Optical systems, devices, and terminals

Abstract

An optical system, an apparatus, and a terminal are provided. The optical system (200) includes a light source module (201) and an optical transmitter module (202). The light source module (201) is configured to output a first polarized light. The first polarized light includes N colors of linearly polarized light, where the linearly polarized light of different colors has the same polarization angle and different transmission directions, where N is an integer greater than 1. The optical transmitter module (202) is configured to receive the first polarized light and generate a second polarized light based on the first polarized light. The second polarized light is used to project N colors of lattice stripes, where the different colors of lattice stripes have different spatial frequencies. The optical system is used to synchronously project the multi-frequency lattice stripes, so as to improve the simplicity and efficiency of the lattice stripe projection and reception process. The optical system may be applied in the field of intelligent driving and related fields such as intelligent connected vehicles and intelligent vehicles. For example, the system may be used to detect and track target objects in various fields.

Description

[Technical Field]

[0001] The present application relates to the field of optical technology, and in particular to optical systems, devices, and terminals. [Background technology]

[0002] Structured light measurement techniques can be used to obtain three-dimensional profile information of targets. In the field of autonomous driving, structured light measurement techniques can be applied to scenarios such as driver identity verification, in-car monitoring systems, gesture recognition, and short-range obstacle detection.

[0003] Phase Measuring Profilometry (PMP) is widely used in structured light measurement due to its advantages of non-contact, high accuracy, and fast measurement speed. The measurement principle of phase measuring profilometry is to send a sine grating stripe to the measurement target, acquire an image of the deformed sine grating stripe modulated by the measurement target, and then calculate the three-dimensional shape of the measurement target from the acquired deformed image.

[0004] Currently, when a PMP is used to perform structured light measurement, grating fringes with different phases and different spatial frequencies need to be projected onto the measurement target separately, and multiple images of the deformed fringes obtained by modulating the measurement target are taken to calculate the three-dimensional profile information of the measurement target. The measurement process of this method is complicated, and there are problems such as poor convenience and low measurement efficiency. Summary of the Invention

[0005] The present application provides optical systems, devices, and terminals configured to synchronously project multi-frequency gratings to improve the simplicity and efficiency of the grating projection and receiving process.

[0006] According to a first aspect, the present application provides an optical system including a light source module and an optical transmitter module. The light source module is configured to output a first polarized light, the first polarized light including N linearly polarized colors, the different linearly polarized colors having the same polarization angle and different transmission directions, where N is an integer greater than 1. The optical transmitter module is configured to receive the first polarized light and generate a second polarized light based on the first polarized light, the second polarized light being used to project a grating of N colors, the different color gratings having different spatial frequencies.

[0007] In this solution, the light source module of the optical system cooperates with the light transmitter module to generate a second polarized light based on the linearly polarized light of multiple colors, which is used to project a grating pattern of a different spatial frequency. Therefore, the optical system synchronously projects the multi-frequency grating pattern, thereby simplifying the grating pattern projection process and improving the convenience and efficiency of the grating pattern projection. Correspondingly, the optical system supports the light receiving side in synchronously receiving the multi-frequency grating pattern, thereby improving the convenience and efficiency of the grating pattern reception.

[0008] In one possible design, the optical system further includes an optical detection module configured to receive a target polarized light corresponding to the second polarized light and to acquire a plurality of target grating images based on the target polarized light, the plurality of target grating images including a plurality of target grating images corresponding to each of the N colors, wherein initial phases of the gratings in at least two target grating images corresponding to each color are different.

[0009] In this solution, the optical system further includes an optical detection module. The optical system may independently transmit and receive light. After the light source module and the optical transmitter module cooperate to project the second polarized light, the optical detection module may detect a target polarized light corresponding to the second polarized light and acquire an image of a grating having multiple spatial frequencies and multiple initial phases, i.e., a multi-frequency, multi-phase grating, based on the target polarized light. Therefore, in the optical system, multiple images of the multi-frequency, multi-phase grating can be determined by a single polarized light projection and detection, thereby significantly reducing the number of times the multi-frequency, multi-phase grating is projected and collected, and improving the simplicity and efficiency of the multi-frequency, multi-phase grating measurement process.

[0010] In a possible design, the target polarization is the polarization obtained by modulating a second polarization by the target object.

[0011] In this solution, the optical system can perform simple and efficient profile measurement on the target object. The optical system can synchronously project a multi-frequency grating fringe onto the target object by projecting a second polarized light, receive the target polarized light obtained by modulating the second polarized light by the target object through the optical detection module, obtain a corresponding multi-frequency, multi-phase deformed grating fringe image after the multi-frequency grating fringe is modulated by the target object, and perform three-dimensional profile measurement on the target object based on the multi-frequency, multi-phase deformed grating fringe image.

