. In this case, a plurality of rotor segments 2121 corresponding in position and capable of forming a deflection optical path on different optical deflection units 210 can be adjusted simultaneously when adjusting the deflection angle. At this time, it is necessary to adjust the voltages applied to these plurality of rotor segments 2121 respectively to achieve this.

[0398] From another perspective, a plurality of partial rotor partitions 2121 corresponding to positions belonging to different light deflection units 210 can form a deflection optical path. It can also be understood as a deflection partition 212 that can be structurally disassembled from each other. Each deflection partition 212 has a unified deflection angle for the light beam and can independently adjust the deflection angle of the light beam as a whole. The plurality of deflection partitions 212 are arranged in sequence according to the deflection direction of the light beam with the first deflection angle. That is to say, the deflection partition includes partial rotor partitions corresponding to positions in at least one light deflection unit; the partial rotor partitions 2121 in at least one light deflection unit 210 included in a deflection partition 212 can form a deflection optical path. When a deflection partition 212 includes one light deflection unit 210, the partial rotor partition 2121 in this one light deflection unit 210 can form a deflection optical path. When a deflection partition 212 includes two light deflection units, the partial rotor partitions 2121 in these two light deflection units 210 can form a deflection optical path. When a deflection partition 212 includes a plurality of light deflection units 210, the partial rotor partitions 2121 in these plurality of light deflection units can form a deflection optical path.

[0399] Optionally, a quarter-wave plate can be arranged in front of the first-layer liquid crystal half-wave plate to change the polarization state of the incident light beam and change the linearly polarized light emitted from the first light deflection device 100 into circularly polarized light.

[0400] The electrodes are, for example but not limited to, ITO electrodes. The shape and arrangement of the electrode blocks depend on the shape of the light beam to be deflected and the change in its scanning position on the light deflection unit 210. The incident light beam is a long strip-shaped light beam with its length direction set along the second direction and scans along the first direction on the light deflection unit 210. Correspondingly, the electrode blocks are also long strip-shaped with their length directions set along the second direction, and the plurality of electrode blocks are also arranged in parallel along the first direction. Different electrode blocks are separated from each other, so the arrangement state of the corresponding part of the liquid crystal molecules in the partition can be independently controlled by applying voltage.

[0401] Theoretically, in the same light deflection device, the liquid crystal half-wave plates 214 belonging to different light deflection units 210 can also have different ITO electrode structures respectively. For example, the electrode structure of the liquid crystal half-wave plate 214 in a part of the light deflection units 210 is divided into two side partitions, and the electrode structure of the liquid crystal half-wave plate 214 in another part of the light deflection units 210 is divided into one side partition with the other side not partitioned. The liquid crystal polarization grating sheets 216 belonging to different light deflection units can also have different ITO electrode structures respectively. For example, the electrode structure of the liquid crystal polarization grating sheet 216 in a part of the light deflection units 210 is divided into two side partitions, and the electrode structure of the liquid crystal polarization grating sheet 216 in another part of the light deflection units 210 is divided into one side partition with the other side not partitioned.

[0402] SeeFigure 14a , 14b As shown in FIGS. 14c and 14d, the liquid crystal half-wave plate 214 may further include a first substrate 217 and a second substrate 218 which are oppositely arranged, and electrodes on both sides are respectively arranged on the inner surfaces of the first substrate 217 and the second substrate 218 facing each other. The inner surfaces are, for example, flat surfaces. The liquid crystal polarization grating sheet 216 further includes a third substrate 2161 and a fourth substrate 2162 which are oppositely arranged, and electrodes on both sides are respectively arranged on the inner surfaces of the third substrate 2161 and the fourth substrate 2162 facing each other. The inner surfaces are, for example, flat surfaces.

[0403] In some alternative embodiments, all the liquid crystal polarization grating sheets 216 of the light deflection units 210 in the second light deflection device 200 are passive liquid crystal polarization grating sheets, or all the liquid crystal polarization grating sheets 216 of the light deflection units 210 in the second light deflection device 200 are active liquid crystal polarization grating sheets, or some of the liquid crystal polarization grating sheets 216 of the light deflection units 210 in the second light deflection device 200 are passive liquid crystal polarization grating sheets and some of the liquid crystal polarization grating sheets 216 of the light deflection units 210 are active liquid crystal polarization grating sheets; the liquid crystal material of the liquid crystal layer may be, for example but not limited to, nematic liquid crystal or blue phase liquid crystal.

[0404] Taking the passive liquid crystal polarization grating sheet as an example, the passive liquid crystal polarization grating sheet does not need to apply a voltage to change the liquid crystal arrangement during operation. By selecting whether to apply a voltage to the liquid crystal half-wave plate 214, the polarization state of the passing beam can be changed, so as to control the deflection direction of the beam passing through the passive liquid crystal polarization grating sheet. The deflection angle of the passive liquid crystal polarization grating sheet for the beam is preset. The left-handed polarization component and the right-handed polarization component of the incident beam will be deflected towards the positive first-order diffraction direction and the negative first-order diffraction direction of the liquid crystal polarization grating sheet. The included angles of these two diffraction directions relative to the incident direction are equal in magnitude and opposite in deflection direction. Thus, by combining light deflection units with different beam deflection angles and applying corresponding voltages to the liquid crystal half-wave plate, deflections of the passing beam at multiple different preset angles can be achieved.

[0405] For each incident light beam with a first deflection angle that varies in the first direction emitted by the first light deflection device 100, as the light beam starts to scan, the voltage applied to the scanned deflection partitions in the second light deflection device 200 is sequentially changed synchronously, and the liquid crystal molecule arrangement in the scanned deflection partitions is switched to the state required for the next light beam deflection angle. Thus, each deflection partition 212 can utilize the gap when the first light deflection device 100 deflects the light beam along the first direction to scan other deflection partitions to switch the liquid crystal arrangement state. When the light beam deflected by the first light deflection device 100 scans the last deflection partition of the second light deflection device 200 within the deflection period, the liquid crystal molecule arrangement in the first deflection partition to be scanned in the next deflection period has been switched to the state required for the next light beam deflection angle. Therefore, at this time, the first light deflection device 100 can be immediately controlled to deflect the light beam along the first direction to the first deflection partition to be scanned to start the scan of the next deflection period without waiting. It can also be understood that the liquid crystal half-wave plate can update the liquid crystal arrangement state of each partition in real time along the scanning direction of the light beam on it according to a preset frequency to complete the seamless switching of the light beam deflection angle.

[0406] See Figure 15a Shown is a structural example of the second light deflection device 200 using a passive liquid crystal polarization grating sheet. Each light deflection unit 210 in the second light deflection device 200 adopts binary cascading. Multiple light deflection units are arranged in sequence along the propagation direction of the light beam, and the deflection angles of the light beam passing through are incremented step by step in the natural power of two in the arranged order. That is, the first light deflection unit closest to the light incident side has the smallest deflection angle for the light beam passing through, while the last light deflection unit farthest from the light incident side and closest to the light exit side has the largest deflection angle for the light beam passing through. Assuming that the deflection angle of the first light deflection unit for the light beam passing through is r, then the deflection angles of the N light deflection units 210 arranged in sequence along the light exit direction for the light beam passing through are ±r, ±2r, ±4r, …, ±2 N-1 r. Correspondingly, the entire second light deflection device 200 including N light deflection units can deflect the passing light beam by preset deflection angles of ±r, ±3r, ±5r, …, ±(2 N-1)·r, it can be seen that the beam deflection angle that the second light deflection device 200 can provide is an odd multiple of the minimum deflection angle r of the passing beam by a single light deflection unit, and the maximum value of the odd number is 2 to the power of N minus 1, where N is the number of light deflection units included in the second light deflection device 200. The angular interval between adjacent preset deflection angles is 2r, that is, the multiple preset deflection angles of the passing beam by the second light deflection device 200 are distributed in an arithmetic progression according to the preset angular interval, and the deflection accuracy of the passing beam is 2r, and the angular interval can be regarded as the angular tolerance of the arithmetic progression. Therefore, the relational expression between the second deflection angle range ψ of the passing beam by the binary cascaded light deflection unit 210 and the total number M of different deflection angles that can be provided is:

[0407] Ψ = (2 N -1)·r

[0408] M = 2 N

[0409] where r is the minimum deflection angle of the passing beam by N light deflection units, and N is the total number of light deflection units 210 in the second light deflection device 200.

[0410] During use, the polarization state of the beam incident on the passive liquid crystal polarization grating 216 in the light deflection unit 210 can be selected by applying a voltage to the liquid crystal half-wave plate 214 in the light deflection unit 210, so as to correspondingly control the diffraction deflection direction of the beam when passing through the passive liquid crystal polarization grating 216. For example, if the beam deflects in the positive first-order diffraction direction when passing through the passive liquid crystal polarization grating 216 after passing through the liquid crystal half-wave plate 214 applied with a saturated voltage, then the beam will deflect in the negative first-order diffraction direction when passing through the passive liquid crystal polarization grating 216 after passing through the liquid crystal half-wave plate 214 without applying a voltage. Since the polarization state of the beam will also be changed when it is diffracted by the passive liquid crystal polarization grating 216, if it is necessary to continue deflecting in the same diffraction order in the next light deflection unit 210, it is necessary to turn off the voltage applied to the liquid crystal half-wave plate 214 in the next light deflection unit 210 so that the liquid crystal half-wave plate 214 changes the polarization state of the passing beam back to the polarization state before the previous deflection; if it is necessary to deflect in the opposite diffraction order in the next light deflection unit 210, it is necessary to apply a saturated voltage to the liquid crystal half-wave plate 214 in the next light deflection unit 210 so that it does not change the polarization state of the passing beam.