[0012] In one possible design, the optical detection module includes an imaging module and a color polarization detection module. The imaging module is configured to receive target polarized light, which is used to project initial target gratings of N colors, the initial target gratings being obtained by modulating the projected gratings with a second polarized light. The color polarization detection module is configured to separately perform phase shifts of at least two different phase values ​​on the initial gratings corresponding to each color, thereby generating multiple target grating images corresponding to each color.

[0013] In this solution, the imaging module in the optical detection module receives the target polarization obtained by modulating the second polarization, and the color polarization detection module in the optical detection module obtains multi-frequency multi-phase grating fringes based on the target polarization received by the imaging module, so that the optical detection module obtains multi-frequency multi-phase grating fringes in one polarization receiving process, thereby improving the efficiency of grating fringe receiving.

[0014] In one possible design, the light source module includes N monochromatic light sources, N angle adjusting modules, and a beam combining module, each of the N monochromatic light sources configured to output linearly polarized light of a corresponding color; each of the N angle adjusting modules configured to adjust a polarization angle of the linearly polarized light from the corresponding monochromatic light source to a target angle, and the beam combining module configured to adjust the transmission directions of the N beams of linearly polarized light from the N angle adjusting modules to have an included angle different from the target direction to obtain the first polarization.

[0015] In a possible design, N monochromatic light sources have a one-to-one correspondence with N colors, and N angle adjusting modules have a one-to-one correspondence with N monochromatic light sources.

[0016] In this solution, the light source module can separately adjust the linearly polarized light beams irradiated by different monochromatic light sources so that the linearly polarized beams irradiated by the different monochromatic light sources have the same polarization angle but different transmission directions to further generate the polarized light used to project the multi-frequency grating fringes.

[0017] In a possible design, the angle adjustment module includes a half-wave plate, and the angle adjustment module is located between the corresponding monochromatic light source and the beam combining module.

[0018] In this solution, a half-wave plate is used in an angle adjustment module disposed between different monochromatic light sources and a beam combining module, so that the polarization angle of the linearly polarized light irradiated by the monochromatic light source can be adjusted simply and quickly, and the complexity of the system design and the complexity of the device operation are low.

[0019] In a possible design, the beam combining module includes N-1 beam combining elements, wherein a first beam combining element in the N-1 beam combining elements is configured to transmit a first linearly polarized light from a first angle adjustment module in the N angle adjustment modules and reflect a second linearly polarized light from a second angle adjustment module in the N angle adjustment modules, and control the transmission directions of the first linearly polarized light and the second linearly polarized light to have different included angles with respect to the target direction; or the first beam combining element is configured to transmit a third linearly polarized light from the second beam combining element and reflect a fourth linearly polarized light from a third angle adjustment module in the N angle adjustment modules, and control the transmission directions of the third linearly polarized light and the fourth linearly polarized light to have different included angles with respect to the target direction.

[0020] In this solution, the beam combining element selectively transmits or reflects the received linearly polarized light to adjust the transmission direction of the received linearly polarized light. The transmission directions of the linearly polarized light irradiated by the multiple monochromatic light sources can be adjusted respectively through the multiple beam combining elements, so that the transmission direction of each beam of the linearly polarized light beam is different, and the spatial frequency of the grating pattern projected by each beam of linearly polarized light is different.

[0021] In a possible design, the optional beam combining element includes a dichroic beam splitter.

[0022] In this solution, multiple dichroic beam splitters can be used to easily and quickly adjust the polarization angles of linearly polarized light irradiated by multiple monochromatic light sources, and the complexity of system design and device operation is low.

[0023] In a possible design, the target direction is the transmission direction of the linearly polarized light output by one of the N monochromatic light sources.

[0024] In this solution, the target direction is set to the transmission direction of the linearly polarized light irradiated by one of the monochromatic light sources, and then this direction is used as a reference to adjust the transmission direction of the linearly polarized light irradiated by another monochromatic light source, thereby improving the operational simplicity of the system setup.

[0025] In one possible design, the optical transmitter module includes a first spectroscopic module, a direction adjusting module, a second spectroscopic module, and a polarization adjusting module. The first spectroscopic module is configured to receive a first polarized light and split the first polarized light into a first linearly polarized light along a first direction and a second linearly polarized light along a second direction. The direction adjusting module is configured to receive the second linearly polarized light and adjust the transmission direction of the second linearly polarized light to a third direction. The second spectroscopic module is configured to receive the first linearly polarized light from the first spectroscopic module and the second linearly polarized light from the direction adjusting module and generate interference light obtained by interfering the first linearly polarized light and the second linearly polarized light. The polarization adjusting module is configured to receive the interference light and adjust the polarization type of the interference light to a circular polarization type, thereby obtaining the second polarized light.

[0026] In this solution, the optical transmitter module splits the first polarized light from the light source module into two polarized beams through a first splitting module, which are then converged onto a second splitting module. After interference, an interference fringe can be obtained. Therefore, the interference light can be used to project a grating fringe. The direction adjustment module can adjust the angle between the two polarized beams to adjust the shape characteristics of the grating fringe projected by the interference light. The polarization adjustment module can adjust the polarization type of the polarized light to make the grating fringe projected by the polarized light appear. Through cooperation between the modules, the optical transmitter module can output a second polarized light that can project a multi-frequency fringe.

[0027] In one possible design, the direction adjusting module includes a first reflector and a second reflector, the first reflector configured to receive the second linearly polarized light from the first spectroscopic module and reflect the received second linearly polarized light to the second reflector, and the second reflector configured to reflect the received second linearly polarized light such that, after reflection, the second linearly polarized light is incident on the second spectroscopic module along a third direction.

[0028] In this solution, the direction adjusting module can easily and quickly adjust the transmission direction of the linearly polarized light through the cooperation between the two reflectors, and the complexity of the system design and the complexity of the device operation are low.

[0029] In a possible design, the second direction is orthogonal to the first direction.

[0030] In a possible design, the first and second spectroscopic modules include polarizing beam splitters.

[0031] In this solution, the polarizing beam splitter is an optical element used to separate horizontally and vertically polarized light, and the polarizing beam splitter may combine horizontally and vertically polarized light. Thus, by combining two polarizing beam splitters, the first polarized light can be simply and efficiently split and subsequently combined to perform polarization interference.

[0032] In a possible design, the optical transmitter module further comprises a projection module configured to receive the second polarized light and project the second polarized light onto a target object.

[0033] In this solution, the optical system may be configured to perform profile detection on the target object, and after generating the second polarized light, the optical system may project a multi-frequency grating pattern projected by the second polarized light onto the target object through the projection module to perform a subsequent detection procedure.

[0034] In a possible design, the optical conditioning module includes a quarter wave plate and is located between the second spectroscopic module and the projection module.

[0035] In this solution, a quarter-wave plate is used by an optical adjustment module disposed between the second spectroscopic module and the projection module, so that the polarization type of the linearly polarized light emitted by the optical transmitter module can be adjusted easily and quickly, and the complexity of the system design and the complexity of the element operation are low.

[0036] According to a second aspect, the present application provides an apparatus, the apparatus comprising an optical system according to the first aspect or any one of the possible designs of the first aspect.

[0037] According to a third aspect, the present application provides a terminal, comprising an optical system according to the first aspect or any one of the possible designs of the first aspect.

[0038] In a possible design, the terminal is one of a vehicle, an unmanned aerial vehicle, and a robot. [Brief explanation of the drawings]

[0039] [Figure 1] 1 is a schematic diagram of a structured light system based on phase measurement profilometry according to the present application;

[0040] [Figure 2] 1 is a schematic diagram of an optical system according to the present application;

[0041] [Figure 3] 1 is a schematic diagram of a light source module according to the present application;

[0042] [Figure 4] 1 is a schematic diagram illustrating the configuration of a light source module according to the present application.

[0043] [Figure 5] 1 is a schematic diagram of an optical transmitter module according to the present application;

[0044] [Figure 6] 1 is a schematic diagram of an optical detection module according to the present application;

[0045] [Figure 7] 1 is a schematic diagram of the structure of a color polarization detection module according to the present application;

[0046] [Figure 8] 1 is a schematic diagram of a polarization array and a pixel array according to the present application.

[0047] [Figure 9] FIG. 1 is a schematic diagram of a target grating image according to the present application.

[0048] [Figure 10A] 1 is a schematic diagram of a possible optical system according to the present application; [Figure 10B]1 is a schematic diagram of a possible optical system according to the present application; DETAILED DESCRIPTION OF THE INVENTION

[0049] In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in more detail below with reference to the accompanying drawings. The terms "first" and "second" below in the description of the embodiments of the present application are used for explanatory purposes only and are not to be understood as indicating or implying the relative importance or number of the technical features indicated. Therefore, a feature defined by "first" or "second" may explicitly or implicitly include one or more features.

[0050] In the embodiments of the present application, "at least one" should be understood to mean one or more, and "multiple" should be understood to mean two or more. The term "and / or" represents a relational relationship between related entities and indicates that a triple relationship may exist. For example, A and / or B may represent the presence of only A, the presence of both A and B, or the presence of only B, and A and B may be singular or plural. The character " / " generally indicates an "or" relationship between related entities. "At least one of the following elements" or similar expressions refers to any combination of these elements, including a single element or any combination of multiple elements. For example, at least one of a, b, or c may refer to a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0051] Figure 1 is a schematic diagram of a structured light system based on phase measurement profilometry. As shown in Figure 1, the main principle of the phase measurement profilometry method in current structured light measurement technology is that a projector projects a sinusoidal grating pattern onto a target object. The sinusoidal grating pattern is deformed after being projected onto the target object and modulated by the target object. A camera captures an image of the deformed grating pattern, allowing the three-dimensional profile information of the target object to be calculated from the image of the deformed grating pattern.