[0411] Figure 15bIt is a schematic diagram of the voltage control of the binary cascaded optical deflection unit 210 and the relationship between the deflection angle of the one-dimensional deflection of the passing light beam. The shaded area in the figure indicates that the saturated voltage is applied to the corresponding liquid crystal half-wave plate 214, and at this time, the liquid crystal half-wave plate 214 does not change the polarization state of the passing light beam. The white area indicates that the saturated voltage applied to the liquid crystal half-wave plate 214 is turned off, and the corresponding liquid crystal half-wave plate 214 will change the polarization state of the passing light beam. Since all the liquid crystal polarization grating sheets are passive, no voltage can be applied to all the passive liquid crystal polarization grating sheets 216, and they will deflect the passing light beam in the corresponding direction of the positive or negative first-order diffraction by a preset angle according to the polarization state of the passing light beam. Figure 15b Exemplarily, it is given that the second optical deflection device includes 4 optical deflection units adopting binary cascading. Each optical deflection unit includes a liquid crystal half-wave plate and a passive liquid crystal polarization grating sheet. In the order along the light beam output direction, they are: the first optical deflection unit includes liquid crystal half-wave plate I and passive liquid crystal polarization grating sheet I, the second optical deflection unit includes liquid crystal half-wave plate II and passive liquid crystal polarization grating sheet II, the third optical deflection unit includes liquid crystal half-wave plate III and passive liquid crystal polarization grating sheet III, and the fourth optical deflection unit includes liquid crystal half-wave plate IV and passive liquid crystal polarization grating sheet IV. Moreover, the passive liquid crystal polarization grating sheets I-IV have the same grating vector direction. Among them, the deflection angles of the passive liquid crystal polarization grating sheets I-IV for the light beam increase step by step in the natural power of two. The value of the natural number is the serial number of the optical deflection unit where it is located minus one, corresponding to r, 2r, 4r, and 8r. In practical applications, the deflection angle of each liquid crystal polarization grating sheet for the light beam can be selected according to needs.

[0412] See Figure 15a and Figure 15bAs shown, the reference system is established with the horizontally incident light beam at 0 degrees, positive angles for left deflection, and negative angles for right deflection. If the polarization state of the light beam when it enters the second light deflection device 200 causes the passive liquid crystal polarization grating to deflect the light beam in the direction of positive first-order diffraction, and the light beam is desired to obtain a deflection angle of +r after passing through the entire second light deflection device, then the voltage applied to the liquid crystal half-wave plate I should be turned off so that the polarization state of the light beam passing through the liquid crystal half-wave plate I is first changed. In this way, the passive liquid crystal polarization grating I will deflect the passing light beam by -r and at the same time restore the polarization state of the light beam to the incident state. Since it is necessary to make the passive liquid crystal polarization grating II and the passive liquid crystal polarization grating III deflect the light beam further in the directions of -2r and -4r respectively next, the voltages applied to the liquid crystal half-wave plate II and the liquid crystal half-wave plate III should be turned off correspondingly to allow the polarization state of the light beam to be changed before entering the corresponding passive liquid crystal polarization grating II and passive liquid crystal polarization grating III. Finally, a saturated voltage is applied to the liquid crystal half-wave plate IV to maintain the polarization state of the light beam restored to the incident state after passing through the passive liquid crystal polarization grating III, so that the light beam can deflect back by +8r in the opposite direction to the previous one when passing through the passive plate IV to finally obtain a deflection direction of r. By analogy, the second light deflection device 200 can also deflect the passing light beam by other preset deflection angles through the voltage application method as shown in Figure 15b For example, the angles of 3r, 5r, 7r, 9r, 11r, 13r, 15r, -r, -3r, -5r, -7r, -9r, -11r, -13r, -15r in the figure. By changing the voltage application conditions of the liquid crystal half-wave plates I-IV to adjust the polarization state of the light beam before entering the corresponding passive liquid crystal polarization gratings I-IV, and through the cooperation of the four light deflection units 210, it is possible to deflect the light beam by 16 different deflection angles. It can be understood that to achieve different numbers of deflection angles, it can be achieved by setting different numbers of light deflection units 210.

[0413] Figure 15c Schematic diagram of the voltage control of the binary cascaded light deflection unit 210 and the relationship between the deflection angles of the two-dimensional deflection of the passing light beam. Different from Figure 15b in that, Figure 15b in the four deflection units deflect the light beam in the same direction, such as the horizontal direction or the vertical direction, Figure 15c in which one of the four deflection units deflects the light beam in the first direction and three deflection units deflect the light beam in the second direction, where p represents the minimum deflection angle of the passing light beam in the vertical direction and h represents the minimum deflection angle of the passing light beam in the horizontal direction. With the cooperation of the four deflection units, it is possible to deflect the light beam by two deflection angles in the vertical direction and eight deflection angles in the horizontal direction. For example, Figure 15cThe angles (-p, h), (p, h), (-p, 3h), (p, 3h), (-p, 5h), (p, 5h), (-p, 7h), (p, 7h), (-p, -7h), (p, -7h), (-p, -5h), (p, -5h), (-p, -3h), (p, -3h), (-p, -h), (p, -h) shown in

[0414] If an active liquid crystal polarization grating is used, the difference is as follows: A passive liquid crystal polarization grating does not require a voltage to be applied during operation. When using a passive liquid crystal polarization grating, only by applying a corresponding voltage to the liquid crystal half-wave plate can the deflection of the light beam be achieved during operation, with a fast response speed and a simple driving program. An active liquid crystal polarization grating requires corresponding voltages to be applied for different deflection angles during operation. When using an active liquid crystal polarization grating, the voltages applied to the liquid crystal half-wave plate and the active liquid crystal polarization grating in the light deflection unit 210 of the second light deflection device need to be adjusted separately for different deflection angles. When using an active liquid crystal polarization grating, the voltages applied to both the liquid crystal half-wave plate and the active liquid crystal polarization grating in the light deflection unit 210 can be changed. By changing the applied voltages, different deflection angles can be achieved, which will not be elaborated here.

[0415] In some optional embodiments, in the above-mentioned second light deflector 200, the adjustment time for the deflection partition to adjust the second deflection angle of the incident light beam is not greater than the time interval between two adjacent deflection periods of the deflection partition scanned by the incident light beam. In order to ensure that each deflection partition has sufficient time to adjust the deflection angle, the number of deflection partitions can be reasonably set within the duration range of the deflection period. This is because when the number of deflection partitions is too small, it cannot be guaranteed that the time interval between two adjacent deflection periods scanned by the incident light beam for each deflection partition is sufficient to complete the deflection angle adjustment. Therefore, the number of deflection partitions is determined according to the number of second deflection angles deflected by the second light deflector 200, the time required for the second light deflector 200 to deflect the light beams with multiple different first deflection angles into multiple different second deflection angles, and the adjustment time required for the second light deflector 200 to complete one deflection angle adjustment. Or rather, the number of deflection partitions can be set according to the number of deflection angles of the second light deflector, the required frame rate, and the time required for the second light deflector to complete one deflection angle adjustment, so as to ensure that within the interval between two scans, the deflection partition can complete the deflection angle adjustment while meeting the required frame rate. Specifically, the number D of the deflection partitions 212 is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second light deflector 200, F is the frame rate at which the second light deflector 200 deflects a round of M deflection angles, and T is the time required for the second light deflector 200 to complete one deflection angle adjustment. Of course, setting the number of deflection partitions according to this formula is a preferred method, which can enable each deflection partition not to wait and can complete the angle change adjustment by using the scanning gap. Even if the set number is a little less, it can also reduce the waiting time to a certain extent.

[0416] The response speed of the liquid crystal half-wave plate 214 is about in the order of several milliseconds. During the adjustment of the liquid crystal switching state, the system is in an inoperative state. To meet the requirement of the 10 Hz frame rate for light scanning, a single traversal of all scanning angles needs to be completed within 100 ms. Therefore, to ensure the scanning efficiency of the system, after adopting the method of dividing the ITO electrode layer of the liquid crystal half-wave plate into blocks, or after adopting the method of dividing the ITO electrode layers of the liquid crystal half-wave plate and the liquid crystal polarization grating into blocks. When the light beam scans, the light beam is incident on one electrode block, and at this time, the other electrode blocks not irradiated by the light beam can be adjusted to change the phase delay amount.

[0417] Taking the example that the first light deflector 100 deflects the emitted light beam in the vertical direction. Assume that the liquid crystal response time is S ms, and the N light deflector units in combination need to achieve deflection of multiple discrete angles. Then at this time, each light deflector unit needs to be divided into D deflection partitions along the vertical direction. Refer to Figure 16 、 Figure 17 、 Figure 18As shown, at the start of a frame (with a duration of 100 ms), the light beam is incident on the first deflection partition, and the beam width in the vertical direction is designed to be the width of one deflection partition. The first optical deflection device 100 deflects the beam quasi-continuously downward by an angle, and the beam starts to enter the second deflection partition. At this time, the first and second deflection partitions are in the "scanning" state, and the state of the liquid crystal molecules therein cannot be adjusted, while the remaining K - 2 layers are in the "non-scanning" state. When the beam leaves the first deflection partition and starts to enter the third deflection partition, the first deflection partition enters the "non-scanning" state, while the second and third deflection partitions are in the "scanning" state. According to the above rules, when the beam is incident on the Dth deflection partition, one deflection cycle is completed. At this time, the first optical deflection device 100 deflects the beam to be incident on the first deflection partition, starting the second deflection cycle. Multiple deflection cycles are required within one frame, and in each deflection cycle, the second optical deflection device 200 deflects the light to one of multiple discrete angles.