[0052] The implementation of phase measurement profilometry mainly includes two steps: phase extraction based on phase shift and phase unwrapping based on multi-frequency fringes. In the phase extraction based on phase shift, grating fringes with different initial phases need to be projected onto the target object, respectively. In the phase unwrapping based on multi-frequency fringes, grating fringes with different spatial frequencies need to be projected onto the target object, respectively. The three-dimensional profile information of the target object can be calculated by obtaining the corresponding deformed grating fringes obtained by modulating the grating fringes by the target object in the above two steps.

[0053] However, in current structured light measurement systems or methods, the two steps of projecting gratings with different initial phases onto the target object and projecting gratings with different spatial frequencies onto the target object are implemented in a time-division manner, so that in the detection process, different types of gratings are projected onto the target object in multiple periods, and multiple frames of corresponding deformed grating images are collected to further calculate the three-dimensional profile information of the target object.

[0054] Therefore, current structured light measurement systems or methods have problems such as complicated processes, poor convenience, and low measurement efficiency.

[0055] Furthermore, the above-mentioned method requires multiple frames of the deformed lattice fringe image to be collected during the detection process. Therefore, to ensure detection accuracy, the measurement target object needs to remain stationary. Therefore, the above-mentioned method cannot be applied to the detection of a moving target object. For example, in an autonomous driving scenario, the method cannot meet the requirements for imaging a moving target.

[0056] Based on the aforementioned problem, one embodiment of the present application provides an optical system, which can perform synchronous projection of multi-wavelength multi-spatial frequency grating fringes, and further perform detection of multi-phase grating fringes based on polarization synchronous phase shift.

[0057] The optical system may be applied to certain scenarios, such as, but not limited to, target detection and structured light measurement. In this embodiment of the present application, the optical system may be applied to certain fields, such as autonomous driving, driver assistance, and security monitoring. For example, the optical system may be disposed on a vehicle and configured to detect targets (e.g., pedestrians, other vehicles, or obstacles) around the vehicle. As another example, the optical system may be disposed inside a vehicle and configured to perform certain functions, such as target detection and recognition and vehicle interior monitoring. In this embodiment of the present application, the optical system may further be applied to various terminals, such as a terminal, a robot, an unmanned aerial vehicle, and an in-vehicle terminal.

[0058] It should be noted that the above scenarios are merely examples of scenarios in which the optical system provided in this embodiment of the present application may be applied, and do not constitute limitations on the application scenarios of the optical system.

[0059] The optical system provided in this embodiment of the present application will now be described with reference to the accompanying drawings.

[0060] 2 is a schematic diagram of an optical system according to an embodiment of the present application. As shown in FIG. 2, the optical system 200 includes at least a light source module 201 and an optical transmitter module 202.

[0061] The light source module 201 is configured to output a first polarized light, the first polarized light including N color linearly polarized light, the different color linearly polarized light having the same polarization angle and different transmission directions, N being an integer greater than 1. The optical transmitter module 202 is configured to receive the first polarized light and generate a second polarized light based on the first polarized light, the second polarized light being used to project N color lattice patterns, the different color lattice patterns having different spatial frequencies.

[0062] In some embodiments of the present application, the optical system 200 may further comprise an optical detection module 203 . The optical detection module 203 is configured to receive a target polarization corresponding to the second polarization and acquire a plurality of target grating images based on the target polarization, the plurality of target grating images including a plurality of target grating images corresponding to each of the N colors, and the initial phases of the gratings in at least two target grating images corresponding to each color are different.

[0063] In some embodiments of the present application, the target polarization may be a polarization obtained by modulating the second polarization by the target object. Specifically, as shown in FIG. 2, after generating the second polarization, the optical transmitter module 202 may project the second polarization onto the target object 204, and the second polarization is modulated by the target object 204, thereby obtaining the target polarization. The optical detection module 203 receives the target polarization from the target object 204 and obtains multiple target grating fringe images based on the target polarization.

[0064] The second polarization being modulated by the target object 204, thereby obtaining the target polarization, can be understood as follows: the N-color lattice fringes projected by the second polarization are deformed after being modulated by the target object 204, thereby obtaining the N-color target lattice fringes, where the N-color target lattice fringes are projected by the target polarization.

[0065] In the optical system 200 described above, the light source module 201 cooperates with the optical transmitter module 202, which can output a second polarized light used to project a multi-frequency grating (a grating having multiple spatial frequencies). The optical detection module 203 receives a target polarized light corresponding to the second polarized light and acquires multiple target grating images based on the target polarized light. In one embodiment, the multiple target grating images include grating images of N colors, where the spatial frequencies of the gratings of different colors are different. Thus, a multi-frequency grating image can be acquired. In another embodiment, a grating image corresponding to each color has a grating image with a different initial phase of the grating. Thus, a multi-phase grating image (a grating having multiple initial phases) can be acquired. In this way, in the optical system 200, gratings with different spatial frequencies can be simultaneously projected with a single polarized light transmission, and multi-frequency grating images and multi-phase grating images with different spatial frequencies can be simultaneously acquired with a single corresponding polarized light reception. This greatly reduces the number of grating projections and collections, simplifies the multi-frequency multi-phase grating acquisition process, and greatly improves the convenience and measurement efficiency.