[0418] See Figure 16 、 Figure 17 、 Figure 18 As shown, in some embodiments, the optical deflection unit 210 is divided into 1 - D parallel - arranged deflection partitions. Corresponding to each second deflection angle, the incident light beams with different first deflection angles are scanned from the first partition to the Dth deflection partition in the vertical direction. After the light beam deflected by the first optical deflection device 100 leaves the first deflection partition and scans the second deflection partition, the scanned first deflection partition can start to change the voltage applied to the first deflection partition through the independently - arranged ITO electrode blocks corresponding thereto, so as to switch the arrangement state of some liquid crystal molecules corresponding to the first deflection partition to the arrangement state of liquid crystal molecules required for the next second deflection angle. That is to say, during the process that the incident light beam scans from the second deflection partition to the Dth deflection partition, the arrangement state of some liquid crystal molecules corresponding to the first deflection partition can be synchronously changed through the corresponding ITO electrode blocks, and the whole process is sufficient to complete the change of the arrangement state of some liquid crystal molecules in the first deflection partition. Thus, for one second deflection angle, when the incident light beam with the first deflection angle has scanned from the first deflection partition to the Dth deflection partition, the arrangement state of some liquid crystal molecules corresponding to the first deflection partition has completed the change required for the next second deflection angle, and the incident light beam can immediately and seamlessly start scanning the next second deflection angle from the first deflection partition again.

[0419] For example, to meet a scanning frame rate of 10HZ, for Figure 2 and Figure 3It takes 100 ms to complete one scan for all 16 second deflection angles. The scan time for each second deflection angle is 100 / 16 = 6.25 ms. The optical deflection unit is divided into 10 deflection sub - zones, so the scan time for each deflection sub - zone is 6.25 / 10 = 0.625 ms. As described above, during the scanning of the current deflection sub - zone and the next deflection sub - zone, the liquid crystal state of the deflection sub - zone cannot be changed. Therefore, for a deflection sub - zone, the time available to adjust the deflection angle is 6.25 - 2*0.625 = 5 ms. This period of time is equal to the adjustment time of the liquid crystal state during the switching to the next deflection angle. Therefore, 5 ms can meet the requirement of seamless switching of the deflection angle.

[0420] In the above description, it is taken as an example that within one deflection cycle, the light beam scans each deflection sub - zone from top to bottom in sequence, and in the next deflection cycle, the light beam still scans each deflection sub - zone from top to bottom in sequence. In practical applications, the scanning sequence can be randomly adjusted and does not have to follow this order. For example, the incident light does not have to enter in the order from top to bottom. In addition, within one deflection cycle, the second deflection angles of each light beam can be the same or different, as long as the entire field of view can be covered eventually.

[0421] In the second optical deflection device 200 described above, the optical deflection unit is divided into D sub - deflection zones along the first direction. The size of the optical deflection unit 210 in the first direction is greater than D*d_v, where d_v is the size of the light beam in the first direction at this time. Correspondingly, the size of the optical deflection unit in the second direction should satisfy the condition of including the size of the light beam in the second direction here.

[0422] In addition to using LCPG, the second optical deflection device 200 can also use other suitable devices that can achieve coarse deflection of the light beam. As long as the optical deflection device is divided into multiple deflection sub - zones 212 and the deflection angle of the light beam for each deflection sub - zone can be adjusted independently, it conforms to the inventive concept of this utility model application. The second optical deflection device 200 is usually relatively thin. Therefore, when the incident light beam enters the optical deflection device, the light beam path will not be affected by the thickness of the optical deflection device and can be approximately a direct incidence.

[0423] In some alternative embodiments, the second light deflector 200 further includes a temperature regulator 240 configured to change the time for the second light deflector 200 to adjust the deflection angle by changing the temperature of the second light deflector 200. To ensure the normal operation of the liquid crystal molecular material in the liquid crystal polarization grating sheet of the second light deflector, it is necessary to control the temperature of the second light deflector 200 within a certain temperature range. The temperature regulator can be used to control the temperature of the second light deflector 200 within a preset temperature range. In addition, at different temperatures, the speed of the liquid crystal molecules to adjust their states is different, so that the time for each deflection zone to adjust the deflection angle is also different. Therefore, the time for the second light deflector 200 to adjust the deflection angle, that is, the time for the deflection zone to adjust the deflection angle, can be changed by changing the temperature of the second light deflector 200.

[0424] In the above-described second light deflector 200 having a partitioned structure, during the process of the change in the incident position caused by the change in the first deflection angle of the incident light beam, the liquid crystal molecule arrangement in the scanned deflection zone can be synchronously refreshed to the state required for the next second deflection angle by changing the applied voltage, so that the switching of the light beam deflection angle can be seamlessly connected without waiting. For the existing LCPG module, since a uniform voltage is applied to the entire ITO electrode on the liquid crystal half-wave plate, when the LCPG module needs to switch the deflection angle of the light beam, the voltage applied to the ITO electrode of the liquid crystal half-wave plate needs to be correspondingly changed. This process requires waiting for the change in the arrangement state of the liquid crystal molecules, which takes a long time. Therefore, in the above process of switching the deflection angle, the entire system of the existing LCPG module can only wait and cannot perform scanning detection.

[0425] In some alternative embodiments, the incident light beam can be a bar-shaped light beam, and the second light deflector 200 is configured to: when the incident light beam is a bar-shaped light beam, deflect incident light beams with multiple different first deflection angles to the same second deflection angle, so as to complete the scanning of a corresponding scanning zone of the field of view range; deflect incident light beams with multiple different first deflection angles to multiple different second deflection angles respectively, so as to complete the scanning of multiple scanning zones corresponding to different multiple second deflection angles. The scanning zone is rectangular, and the length of the light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning zone.

[0426] It can be understood that in some embodiments, when the scanning of the entire field of view area is completed, by configuring the angles and orders of the beams of the first deflection angle and the second deflection angle, the scanning of one scanning area can be completed first, and then the scanning of the next scanning area can be carried out, and so on, until all the scanning areas are scanned. That is, multiple incident beams with different first deflection angles can be deflected by the same second deflection angle within one deflection period to complete the scanning of a corresponding scanning partition in the field of view range; the second deflection angles by which the multiple incident beams with different first deflection angles are deflected in different deflection periods are different, so as to concentrate on completing the scanning of a corresponding scanning partition within one deflection period; after one scanning partition is completed, the next deflection period scans the next scanning partition; thus, after multiple deflection periods, the scanning of multiple different scanning partitions can be correspondingly completed.

[0427] Referring to Figure 2 As shown, the entire field of view angle can be divided into multiple scanning partitions. Figure 2 Taking 16 scanning partitions as an example, corresponding to 16 grids in the figure. Different deflection partitions of the second light deflection device 200 deflect the received bar-shaped incident light by different second deflection angles and can irradiate different scanning partitions. One second deflection angle corresponds to one scanning partition. After the incident beams with multiple first deflection angles are deflected by the second deflection angle, one scanning partition can be completely covered. 16 second deflection angles can correspond to 16 scanning partitions. Referring to Figure 2 As shown, deflecting 2 second deflection angles in the first direction and 8 second deflection angles in the second direction can achieve the scanning of Figure 2 the 16 scanning partitions shown. Each scanning partition corresponds to one second deflection angle, that is, after the multiple different first deflection angles deflected by the first light deflection device 100 are deflected by the same second deflection angle by the second light deflection device 200, one scanning partition can be covered. Among them, the scanning partition is rectangular, and the length of the bar-shaped beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. During actual scanning, within the first deflection period, multiple beams with first deflection angles can all be deflected by the first second deflection angle to complete the scanning of the scanning partition corresponding to the first grid in the first row; within the second deflection period, multiple beams with first deflection angles can all be deflected by the second second deflection angle to complete the scanning of the scanning partition corresponding to the second grid in the first row;...; within the fourth deflection period, multiple beams with first deflection angles are all deflected by the fourth second deflection angle, and as Figure 2 shown, complete the scanning of the scanning partition corresponding to the fourth grid in the first row; and so on. Thus, after 16 deflection periods, the scanning of all the scanning partitions corresponding to 16 grids is completed.

[0428] In some other embodiments, within one deflection period, the second light deflection device 200 deflects incident light beams with a plurality of different first deflection angles respectively by one of a plurality of different second deflection angles, and scans partial regions in corresponding scan partitions respectively; wherein, within one deflection period, the second deflection angles by which the incident light beams with a plurality of different first deflection angles are deflected are the same or different; and the second deflection angles by which the incident light beams with each first deflection angle are deflected in different deflection periods are different. Within one deflection period, each of the incident light beams with a plurality of different first deflection angles is randomly deflected by one of a plurality of different second deflection angles, so that within one deflection period, the second deflection angles by which all the incident light beams with the first deflection angles are deflected are the same, partially the same and partially different, or completely different from each other. Optionally, within one deflection period, at least two of the incident light beams with a plurality of different first deflection angles are deflected by different second deflection angles, so that within one deflection period, the second deflection angles by which all the incident light beams with the first deflection angles are deflected are partially the same and partially different, or completely different from each other.

[0429] For example: within one deflection period, the deflection light beams incident at different first deflection angles can be respectively deflected by more than two different second deflection angles; in this case, within one deflection period, instead of concentrating on scanning one corresponding scan partition, it skips to scan different positions along the first deflection angle in more than two different scan partitions; in this way, after a plurality of deflection periods, the scanning of all scan partitions can also be completed. For example, in this embodiment, since the light beams formed after being deflected by the second deflection angle correspond to scan the scan partitions corresponding to different second deflection angles, and the scanned positions are far apart from each other, the mutual crosstalk between adjacent two scans can be reduced.

[0430] See Figure 3As shown, the entire field of view angle can be divided into multiple scanning partitions, and the number of scanning partitions is 16, corresponding to the 16 grids in the figure. During a deflection period, the second light deflection device 200 can deflect the light beams with multiple first deflection angles by different second deflection angles to alternately scan different scanning partitions. For example, during the first deflection period, the second light deflection device 200 deflects the light beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the first square of the first row; deflects the light beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the second square of the first row;... During the second deflection period, the second light deflection device 200 deflects the light beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the second square of the first row; deflects the light beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the third square of the first row;... And so on, cross-scanning the scanning areas corresponding to each square. After multiple deflection periods, the scanning of all scanning partitions corresponding to all squares is completed. By adopting this setting method, the two scanning areas corresponding to the scanning within the field of view in two adjacent deflection periods are far apart, and the photosensitive pixels used by the receiving module to sense these two corresponding scanning areas in these two adjacent scanning periods are also correspondingly far apart, which can reduce the crosstalk generated between these photosensitive pixels working in succession.