[0066] Furthermore, in the method of the present application, multi-frequency grating fringes and multi-phase grating fringes can be simultaneously acquired in a single polarized light projection and reception process, so the method can detect moving targets and ensure detection accuracy.

[0067] The optical source module 201, the optical transmitter module 202, and the optical detection module 203 in the optical system 200 will be described in detail below separately.

[0068] For ease of explanation, an example in which the value of N is 3 and the corresponding N colors are red, green, and blue will be used for explanation below.

[0069] [1. Light source module 201]

[0070] The light source module 201 includes N monochromatic light sources, N angle adjusting modules, and a beam combining module. Each of the N monochromatic light sources is configured to output linearly polarized light of a corresponding color. Each of the N angle adjusting modules is configured to adjust the polarization angle of the linearly polarized light from the corresponding monochromatic light source to a target angle. The beam combining module is configured to adjust the transmission directions of the N beams of linearly polarized light from the N angle adjusting modules to have different included angles with respect to the target direction, thereby obtaining a first polarization.

[0071] The beam combining module includes N-1 beam combining elements, and a first beam combining element among the N-1 beam combining elements is configured to transmit a first linearly polarized light from a first angle adjusting module among the N angle adjusting modules and reflect a second linearly polarized light from a second angle adjusting module among the N angle adjusting modules, and control the transmission directions of the first linearly polarized light and the second linearly polarized light to have different included angles with respect to the target direction; or the first beam combining element is configured to transmit a third linearly polarized light from the second beam combining element and reflect a fourth linearly polarized light from a third angle adjusting module among the N angle adjusting modules, and control the transmission directions of the third linearly polarized light and the fourth linearly polarized light to have different included angles with respect to the target direction.

[0072] FIG. 3 is a schematic diagram of a light source module according to an embodiment of the present application.

[0073] 3, the light source module 201 includes three monochromatic light sources and three angle adjusting modules that correspond one-to-one to the three monochromatic light sources. The three monochromatic light sources are a red light source 301, a green light source 302, and a blue light source 303, and the three angle adjusting modules are a first angle adjusting module 304 corresponding to the red light source, a second angle adjusting module 305 corresponding to the green light source, and a third angle adjusting module 306 corresponding to the blue light source. The light source module 201 further includes a beam combining module 307.

[0074] For example, as shown in FIG. 3, the direction of the main optical axis may be set as the reference direction.

[0075] In some embodiments of the present application, the first angle adjusting module 304, the second angle adjusting module 305, and the third angle adjusting module 306 may each include a half-wave plate. In an optional implementation, the first angle adjusting module 304, the second angle adjusting module 305, and the third angle adjusting module 306 may be the half-wave plate shown in FIG. 3 .

[0076] In some embodiments of the present application, the first angle adjustment module 304 is located between the red light source 301 and the beam combining module 307, the second angle adjustment module 305 is located between the green light source 302 and the beam combining module 307, and the third angle adjustment module 306 is located between the blue light source 303 and the beam combining module 307.

[0077] When the angle adjusting module is a half-wave plate, the polarization angle of the red linearly polarized light irradiated by the red light source 301 is adjusted to a target angle after passing through the first angle adjusting module 304. If the position of the half-wave plate has a different included angle with respect to the transmission direction of the red linearly polarized light, the adjustment amount of the polarization angle of the red linearly polarized light will be different. The target angle may be a set angle. Similarly, the polarization angle of the green linearly polarized light irradiated by the green light source 302 is adjusted to a target angle after passing through the second angle adjusting module 305, and the polarization angle of the blue linearly polarized light irradiated by the blue light source 303 is adjusted to a target angle after passing through the third angle adjusting module 306.

[0078] In some embodiments of the present application, the beam combining module 307 comprises two beam combining elements, namely a third beam combining element 308 and a fourth beam combining element 309 .

[0079] Optionally, the third beam combining element 308 and the fourth beam combining element 309 each include a dichroic beam splitter. In an optional implementation, the third beam combining element 308 and the fourth beam combining element 309 may be the dichroic beam splitter shown in FIG.

[0080] When the beam combining element is a dichroic beam splitter, the third beam combining element 308 transmits the red linearly polarized light from the first angle adjusting module 304 and reflects the green linearly polarized light from the second angle adjusting module 305, controlling the transmission directions of the two linearly polarized beams to have different included angles with respect to the target direction. The fourth beam combining element 309 transmits the linearly polarized light from the third beam combining element 308 and reflects the blue linearly polarized light from the third angle adjusting module 306, controlling the transmission directions of the two linearly polarized beams to have different included angles with respect to the target direction. The linearly polarized light that the fourth beam combining element 309 receives from the third beam combining element 308 includes red linearly polarized light and green linearly polarized light.