[0431] Compared with the case of scanning using a circular or nearly circular light spot, scanning the field of view range with a long strip light beam and making the first light deflection device (such as an AOD) deflect the light beam in the width direction of the light beam can greatly reduce the number of deflection angles of the second light deflection device (such as an LCPG) in the first direction and the second direction. For example Figure 2 and Figure 3 as shown, deflect 16 angles, 8 angles in the horizontal direction and 2 angles in the vertical direction. And the number of deflection angles of the second light deflection device 200 is related to the number of layers it contains (i.e., the number of light deflection units in the light deflection device). Therefore, the number of layers of the second light deflection device 200 can also be reduced. For example, when deflecting 16 angles, four layers of the second light deflection device 200 are sufficient, and the second light deflection device 200 can be made thinner and smaller in size.

[0432] The scanning partition is rectangular, and the length of the strip light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. For example Figure 2 and Figure 3The length of the strip light beam after deflection by the second deflection angle is equal to the length of the scanning partition in the second direction. The long side of the strip light emitted from the first optical deflection device 100 is perpendicular to the light deflection direction of the first optical deflection device 100, so that compared with the block-shaped scanning light, under the same total power, the light beam deflected by the second deflection angle can cover a larger field of view. Therefore, the second optical deflection device 200 can cover a larger overall field of view by deflecting fewer different angles. This makes the number of layers of the second optical deflection device 200 (that is, the number of optical deflection units 210) required less, the cost is lower, and the response speed is faster.

[0433] The above-mentioned light deflection device 10 can be applied to the field of depth sensing technology, for example but not limited to being used in a laser radar system using all-solid-state scanning, as a light deflection structure to achieve coverage scanning of the entire field of view, thereby increasing the detection distance and increasing the transmission power per unit field of view. It can also be used in the fields of high-speed photography, optical engineering, space optical communications, non-destructive testing, optical sensing technology, optical multi-mode guidance technology, magneto-optical recording technology, magneto-optical imaging technology, laser display technology, precision optical instruments, etc. The second light deflection device 200 in the light deflection device 10 can further deflect the light beam emitted by the first light deflection device 100, the first light deflection device 100 performs fine deflection on the light beam, and the above-mentioned second light deflection device 200 performs coarse deflection. The first optical deflection device 100 may also be an optical phased array (OPA), an acousto-optic deflection device (AOD), an electro-optic deflection device (EOD), etc. Since the deflection angle of these deflection devices is only about 2-3 degrees, the second optical deflection device 200 is required to further expand the deflection angle or deflect in different directions to achieve coverage of the field of view. The second optical deflection device 200 may be a liquid crystal optical deflection device.

[0434] In some optional embodiments, the control device 600 of the above-mentioned light deflection device 10 can be an independent device, and the control of the first light deflection device 100 and the second light deflection device 200 is realized by an independent device. The control device 600 can also be a discrete device, see Figure 4 As shown, it includes a first control unit 110 and a second control unit 230;

[0435] The first control unit 110 is used to control the first optical deflection device 100 to deflect a plurality of different first deflection angles in a deflection period, and to make the incident light beam of each first deflection angle incident on the corresponding deflection partition of the second optical deflection device 200; the first control unit 110 can be set separately or integrated with the first optical deflection device.

[0436] A second control unit 230 is configured to control multiple deflection partitions 212 to receive an incident light beam in a time-division manner and deflect the incident light beam by a second deflection angle required for deflection, and to control the deflection partitions 212 to pre-adjust their deflection angles for the light beam before being scanned by the incident light beam; wherein, the deflection angle of at least one deflection partition 212 for the incident light beam is adjusted to the second deflection angle required for the next deflection period after the scanning of the incident light beam ends in the current deflection period and before the scanning of the incident light beam starts in the next deflection period. The second control unit 230 can be provided separately or integrated with the second light deflection device.

[0437] In some alternative embodiments, the above device further includes a temperature regulator 240 configured to change the time for the second light deflection device 200 to adjust the deflection angle by changing the temperature of the second light deflection device, that is, to change the time for the deflection partitions to adjust the deflection angles. The temperature regulator 240 can be provided separately or integrated with the second light deflection device.

[0438] In the above light deflection device with a partitioned structure, during the process of the change in the incident position caused by the change in the first deflection angle of the incident light beam, the liquid crystal molecule arrangement of the scanned deflection partitions can be synchronously refreshed to the state required for the next second deflection angle by changing the applied voltage, so that the switching of the light beam deflection angle can be seamlessly connected without waiting. For the existing LCPG module, since a unified voltage is applied to the entire ITO electrode on the liquid crystal half-wave plate, when the LCPG module needs to switch the deflection angle of the light beam, the voltage applied to the ITO electrode of the liquid crystal half-wave plate needs to be correspondingly changed. This process requires waiting for the change in the liquid crystal molecule arrangement state, which takes a long time. Therefore, the entire system of the existing LCPG module can only wait and cannot perform scanning detection during the above process of switching the deflection angle.

[0439] Embodiment III

[0440] For the light deflection device provided in Embodiment III of the present invention, see the structural schematic diagram in Figure 19 as shown. The difference from the light deflection device provided in Embodiment II is that in this Embodiment III, the second light deflection device 200 does not adopt a partitioned structure. At this time, the light beam deflected by the first light deflection device 100 is expanded by the beam expander 500 and then projected to the corresponding position of the second light deflection device. Since the second light deflection device is not partitioned, in a deflection period, the light beams with multiple first deflection angles deflected by the first light deflection device in the first direction are generally deflected by the same second deflection angle to avoid the waiting time for angle switching, and one deflection period corresponds to the scanning of one scanning area; the next deflection period continues to complete the scanning of the next scanning area. Before the completion of one deflection period and the start of the next deflection period, it may be necessary to wait for a certain time to complete the adjustment of the deflection angle.

[0441] Optionally, in the third embodiment, in order to reduce the waiting time for adjusting the deflection angle, the temperature of the second optical deflection device can be adjusted to accelerate the switching time of the arrangement state of the liquid crystal molecules. Alternatively, a blue-phase liquid crystal with a faster response speed can be used to accelerate the angle switching time.

[0442] Embodiment Four

[0443] For the optical deflection device provided in the fourth embodiment of the present invention, see the structural schematic diagram in Figure 20 as shown. The difference between the optical deflection device provided in this embodiment and the optical deflection device in Embodiment Two is that both the first optical deflection device 100 and the second optical deflection device 200 are one-dimensional deflections, and they perform one-dimensional deflections in different directions. For example, Figure 20 as shown in, the first optical deflection device 100 deflects the light beam in the first direction, and the second optical deflection device 200 deflects the light beam in the second direction. Of course, optionally, the first optical deflection device 100 can also deflect the light beam in the second direction, and the second optical deflection device 200 can deflect the light beam in the first direction.

[0444] The second optical deflection device 200 can adopt a partitioned structure or a non-partitioned structure. The case where the second optical deflection device 200 adopts a partitioned structure is similar to Embodiment Two, and the case where the second optical deflection device adopts a non-partitioned structure is similar to Embodiment Four. The difference is that the second optical deflection device 200 performs one-dimensional deflection of the light beam in one of the directions.

[0445] The optical deflection device of the fourth embodiment is more suitable for scenarios where the field-of-view angle requirement for the first direction (vertical direction) is small. In such scenarios, using a one-dimensional deflection LCPG module can simplify the structure of the LCPG module and reduce the device cost. When the second optical deflection device adopts a partitioned structure, the waiting time for angle switching can also be reduced. When the second optical deflection device adopts a non-partitioned structure, in order to reduce the waiting time for adjusting the deflection angle, the temperature of the second optical deflection device can be adjusted to accelerate the switching time of the arrangement state of the liquid crystal molecules. Alternatively, a blue-phase liquid crystal with a faster response speed can be used to accelerate the angle switching time.

[0446] Embodiment Five

[0447] For the optical deflection device provided in the fifth embodiment of the present invention, see the structural schematic diagram in Figure 21 as shown. The difference between the optical deflection device provided in this embodiment and the optical deflection device in Embodiment Two is that both the first optical deflection device 100 and the second optical deflection device 200 are one-dimensional deflections, and they perform one-dimensional deflections in the same direction. For example, as shown in Fig. 15, they both deflect the light beam in the first direction. Of course, optionally, they can also both deflect the light beam in the second direction.

[0448] In the above light deflection device, the angle range by which the first light deflection device deflects the light beam is equal to the angular interval between two adjacent second deflection angles of the second light deflection device, so as to achieve high-precision deflection of the light beam within a large angle range.

[0449] The light deflection device of the fifth embodiment is more suitable for scenarios with relatively small requirements for the field of view angles in the first direction (vertical direction) or the second direction (horizontal direction). In such scenarios, using a one-dimensional deflection LCPG module can simplify the structure of the LCPG module and reduce the device cost. The second light deflection device adopts a partitioned structure, which can also reduce the waiting time for angle switching.

[0450] Embodiment Six

[0451] For the light deflection device provided in the sixth embodiment of the present utility model, the schematic structural diagram is shown in Figure 22 As shown, the difference from the light deflection device in the second embodiment is that the beam expander 500 is disposed on the light output side of the second light deflection device 200 to expand the light beam deflected by the second light deflection device 200.

[0452] Embodiment Seven

[0453] For the light deflection device provided in the seventh embodiment of the present utility model, the schematic structural diagram is shown in Figure 23 As shown, the difference from the light deflection device in the third embodiment is that the beam expander 500 is disposed on the light output side of the second light deflection device 200 to expand the light beam deflected by the second light deflection device 200.

[0454] Embodiment Eight

[0455] For the light deflection device provided in the eighth embodiment of the present utility model, the schematic structural diagram is shown in Figure 24 As shown, the difference from the light deflection device in the fourth embodiment is that the beam expander 500 is disposed on the light output side of the second light deflection device 200 to expand the light beam deflected by the second light deflection device 200.

[0456] Embodiment Nine

[0457] For the light deflection device provided in the ninth embodiment of the present utility model, the schematic structural diagram is shown in Figure 25 As shown, the difference from the light deflection device in the fifth embodiment is that the beam expander 500 is disposed on the light output side of the second light deflection device 200 to expand the light beam deflected by the second light deflection device 200.

[0458] In the above-described Embodiments 6, 7, 8, and 9, the beam expanding device 500 is disposed behind the second optical deflection device 200, such that the second optical deflection device 200 is close to the first optical deflection device 100, which is beneficial to shortening the optical path length. At the same time, the beam size reaching the second optical deflection device 200 is small, enabling the size of the second optical deflection device to be smaller, which is also beneficial to the miniaturization of the entire module.

[0459] For the optical deflection device provided by the embodiment of the present utility model, an AOD is used as a one-dimensional fine scanning device. The AOD requires a high collimation degree of the incident beam in the optical deflection direction, while the collimation degree requirement for the incident beam perpendicular to the optical deflection direction is relatively low. Therefore, the AOD can make the emitted beam present a bar-shaped light that is narrow in the optical deflection direction and wide perpendicular to the optical deflection direction in the far field. This is more in line with the emission characteristics of the current mainstream high-power semiconductor laser sources: the beam parameter product (BPP) of a high-power laser source formed by splicing multiple light-emitting units (such as semiconductor EEL light sources) in the fast axis direction, that is, the product of the beam waist radius and the divergence angle, is much smaller than the BPP in the slow axis direction. After being collimated by a lens and incident on the AOD, in the optical deflection direction A and the direction B perpendicular to the optical deflection direction, it can be respectively collimated into a shape with approximately the same size but the divergence angle A is much smaller than the divergence angle B, matching the characteristics of the AOD.

[0460] On this basis, an LCPG is used as a coarse scanning device after the AOD to deflect the beam emitted from the AOD by a large angle in a time-division manner. For each angle deflected by the LCPG, the AOD performs a fine scan near this angle to achieve coverage of a broadband field of view. During this process, the long side of the bar-shaped beam emitted from the AOD is perpendicular to the optical deflection direction of the AOD, such that compared with a block-shaped scanned light, at the same total power, the field of view angle that can be covered by scanning with the AOD is larger. Therefore, the LCPG only needs to deflect a smaller number of different angles to cover a larger overall field of view. This enables fewer LCPG layers to be required, lower costs, and faster response speeds.

[0461] The embodiment of the present utility model further provides a transmitting module. Refer to Figure 26 as shown, which includes a light source 300 and an optical deflection device 10;

[0462] The light source 300 is configured to emit a beam to the optical deflection device 10;

[0463] The optical deflection device 10 is configured to deflect the incident beam emitted by the light source 300 to generate scanned light with different deflection angles and deflection angle switching sequences to achieve scanning of the field of view range.

[0464] The beam emitted by the light source 300 has a length along a first direction that is less than the length along a second direction. The first direction is the deflection direction of the first optical deflection device for deflecting the incident beam, and the second direction is perpendicular to the first direction.

[0465] The light source 300 includes at least one light source unit, and the light source unit includes at least two light emitting units 310 spliced along the long axis direction to emit a bar-shaped incident light beam with a shape and size meeting the requirements. The light source 300 includes any one or a combination of a vertical cavity surface emitting laser, an edge emitting laser, a light emitting diode, a laser diode, a semiconductor laser, and a fiber laser.

[0466] An embodiment of the present invention further provides a lidar system, the structure of which is shown in Figure 27 as follows, including a receiving module 2 and the above-mentioned transmitting module 1. The receiving module 2 is configured to sense the optical signal from the field of view and obtain the three-dimensional information of the field of view through the processing and analysis of the sensed optical signal.

[0467] An embodiment of the present invention further provides an electronic device, including the above-mentioned lidar system.

[0468] An embodiment of the present invention further provides a light scanning method, the process of which is shown in Figure 28 as follows, including:

[0469] S101: The collimating device collimates the incident light beam in the first direction and the second direction respectively; the length of the incident light beam in the first direction is less than its length in the second direction, and the collimation degree of the collimated light beam in the first direction is higher than that in the second direction.

[0470] In this step, before the incident light beam is incident on the first light deflection device, the collimating device collimates the incident light beam in the first direction and the second direction perpendicular to each other respectively; the first direction is the direction in which the first light deflection device deflects the incident light beam. Therefore, the collimation degree requirement in the first direction is higher than that in the second direction.

[0471] Wherein, the collimating device collimates the light beam, including:

[0472] One cylindrical lens collimates the incident light beam in the first direction, and another cylindrical lens collimates the incident light beam in the second direction; or

[0473] One spherical lens collimates the incident light beam in the first direction and the second direction simultaneously; or

[0474] One cylindrical lens collimates the light beam in the first direction, and one spherical lens collimates the light beam in the first direction and the second direction simultaneously.

[0475] Optionally, the divergence angle of the collimated light beam in the first direction after collimation is less than 1 / 10 of the divergence angle of the collimated light beam in the second direction.

[0476] S102: The first light deflector deflects the collimated light beam by a plurality of preset first deflection angles in a first direction and projects the deflected light beam onto the second light deflector.

[0477] In this step, within one deflection period, the first light deflector deflects the collimated light beam by a plurality of different first deflection angles in a preset order in a time-division manner. The first light deflector may deflect the incident light beam by a plurality of different first deflection angles in at least one of the first direction and the second direction; the first direction and the second direction are perpendicular.

[0478] The deflection period is the time required for the first light deflector to deflect the incident light beam by all of the plurality of different first deflection angles, or the deflection period is the time required for the first light deflector to deflect the incident light beam by a specified part of the first deflection angles among the first deflection angles.

[0479] Within one deflection period, the deflection angles of the light beams with a plurality of different first deflection angles change from large to small, or from small to large, or change according to a preset random rule in each deflection direction.

[0480] S103: The second light deflector deflects the deflected light beam by a preset second deflection angle to project a scanning light beam; the length of the scanning light beam in the first direction is less than its length in the second direction.

[0481] In this step, the second light deflector may deflect the deflected light beam by a plurality of different second deflection angles in at least one of the first direction and the second direction; the first direction and the second direction are perpendicular. Optionally, within one deflection period, the plurality of second deflection angles by which the incident light beam is deflected are all the same, or all different, or some are the same and some are different.

[0482] In some embodiments, the above method further includes: a beam expander magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector by a preset multiple in the corresponding deflection direction and projects the beam-expanded light beam onto the corresponding position of the second light deflector.

[0483] In this step, at least one beam-expanding lens magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector by a preset multiple in at least one of the mutually perpendicular first direction and the second direction. Optionally, at least one beam-expanding lens magnifies the deflection angle of the light beam deflected by the first light deflector or the second light deflector by a preset multiple in at least one of the mutually perpendicular first direction and the second direction.

[0484] When the beam expanding device includes two sets of cylindrical lenses, the first set of cylindrical lenses magnifies the deflection angle of the beam deflected by the first beam deflection device or the second beam deflection device in the first direction by a preset multiple. The first set of cylindrical lenses includes a first beam expanding cylindrical lens and a second beam expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the first beam expanding cylindrical lens to the focal length of the second beam expanding cylindrical lens; the second set of cylindrical lenses magnifies the deflection angle of the beam deflected by the first beam deflection device or the second beam deflection device in the second direction by a preset multiple. The second set of cylindrical lenses includes a third beam expanding cylindrical lens and a fourth beam expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the third beam expanding cylindrical lens to the focal length of the fourth beam expanding cylindrical lens; or

[0485] When the beam expanding device includes two spherical lenses, the first beam expanding spherical lens and the second beam expanding spherical lens magnify the deflection angles of the beam deflected by the first beam deflection device or the second beam deflection device in the first direction and the second direction by a preset multiple, and the preset multiple is the ratio of the focal length of the first beam expanding spherical lens to the focal length of the second beam expanding spherical lens.

[0486] In some embodiments, in the first direction, the following relationships are satisfied among the emission width V1 of the incident beam when it is emitted from the emission position (i.e., the emission width V1 of the light source in the first direction), the divergence angle θ1 of the light source emitting light in the first direction, the waist diameter V2 of the beam in the first direction when the beam is incident on the first beam deflection device, the divergence angle θ2 of the beam in the first direction when the beam is incident on the first beam deflection device, and the focal length F2 of the collimating lens collimating the beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1. In the second direction, the following relationships are satisfied among the emission length H1 of the incident beam in the second direction when it is emitted from the emission position (i.e., the emission length H1 of the light source in the second direction), the divergence angle Θ1 of the light source emitting light in the second direction, the waist diameter H2 of the beam in the second direction when the beam is incident on the first beam deflection device, the divergence angle Θ2 of the beam in the second direction when the beam is incident on the first beam deflection device, and the focal length F1 of the collimating lens collimating the beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

[0487] In some embodiments, the incident beam is a bar-shaped beam when it is emitted from the emission position, and the aspect ratio thereof is 20:1 to 100:1; the aspect ratio of the beam incident on the first beam deflection device is 3:1 to 1:2; the scanning beam is a bar-shaped beam, and the aspect ratio thereof is 20:1 to 80:1. Optionally, the aspect ratio of the incident beam when it is emitted from the emission position is 50:1; the aspect ratio of the beam incident on the first beam deflection device is 5:2; the aspect ratio of the scanning beam is 75:1; or optionally, the aspect ratio of the incident beam when it is emitted from the emission position is 50:1; the aspect ratio of the beam incident on the first beam deflection device is 5:2; the aspect ratio of the scanning beam is 25:1.