[0081] The transmission direction of the linearly polarized light may be calibrated based on the included angle between the light direction of the linearly polarized light and the main optical axis. Different linearly polarized light having different transmission directions may be understood as different included angles between the light of different linearly polarized light and the main optical axis. When the position of the dichroic beam splitter has different included angles with respect to the main optical axis, the adjustment amount of the transmission direction of the incident linearly polarized light will be different. Therefore, the transmission directions of linearly polarized light of different colors may be controlled by adjusting the position of the dichroic beam splitter.

[0082] For example, as shown in FIG. 3 , the polarized light emitted by the fourth beam combining element 309 is the first polarized light output by the light source module 201. In the first polarized light, the transmission directions of the linearly polarized light of the three colors are different. The light directions of the linearly polarized light of the three colors may be understood to have different included angles with respect to the direction of the main optical axis, or there may be an included angle between the light directions of any two linearly polarized light of the three colors, where the size of the included angle may be greater than 0 and less than a set threshold, and the size of the included angle may be adjusted by adjusting the included angle between the dichroic beam splitter and the main optical axis. The first polarized light output by the light source module 201 is sent to the optical transmitter module 202 and used by the optical transmitter module 202 to generate the second polarized light.

[0083] In some embodiments of the present application, the target direction may be the direction of the main optical axis, or the target direction may be the transmission direction of the linearly polarized light output by one of the three monochromatic light sources, or the target direction is a set direction.

[0084] In some embodiments of the present application with three monochromatic light sources, the transmission direction of the linearly polarized light emitted by at most one monochromatic light source coincides with the main optical axis direction or target direction.

[0085] Below, two examples of layouts of elements in the light source module 201 are provided.

[0086] Example 1:

[0087] 3, the transmission direction of the red linearly polarized light emitted by the red light source 301 is the target direction, which is aligned with the direction of the main optical axis. The transmission direction of the green linearly polarized light emitted by the green light source 302 and the transmission direction of the blue linearly polarized light emitted by the blue light source 303 are respectively perpendicular to the direction of the main optical axis.

[0088] The red linearly polarized light emitted by the red light source 301 is perpendicularly incident on the first angle adjusting module 304. After being adjusted by the first angle adjusting module 304, the red linearly polarized light is transmitted through the beam combining element 308 and the beam combining element 309 in sequence. The green linearly polarized light emitted by the green light source 302 is perpendicularly incident on the second angle adjusting module 305. After being adjusted by the second angle adjusting module 305, the green linearly polarized light reaches the beam combining element 308, is reflected, and sent along a different transmission direction from that of the red linearly polarized light, and is transmitted through the beam combining element 309. The blue linearly polarized light emitted by the blue light source 303 is perpendicularly incident on the third angle adjusting module 306. After being adjusted by the third angle adjusting module 306, the blue linearly polarized light reaches the beam combining element 309, is reflected, and sent along a different transmission direction from those of the red linearly polarized light and the green linearly polarized light.

[0089] The rotation angle (the included angle between the plane of the dichroic beam splitter and the main optical axis) of the dichroic beam splitter corresponding to the beam combining element 308 may be adjusted to control the green linearly polarized light to be sent in a different transmission direction from that of the red linearly polarized light after being reflected by the beam combining element 308. The rotation angle of the dichroic beam splitter corresponding to the beam combining element 309 may be adjusted to control the blue linearly polarized light to be sent in a different transmission direction from those of the red and green linearly polarized light after being reflected by the beam combining element 309.

[0090] Example 2:

[0091] FIG. 4 is a schematic diagram of a light source module according to an embodiment of the present application.

[0092] As shown in FIG. 4, the target direction is the direction of the main optical axis, and the transmission direction of the red linearly polarized light emitted by the red light source 401, the transmission direction of the green linearly polarized light emitted by the green light source 402, and the transmission direction of the blue linearly polarized light emitted by the blue light source 403 have different included angles with respect to the direction of the main optical axis.

[0093] The red linearly polarized light emitted by the red light source 401 is perpendicularly incident on the first angle adjusting module 404. After being adjusted by the first angle adjusting module 404, the red linearly polarized light is transmitted through the third beam combining element 408 and the fourth beam combining element 409 in sequence. The green linearly polarized light emitted by the green light source 402 is perpendicularly incident on the second angle adjusting module 405. After being adjusted by the second angle adjusting module 405, the green linearly polarized light reaches the third beam combining element 408, is reflected, and sent along a different transmission direction from that of the red linearly polarized light, and is transmitted through the fourth beam combining element 409. The blue linearly polarized light emitted by the blue light source 403 is perpendicularly incident on the third angle adjusting module 406. After being adjusted by the third angle adjusting module 406, the blue linearly polarized light reaches the fourth beam combining element 409, is reflected, and sent along a different transmission direction from those of the red linearly polarized light and the green linearly polarized light.