[0488] In some embodiments, the above method further includes: magnifying the divergence angle of the beam deflected by the first optical deflector in the corresponding deflection direction by a preset multiple to form a bar-shaped beam; and the magnification factor of the divergence angle is the same as the magnification factor of the deflection angle of the deflected beam in this deflection direction.

[0489] In some embodiments, the multiple different first deflection angles of the beam change from large to small, or from small to large, or change according to a preset random rule in the first direction.

[0490] In some embodiments, among the multiple different first deflection angles by which the first optical deflector deflects the incident beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the beam deflected by the first optical deflector along the deflection direction.

[0491] In some embodiments, the deflection accuracy of the beam deflecting by the first deflection angle is higher than the deflection accuracy of the beam deflecting by the second deflection angle.

[0492] In some embodiments, when the second optical deflector adopts a partitioned structure,

[0493] In the above step S102, within a deflection period, the first optical deflector deflects the incident beam by multiple different first deflection angles in a preset order in a time-division manner;

[0494] In the above step S102, projecting the deflected beam onto the corresponding position of the second optical deflector includes: correspondingly incidenting the deflected beam onto the corresponding deflection partitions of the second optical deflector;

[0495] In the above step S103, the second optical deflector deflects the deflected beam by a preset second deflection angle to project a scanning beam, including: a control device controls multiple deflection partitions in the second optical deflector to receive the deflected beams corresponding to multiple different first deflection angles of the beam; the deflection angle of the beam for each deflection partition can be adjusted independently; controlling the currently scanned deflection partition to deflect the beam by the required second deflection angle; and controlling at least one currently unscanned deflection partition to adjust the deflection angle of the beam to the second deflection angle required for the next deflection period after the beam scanning of the current deflection period ends and before the beam scanning of the next deflection period starts.

[0496] Among them, controlling multiple deflection partitions in the second optical deflector to receive the deflected beams corresponding to multiple different first deflection angles of the beam includes: controlling multiple deflection partitions to receive the deflected beams corresponding to multiple different first deflection angles of the beam in a time-division manner.

[0497] When the first light deflection device 100 deflects light beams at multiple different first deflection angles in a time-division manner, it is controlled that multiple deflection partitions 212 receive light beams at multiple different first deflection angles in a time-division manner. The above control adjusts the deflection angle of the light beam to the second deflection angle required for the next deflection period for at least one currently un-scanned deflection partition after the light beam scanning of the current deflection period is completed and before the light beam scanning starts in the next deflection period, including: after determining that a deflection partition has completed the light beam deflection of the current deflection period and is in a non-scanning state, controlling this deflection partition to adjust its deflection angle for the light beam, and before entering the scanning state in the next deflection period, adjusting its deflection angle for the light beam to the second deflection angle required for the next deflection period.

[0498] Optionally, if a deflection partition is the deflection partition currently scanned by the light beam, it is determined that this deflection partition is in the scanning state, otherwise, it is determined that this deflection partition is in the non-scanning state; or if a deflection partition is the deflection partition currently scanned or the next deflection partition to be scanned by the light beam, it is determined that it is in the scanning state, otherwise, it is determined that this deflection partition is in the non-scanning state.

[0499] Further optionally, when the deflection partition currently scanned by the light beam and the next deflection partition to be scanned are determined as the deflection partitions in the scanning state, and the remaining deflection partitions are determined as the deflection partitions in the non-scanning state, the deflection partition currently scanned by the light beam and the next deflection partition to be scanned are adjacent deflection partitions in position.

[0500] In some embodiments, the multiple second deflection angles of the light beam deflection in one deflection period are all the same, or all different, or some are the same and some are different. A deflection partition can sequentially receive one, two or more incident light beams with different first deflection angles in one deflection period. The multiple deflection partitions are configured such that the multiple second deflection angles of the light beam deflection in one deflection period are all the same, or all different, or some are the same and some are different.

[0501] In some embodiments, the number of light beams that each deflection partition can receive is all the same, all different, or some are the same and some are different; correspondingly, the widths of the multiple deflection partitions are all the same, all different, or some are the same and some are different.

[0502] In some embodiments, the voltage applied to the electrodes of each deflection partition is controlled to adjust the refractive index of the medium in the deflection partition for the light beam, so as to adjust the deflection angle of the deflection partition for the light beam. In the case where the second light deflection device uses a liquid crystal polarization grating, the voltage applied to the electrodes of each deflection partition is controlled to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection partition for the light beam.

[0503] Optionally, the second light deflector includes at least one light deflection unit, and the light deflection unit includes a plurality of rotor sub - partitions. When the deflection sub - region includes the rotor sub - partitions corresponding in position in at least one light deflection unit, the voltages on the electrodes at both ends of each rotor sub - partition are controlled respectively, and the deflection angle of the beam by at least one rotor sub - partition is changed by changing the voltages on the electrodes at both ends of at least one rotor sub - partition, so as to change the second deflection angle of the corresponding deflection sub - region with respect to the beam.

[0504] Optionally, the second light deflector includes at least two groups of light deflection units, and each group of light deflection units includes at least one of the light deflection units; controlling the second deflection angle required for the currently scanned deflection sub - region of the deflector to deflect the beam includes: the second deflection angle required for the beam to be deflected in the first direction by the currently scanned rotor sub - partition of the light deflection unit in at least one group of light deflection units, and / or the second deflection angle required for the beam to be deflected in the second direction by the currently scanned rotor sub - partition of the light deflection unit in at least one group of light deflection units, where the first direction and the second direction are perpendicular.

[0505] In some embodiments, the adjustment time for the deflection sub - region to adjust the second deflection angle of the beam is not greater than the time interval between two adjacent scans of the deflection sub - region by the beam.

[0506] In some embodiments, the number of deflection sub - regions is determined according to the number of second deflection angles deflected by the second light deflector, the time required for the second light deflector to deflect beams with multiple different first deflection angles to multiple different second deflection angles, and the adjustment time required for the second light deflector to complete one deflection angle adjustment. Optionally, the number D of deflection sub - regions is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second light deflector, F is the frame rate at which the second light deflector deflects through a round of M deflection angles, and T is the time required for the second light deflector to complete one deflection angle adjustment.

[0507] In some embodiments, the following control processes are executed in parallel: controlling the currently scanned deflection sub - region in the second light deflector to deflect the beam, and controlling at least one currently unscanned deflection sub - region to adjust its deflection angle with respect to the beam.

[0508] In some embodiments, the field of view of the optical scan is divided into a plurality of scan partitions, the scan partitions are rectangular, and the length of the field of view in the first direction is less than the length in the second direction. The incident light beam is a bar-shaped light beam; scanning the field of view includes: deflecting a plurality of light beams with different first deflection angles by the same second deflection angle to complete the scan of a corresponding scan partition of the field of view; deflecting each of the light beams with different first deflection angles among the plurality of light beams with different first deflection angles by a plurality of different second deflection angles to complete the scans of a plurality of scan partitions corresponding to different second deflection angles; the length of the light beam after deflecting the second deflection angle is equal to the length of one direction of the scan partition.

[0509] Optionally, within one deflection period, deflecting a plurality of light beams with different first deflection angles by the same second deflection angle to complete the scan of a corresponding scan partition of the field of view; each deflection period corresponds to a different second deflection angle; different deflection periods deflect the second deflection angles of the plurality of light beams with different first deflection angles differently;

[0510] Optionally, within one deflection period, deflecting each of the plurality of light beams with different first deflection angles by one of a plurality of different second deflection angles to respectively scan partial regions in the corresponding scan partitions; wherein, within one deflection period, the second deflection angles by which the plurality of light beams with different first deflection angles are deflected are the same or different; the second deflection angles by which each of the light beams with different first deflection angles is deflected in different deflection periods are different.

[0511] In some embodiments, the above method further includes: changing the temperature of the second light deflector to change the time for the second light deflector to adjust the deflection angle.

[0512] The above optical scanning method can be implemented by the above optical deflector or emission module, and the relevant content has been described in the relevant parts of the above optical deflector and emission module, and will not be elaborated here.

[0513] In the above method, multiple EELs can be spliced to form a long-strip light source to emit a long-strip light beam. The emitted light beam is collimated by a collimating device, and the collimated light beam is collimated in two directions, namely the first direction and the second direction. Among them, the first direction is strictly collimated and the first light deflection device deflects the light beam in the first direction. The second direction is not strictly collimated. The divergence angle of the light beam in the strictly collimated first direction is relatively small, and the divergence angle of the light beam in the non-strictly collimated second direction is relatively large. Therefore, when the long-strip light beam with a relatively large aspect ratio emitted by the light source reaches the first light deflection device, the aspect ratio can become larger to meet the requirement that the aspect ratio in the crystal cutting of the first light deflection device (such as AOD) should not be too large. At the same time, it can also meet the requirement that the first light deflection device has a relatively high requirement for the collimation degree of the light beam when fully deflecting the light beam in the deflection direction. In addition, after the light beam is deflected by the first light deflection device, since its divergence angle in the first direction is small and the divergence angle in the second direction is large, after being expanded by the beam expanding device and secondarily deflected by the second light deflection device, the divergence degree of the light beam in the second direction is larger than that in the first direction, so that the aspect ratio of the light beam emitted from the second light deflection device becomes larger relative to the aspect ratio when reaching the first light deflection device, forming a long-strip scanning light beam with a relatively large aspect ratio. Scanning the direction with a relatively large size of the field of view range in the length direction of the long-strip scanning light beam can reduce the number of deflection angles of the second light deflection device, and further reduce the size of the second light deflection device.

[0514] In the above description of the embodiments of the present invention, when multiple are involved, it should be understood to include two or more.

[0515] Unless otherwise specifically stated, terms such as processing, calculating, operating, determining, displaying, etc. can refer to the actions and / or processes of one or more processing or computing systems, or similar devices, which operate on and transform data represented as physical (such as electronic) quantities in the registers or memories of the processing system into other data similarly represented as physical quantities in the memories, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals can be represented using any of a variety of different technologies and methods. For example, the data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0516] It should be understood that the specific order or hierarchy of the steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of the steps in the process can be rearranged without departing from the protection scope of the present disclosure. The appended method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy.

[0517] In the above detailed description, various features are combined in a single embodiment to simplify the present disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than those expressly recited in each claim. On the contrary, as reflected in the appended claims, the present utility model is in a state with fewer features than all the features of the single disclosed embodiment. Accordingly, the appended claims are hereby expressly incorporated into the detailed description, where each claim stands alone as a separate preferred embodiment of the present utility model.

[0518] Those skilled in the art should also understand that the various illustrative logical blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability of hardware and software, the above various illustrative components, blocks, modules, circuits, and steps have been generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and the design constraints imposed on the overall system. Skilled artisans may implement the described functionality in a flexible manner for each particular application, but such implementation decisions should not be construed as departing from the scope of the present disclosure.

[0519] The steps of the methods or algorithms described in conjunction with the embodiments herein may be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software modules may be located in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also exist as discrete components in a user terminal.

[0520] For a software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor, and in the latter case, it is communicatively coupled to the processor by various means, which are well-known in the art.

[0521] The foregoing description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but those of ordinary skill in the art should recognize that the various embodiments can be further combined and arranged. Accordingly, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. In addition, with respect to the term "comprising" as used in the specification or claims, that term is inclusive in a manner similar to the term "including" as that term is interpreted when used as a transitional word in a claim. Further, any use of the term "or" in the specification or claims is to be meant "non-exclusive or".

Claims

1. A light deflection device, characterized in that, It includes a collimating device, a first light deflector, and a second light deflector; The collimating device is configured to collimate an incident light beam in a first direction and a second direction respectively; the length of the incident light beam in the first direction is less than its length in the second direction, and the collimation degree of the incident light beam in the first direction after collimation is higher than that in the second direction; The first light deflector is configured to deflect the collimated light beam by a plurality of preset first deflection angles in the first direction and project the deflected light beam onto the second light deflector; The second light deflector is configured to deflect the deflected light beam by a preset second deflection angle to project a scanning light beam; the length of the scanning light beam in the first direction is less than its length in the second direction; The length of the scanning light beam in the second direction is not less than the length of the light beam emitted by the light source in the second direction.

2. The optical deflection device according to claim 1, characterized in that, The divergence angle of the collimated light beam in the first direction is less than 1 / 10 of the divergence angle in the second direction.

3. The optical deflection device according to claim 1, characterized in that, The collimating device includes at least one collimating lens, and the emission position of the incident light beam is set on the focal plane of the collimating lens; wherein, When the collimating device includes at least two collimating lenses, the focal planes of the at least two collimating lenses coincide.

4. The optical deflection device according to claim 1, wherein The collimating device includes a first cylindrical lens and a second cylindrical lens, the first cylindrical lens is configured to collimate the light beam in the first direction, and the second cylindrical lens is configured to collimate the light beam in the second direction; or It includes a spherical lens, and the spherical lens is configured to collimate the light beam in the first direction and the second direction; or It includes a cylindrical lens and a spherical lens, the cylindrical lens is configured to collimate the light beam in the first direction, and the spherical lens is configured to collimate the light beam in the first direction and the second direction.

5. The optical deflection device according to claim 1, characterized in that, When the incident light beam emits from the emission position, the luminous width V1 in the first direction, the divergence angle θ1 in the first direction, the waist diameter V2 of the light beam in the first direction when the light beam is incident on the first light deflector, the divergence angle θ2 of the light beam in the first direction when the light beam is incident on the first light deflector, and the focal length F2 of the collimating lens collimating the light beam in the first direction satisfy the following relationship: θ2 = V1 / F2, θ2V2 = θ1V1; When the incident light beam emits from the emission position, the luminous length H1 in the second direction, the divergence angle Θ1 in the second direction, the waist diameter H2 of the light beam in the second direction when the light beam is incident on the first light deflector, the divergence angle Θ2 of the light beam in the second direction when the light beam is incident on the first light deflector, and the focal length F1 of the collimating lens collimating the light beam in the second direction satisfy the following relationship: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

6. The optical deflection device according to claim 1, wherein The incident light beam is a strip-shaped light beam when it emits from the emission position, and its aspect ratio is 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflector is 3:1 to 1:2; the scanning light beam is a strip-shaped light beam, and its aspect ratio is 20:1 to 80:

1.

7. The optical deflection device according to claim 1, characterized in that, The aspect ratio of the incident light beam when it emits from the emission position is 50:1; the aspect ratio of the light beam incident on the first light deflector is 5:2; the aspect ratio of the scanning light beam is 75:1; or When the incident light beam is emitted from the emission position, the aspect ratio is 50:1; when the light beam is incident on the first light deflection device, the aspect ratio is 5:2; the aspect ratio of the scanning light beam is 25:

1.

8. The optical deflection device according to claim 1, wherein, The second light deflection device is configured to deflect the deflected light beam by a plurality of different second deflection angles in at least one of a first direction and a second direction; The first direction and the second direction are perpendicular.

9. The optical deflection device according to claim 1, characterized in that, The number of deflection angles of the deflected light beam by the second light deflection device in the second direction is greater than twice the number of deflection angles in the first direction.

10. The optical deflection device according to claim 1, characterized in that, The first light deflection device is an acousto-optic deflection device, and the second light deflection device is a liquid crystal polarization grating. The liquid crystal material of the liquid crystal layer in the liquid crystal polarization grating sheet included in the liquid crystal polarization grating is nematic liquid crystal or blue phase liquid crystal.

11. The optical deflection device according to claim 1, characterized in that, The deflection accuracy of the first light deflection device for the light beam is higher than that of the second light deflection device for the light beam; Among the plurality of different first deflection angles by which the first light deflection device is configured to deflect the incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflection device along the deflection direction.

12. The optical deflection device according to claim 1, wherein, The first light deflection device is configured to use the direction in which the beam waist diameter is the smallest when the light beam is incident on the first light deflection device as the deflection direction, deflect the collimated light beam by a plurality of different first deflection angles, and project the deflected light beam to different positions of the second light deflection device.

13. The optical deflection device according to claim 1, characterized in that, The second light deflection device includes at least one light deflection unit, and the at least one light deflection unit is configured to deflect the light beam in the first direction or the second direction; Or The second light deflection device includes at least two light deflection unit groups, each light deflection unit group includes at least one of the light deflection units, wherein at least one light deflection unit group is configured to deflect the light beam in the first direction, and at least one light deflection unit group is configured to deflect the light beam in the second direction.

14. The optical deflection device according to claim 13, characterized in that, The second light deflection device includes a plurality of deflection partitions, and the deflection angle of the light beam by each deflection partition can be adjusted separately; the plurality of deflection partitions are configured such that the currently scanned deflection partition deflects the incident light beam by the required second deflection angle; The light deflection device further includes a control device for controlling the currently scanned deflection partition in the second light deflection device to deflect the light beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle for the light beam.

15. The optical deflection device according to claim 14, wherein, The arrangement direction of the plurality of deflection partitions is consistent with the scanning direction of the incident light beams of the plurality of different first deflection angles.

16. The optical deflection device according to claim 15, characterized in that, The plurality of deflection partitions included in the second light deflection device are arranged along the first direction of the light beam deflection.

17. The optical deflection device according to claim 14, characterized in that, The plurality of deflection partitions are configured such that the number of light beams received by each deflection partition is the same, all different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection partitions are the same, all different, or partially the same and partially different.

18. The optical deflection device according to claim 17, wherein The light beam incident surface of the deflection partition is a rectangle with an aspect ratio greater than a set threshold. The width direction of the deflection partition is consistent with the scanning direction of the light beams of the plurality of different first deflection angles, and the width of each deflection partition is determined according to the number of incident light beams received and the width of the incident light beam.

19. The optical deflection device according to claim 14, characterized in that, When the second light deflection device has a non - partitioned structure, the control device is configured to control the voltage applied to the electrodes of the second light deflection device to adjust the refractive index of the medium in the second light deflection device for the light beam, so as to adjust the deflection angle of the second light deflection device for the light beam; When the second light deflection device has a partitioned structure, the control device is configured to control the voltage applied to the electrodes of each deflection partition to adjust the refractive index of the medium in the deflection partition for the light beam, so as to adjust the deflection angle of the deflection partition for the light beam.

20. The optical deflection device according to claim 14, characterized in that, When the second light deflection device uses a liquid - crystal polarization grating and has a non - partitioned structure, the control device is configured to control the voltage applied to the electrodes of the second light deflection device to adjust the arrangement direction of the liquid - crystal molecules in the liquid - crystal polarization grating, so as to change the second deflection angle of the second light deflection device for the light beam; When the second light deflection device uses a liquid - crystal polarization grating and has a partitioned structure, the control device is configured to control the voltage applied to the electrodes of each deflection partition to adjust the arrangement direction of the liquid - crystal molecules in the liquid - crystal polarization grating, so as to change the second deflection angle of the deflection partition for the light beam.

21. The optical deflection device according to claim 14, characterized in that, In the case where the second light deflection device includes at least one light deflection unit, the light deflection unit includes a plurality of sub - deflection partitions; the deflection partition includes the sub - deflection partitions corresponding in position in the at least one light deflection unit; the sub - deflection partitions in at least one light deflection unit included in one deflection partition can form a deflection light path.

22. The optical deflection device according to claim 21, wherein, When the second light deflection device includes one light deflection unit, the deflection partition is a sub - deflection partition on this one light deflection unit; when the second light deflection device includes two light deflection units, the deflection partition includes two sub - deflection partitions corresponding in position on these two light deflection units; when the second light deflection device includes a plurality of light deflection units, the deflection partition includes a plurality of sub - deflection partitions corresponding in position on these plurality of light deflection units.