[0094] The rotation angle of the dichroic beam splitter corresponding to the third beam combining element 408 may be adjusted to control the green linearly polarized light to be sent in a different transmission direction from that of the red linearly polarized light after being reflected by the third beam combining element 408. The rotation angle of the dichroic beam splitter corresponding to the fourth beam combining element 409 may be adjusted to control the blue linearly polarized light to be sent in a different transmission direction from those of the red linearly polarized light and the green linearly polarized light after being reflected by the fourth beam combining element 409.

[0095] In the above embodiment, the light source module 201 separately generates linearly polarized light of different colors through multiple monochromatic light sources, and adjusts the linearly polarized light of different colors to have the same polarization angle and different transmission direction through angle adjustment modules corresponding to the different monochromatic light sources, thereby simultaneously generating multiple linearly polarized beams with different wavelengths and the same polarization characteristics, which can further generate polarized light used to simultaneously project multi-frequency grating fringes.

[0096] [2. Optical transmitter module 202]

[0097] 5 is a schematic diagram of an optical transmitter module according to an embodiment of the present application. As shown in FIG. 5, the optical transmitter module 202 includes a first spectroscopic module 501, a direction adjusting module 502, a second spectroscopic module 503, and a polarization adjusting module 504.

[0098] The first spectroscopic module 501 is configured to receive a first polarized light from the light source module 201 and split the first polarized light into a first linearly polarized light along a first direction and a second linearly polarized light along a second direction. The direction adjusting module 502 is configured to receive the second linearly polarized light and adjust the transmission direction of the second linearly polarized light to a third direction. The second spectroscopic module 503 is configured to receive the first linearly polarized light from the first spectroscopic module 501 and the second linearly polarized light from the direction adjusting module 502 and generate interference light obtained by interfering the first linearly polarized light and the second linearly polarized light. The polarization adjusting module 504 is configured to receive the interference light and adjust the polarization type of the interference light to a circular polarization type, thereby obtaining the second polarized light.

[0099] In some embodiments of the present application, the direction adjusting module includes a first reflector 505 and a second reflector 506. The first reflector 505 is configured to receive the second linearly polarized light from the first spectroscopic module and reflect the received second linearly polarized light to the second reflector 506. The second reflector 506 is configured to reflect the received second linearly polarized light such that, after being reflected, the second linearly polarized light is incident on the second spectroscopic module 503 along a third direction.

[0100] In some embodiments of the present application, the first spectroscopic module 501 and the second spectroscopic module 503 include polarizing beam splitters. In an optional implementation, the first spectroscopic module 501 and the second spectroscopic module 503 may be polarizing beam splitters. The first polarizing beam splitter corresponding to the first spectroscopic module 501 and the second polarizing beam splitter corresponding to the second spectroscopic module 503 are symmetrically distributed.

[0101] In some embodiments of the present application, the optical transmitter module 202 further includes a projection module 507, which is configured to receive the second polarized light and project the second polarized light onto a target object. The projection module 507 includes a projection lens or another element having a projection function. In optional implementations, the projection module 507 may be a projection lens or another element having a projection function.

[0102] In some embodiments of the present application, the polarization adjustment module 504 includes a quarter-wave plate and is located between the second spectroscopic module 503 and the projection module 507. In an optional implementation, the polarization adjustment module 504 may be a quarter-wave plate.

[0103] For example, when both the first spectroscopic module 501 and the second spectroscopic module 503 are polarizing beam splitters, the first direction may be a horizontal polarization direction, and the second direction may be a vertical polarization direction orthogonal to the first direction. After receiving the first polarized light from the light source module 201, the first spectroscopic module 501 splits the first polarized light into transmitted light and reflected light that are orthogonal to each other, where the transmitted light is horizontally polarized light (p light) in the horizontal polarization direction, i.e., a first linearly polarized light, and the reflected light is vertically polarized light (s light) in the vertical polarization direction. The first linearly polarized light sent by the first spectroscopic module 501 is sent by the second beam splitter and then enters the polarization adjustment module 504. The second linearly polarized light reflected by the first spectroscopic module 501 is reflected by the first reflector 505, reaches the second reflector 506, is reflected by the second reflector 506, and is then reflected by the second spectroscopic module 503 before entering the polarization adjustment module 504. The first linearly polarized light and the second linearly polarized light interfere with each other, and after the obtained interference light passes through the polarization adjustment module, the polarization type of the interference light changes to circularly polarized light, thereby obtaining the second polarization.

[0104] The included angle between the first linear polarization and the second linear polarization may be adjusted by adjusting the rotation angle (the included angle between the reflector plane and the horizontal or vertical direction) of the first reflector 505 and / or the second reflector 506, thereby controlling the spatial frequency of the grating fringes projected by the second linear polarization obtained based on the first linear polarization and the second linear polarization.

[0105] Note that for ease of illustration, only one line is used to represent the first polarization in Figure 5. In reality, the first polarization includes three linearly polarized beams output by light source module 201, corresponding to the three colors.

[0106] In a scenario where profile detection is performed on a target object, after acquiring the second polarized light, the polarization adjustment module sends the second polarized light to the projection module 507, which projects the second polarized light onto the target object.