23. The optical deflection device according to claim 22, characterized in that, Specifically, the control device is configured to: control the voltages on the electrodes at both ends of each sub - deflection partition respectively, and change the deflection angle of at least one sub - deflection partition for the light beam by changing the voltages on the electrodes at both ends of at least one sub - deflection partition, so as to achieve changing the second deflection angle of the corresponding deflection partition for the light beam.

24. The optical deflection device according to claim 14, characterized in that, The light deflection unit includes a liquid - crystal half - wave plate and a liquid - crystal polarization grating plate. The liquid - crystal half - wave plate includes electrodes oppositely arranged on both sides and a half - wave plate liquid - crystal layer arranged between the electrodes on both sides; One - side electrode of the liquid - crystal half - wave plate includes a plurality of first electrode blocks, and the other - side electrode is a first integral electrode. Each sub - deflection partition corresponds to at least one first electrode block; each sub - deflection partition includes the part on the liquid - crystal half - wave plate corresponding to the position of the at least one first electrode block and the part on the liquid - crystal polarization grating plate corresponding to the position of the at least one first electrode block; or Both electrodes on two sides of the liquid crystal half-wave plate include a plurality of first electrode segments. Two opposite first electrode segments form a first electrode pair, and each sub-deflection partition corresponds to at least one first electrode pair; Each sub-deflection partition includes a part of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode pair, and a part of the liquid crystal polarization grating plate corresponding to the position of the at least one first electrode pair; Wherein, the deflection angle of the corresponding sub-deflection partition to the light beam is adjusted by changing the voltage applied to the electrode corresponding to the sub-deflection partition in the liquid crystal half-wave plate.

25. The optical deflection device according to claim 14, characterized in that, The light deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating plate; The liquid crystal half-wave plate includes electrodes oppositely arranged on two sides and a half-wave plate liquid crystal layer arranged between the two side electrodes; The liquid crystal polarization grating plate includes electrodes oppositely arranged on two sides and a grating liquid crystal layer arranged between the two side electrodes; One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode; One side electrode of the liquid crystal polarization grating plate includes a plurality of second electrode segments, and the other side electrode is a second integral electrode; At least one second electrode segment on the liquid crystal polarization grating plate and at least one first electrode segment corresponding to the position on the liquid crystal half-wave plate form a block group; or Both electrodes on two sides of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair; Both electrodes on two sides of the liquid crystal polarization grating plate include a plurality of second electrode segments, and two opposite second electrode segments form a second electrode pair; At least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode pair corresponding to the position on the liquid crystal half-wave plate form a block group; or One side electrode of the liquid crystal polarization grating plate includes a plurality of second electrode segments, and the other side electrode is a second integral electrode; Both electrodes on two sides of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair; At least one second electrode segment on the liquid crystal polarization grating plate and at least one first electrode pair corresponding to the position on the liquid crystal half-wave plate form a block group; or Both electrodes on two sides of the liquid crystal polarization grating plate include a plurality of second electrode segments, and two opposite second electrode segments form a second electrode pair. One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode; At least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode segment corresponding to the position on the liquid crystal half-wave plate form a block group; Each sub-deflection partition corresponds to at least one block group; Each sub-deflection partition includes a part of the liquid crystal half-wave plate corresponding to the position of the block group, and a part of the liquid crystal polarization grating plate corresponding to the position of the block group; Wherein, the deflection angle of the corresponding sub-deflection partition to the light beam is adjusted by changing the voltage applied to the electrode corresponding to the sub-deflection partition in the liquid crystal half-wave plate and the voltage applied to the electrode corresponding to the sub-deflection partition in the liquid crystal polarization grating plate.

26. The optical deflection device according to claim 24, characterized in that, All the liquid crystal polarization grating sheets of the light deflection units in the second light deflection device are passive liquid crystal polarization grating sheets, or all the liquid crystal polarization grating sheets of the light deflection units in the second light deflection device are active liquid crystal polarization grating sheets, or the liquid crystal polarization grating sheets of some of the light deflection units in the second light deflection device are passive liquid crystal polarization grating sheets and the liquid crystal polarization grating sheets of some other light deflection units are active liquid crystal polarization grating sheets; the liquid crystal material of the liquid crystal layer is nematic liquid crystal or blue phase liquid crystal.

27. The optical deflection device according to claim 24, wherein The liquid crystal half-wave plate further includes a first substrate and a second substrate which are oppositely arranged, and electrodes on both sides are respectively arranged on the inner surfaces of the first substrate and the second substrate facing each other, and the inner surfaces are flat surfaces; The liquid crystal polarization grating sheet further includes a third substrate and a fourth substrate which are oppositely arranged, and electrodes on both sides are respectively arranged on the inner surfaces of the third substrate and the fourth substrate facing each other, and the inner surfaces are flat surfaces.

28. The optical deflection device according to claim 24, wherein The second light deflection device further includes a quarter-wave plate arranged in front of the first liquid crystal half-wave plate for changing the polarization state of the light beam.

29. The optical deflection device according to claim 24, wherein, The adjustment time of the second deflection angle of the beam by the deflection partition adjustment is not greater than the time interval between two adjacent deflection periods of the deflection partition scanned by the beam.

30. The optical deflection device according to claim 14, wherein, The number of the deflection partitions is determined according to the number of the second deflection angles deflected by the second light deflection device, the time required for the second light deflection device to deflect light beams with multiple different first deflection angles into multiple different second deflection angles, and the adjustment time required for the second light deflection device to complete one deflection angle adjustment.

31. The optical deflection device according to any one of claims 1-30, characterized in that, Further included: A control device; The control device is used for controlling the first light deflection device and the second light deflection device to deflect the light beam.

32. The optical deflection device according to claim 31, wherein When the first light deflection device is an acousto-optic deflector, the control device is used for applying a driving signal to the acoustic wave generator of the first light deflection device, and controlling the acoustic wave frequency of the acoustic wave generator acting on the acousto-optic crystal of the first light deflection device through the driving signal, so as to change the deflection angle of the first light deflection device for the light beam.

33. The optical deflection device according to any one of claims 1 to 30, characterized in that Further included: A temperature regulator configured to change the time for the second light deflection device to adjust the deflection angle by changing the temperature of the second light deflection device.

34. The optical deflection device according to any one of claims 1 to 30, characterized in that, Further included: A beam expansion device; The beam expansion device is configured to magnify the deflection angle of the light beam deflected by the first light deflection device or the second light deflection device in the corresponding deflection direction by a preset multiple.

35. The optical deflection device according to claim 34, characterized in that, The beam expansion device includes at least one beam expansion lens, and the beam expansion lens is a single lens or a combination of two or more lenses; the beam expansion lens includes at least one or any combination of a cylindrical lens, a spherical lens, a meta-lens, and a Fresnel lens; The at least one beam expansion lens is configured to magnify the deflection angle of the light beam deflected by the first light deflection device in at least one of the first direction and the second direction perpendicular to each other by a preset multiple.

36. The optical deflection device according to claim 35, characterized in that, The focal length of the beam expansion lens is set according to the magnification of the deflection angle. When the beam expansion device includes two beam expansion lenses, one side focus of one beam expansion lens coincides with one side focus of the other beam expansion lens, and the magnification is the ratio of the focal lengths of the two beam expansion lenses.

37. The optical deflection device according to claim 36, characterized in that, The distance between the first light deflector and the first beam expander lens in the beam expander is the focal length of the first beam expander lens; the distance between two adjacent beam expander lenses is the sum of the focal lengths of the two adjacent beam expander lenses.

38. The optical deflection device according to claim 35, characterized in that, The beam expander includes at least one of a first cylindrical lens group and a second cylindrical lens group; the first cylindrical lens group includes a first beam expander cylindrical lens and a second beam expander cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first light deflector in a first direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expander cylindrical lens to the focal length of the second beam expander cylindrical lens; the second cylindrical lens group includes a third beam expander cylindrical lens and a fourth beam expander cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first light deflector in a second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the third beam expander cylindrical lens to the focal length of the fourth beam expander cylindrical lens; Or The beam expander includes a first beam expander spherical lens and a second beam expander spherical lens, and is configured to magnify the deflection angles of the beam deflected by the first light deflector in the first direction and the second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expander spherical lens to the focal length of the second beam expander spherical lens.

39. The optical deflection device according to claim 1, characterized in that, When the beam emitted by the light source is linearly polarized light, a half-wave plate is further included and disposed between the collimating device and the first light deflector, for changing the polarization direction of the beam; The optical axis of the half-wave plate is perpendicular to the direction of the beam emitted by the collimating device, and the electric field direction of the linearly polarized light forms a 45-degree angle with the fast axis of the half-wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with the slow axis of the half-wave plate.

40. The optical deflection device according to claim 1, characterized in that, The light deflection device is used in the emission module of the lidar system; or the light deflection device is the light deflection device in the emission module of the lidar system.

41. A transmitting module, characterized in that, It includes a light source and the light deflection device according to any one of claims 1-40; The light source is used for emitting a beam to the light deflection device; The light deflection device is used for deflecting the beam to generate scanned light with different deflection angles and deflection angle switching sequences to achieve scanning of the field of view range.

42. The emission module according to claim 41, wherein The light source includes at least one light source unit, and the light source unit includes at least two light-emitting units spliced along the long axis direction to emit a strip-shaped incident beam with a shape and size meeting the requirements.

43. The emission module according to claim 42, wherein, The light-emitting unit includes any one or a combination of an edge-emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), a light-emitting diode (LED), a laser diode (LD), a semiconductor laser, and a fiber laser.

44. A lidar system, characterized in that, It includes a receiving module and the emission module according to any one of claims 41-43; The receiving module is configured to sense the optical signal from the scanned field of view range and obtain the three-dimensional information of the field of view range through processing and analysis of the sensed optical signal.

45. An electronic device, characterized in that, It includes the lidar system according to claim 44.

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