[0107] In the above embodiment, the optical transmitter module 202 first splits the first polarized light from the light source module 201 into two different polarized beams, and then interferes the two obtained polarized beams to obtain a second polarized light, so that the second polarized light can simultaneously project grating fringes of multiple spatial frequencies, and further obtain a multi-frequency grating fringe image and a multi-phase grating fringe image.

[0108] [3. Optical Detection Module 203]

[0109] 6 is a schematic diagram of an optical detection module according to an embodiment of the present application. As shown in FIG. 6, the optical detection module 203 includes an imaging module 601 and a color and polarization detection module 602.

[0110] The imaging module 601 is configured to receive target polarized light corresponding to a second polarization point. The target polarized light is used to project initial target gratings of N colors, where the initial target gratings are obtained by modulating the projected gratings with the second polarized light. The color polarization detection module 602 is configured to separately perform phase shifts of at least two different phase values ​​on the initial gratings corresponding to each color, thereby generating multiple target grating images corresponding to each color.

[0111] The optical system 200 is applied in a scenario where profile detection is performed on a target, and the target polarization may be a polarization obtained by modulating a second polarization by a target object.

[0112] Specifically, after the optical transmitter module 202 projects the second polarized light onto the target object, the grating pattern projected by the second polarized light is deformed due to the modulation of the target object, generating a corresponding target polarized light, which is reflected by the optical detection module 203 to the imaging module 601 and sent to the color polarization detection module 602 through the imaging module 601.

[0113] In some embodiments of the present application, the imaging module 601 includes an imaging element, such as an imaging lens. In an optional implementation, the imaging module 601 may be an imaging lens. The color polarization detection module may include a color polarization detector (or sensor) with different polarizing coatings and different color coatings, or may include a color polarization camera with a multi-color light source and pixel-level coatings, etc. In an optional implementation, the color polarization detection module may be a color polarization detector.

[0114] FIG. 7 is a schematic diagram of the structure of a color polarization detection module according to an embodiment of the present application.

[0115] In this embodiment of the present application, the color polarization detection module is configured to perform different phase shifts on the gratings projected by the target polarization based on polarization, receive target polarizations of different colors, and thereby implement gating for multi-frequency gratings and multi-phase gratings. As shown in FIG. 7 , the hardware configuration of the color polarization detection module 602 includes a pixel array located in the bottom layer, a polarization array located in the middle layer, and a microlens array located in the top layer. The microlens array is configured to transmit the target polarization. The polarization array is configured to perform phase shifts of at least two different phase values ​​on the target polarization, thereby obtaining a multi-phase grating signal. The pixel array is configured to separately receive the target polarizations of different colors, thereby obtaining a multi-frequency grating signal. After obtaining the multi-phase grating signal and the multi-frequency grating signal, the color polarization detection module 602 generates corresponding multi-frequency grating images and multi-phase grating images, thereby obtaining multiple target grating images.

[0116] FIG. 8 is a schematic diagram of a polarizer array and a pixel array according to an embodiment of the present application.

[0117] An example in which a phase shift of four different phase values ​​is performed on the target polarization is used below for explanation.

[0118] As shown in Fig. 8, the smallest processing unit of the polarization array is a pixel unit. In the polarization array, each pixel unit corresponds to a phase shift of one phase value, and the phase shift of the phase value corresponding to the pixel unit is performed on the target polarization projected to the pixel unit. When phase shifts of four different phase values ​​are performed on the target polarization, the polarization array includes phase shifts of four different phase values, i.e., includes pixel units of four different polarization directions, and four adjacent pixel units corresponding to the phase shifts of the four phase values ​​are used as a group, and the phase values ​​corresponding to the four adjacent pixel units may be 0°, 45°, 90°, and 135°.

[0119] As shown in FIG. 8, in the pixel array, four pixel units corresponding to a group of four pixel units in the polarization array correspond to coatings of the same color and are configured to filter out light signals of other colors from the received target polarization and receive only the light signals of the color corresponding to the pixel unit.

[0120] FIG. 9 is a schematic diagram of a target lattice fringe image according to an embodiment of the present application. In a scenario in which a lattice fringe is projected using red, green, and blue polarized light and a phase shift of four different phase values ​​is performed on the target polarized light, the optical detection module 203 can acquire 12 different target lattice fringe images based on the target polarized light. As shown in FIG. 9, the acquired 12 target lattice fringe images include four red lattice fringe images shown in FIG. 9(a), four green lattice fringe images shown in FIG. 9(b), and four blue lattice fringe images shown in FIG. 9(c). In the four red lattice fringe images shown in FIG. 9(a), the initial phase of the lattice fringe is different, while it is the same in FIG. 9(b) and FIG. 9(c). In FIG. 9, an example in which a person is used as the target object is used for illustration purposes.

[0121] As described above, the color polarization detection module 602 selectively receives the grating fringes obtained by performing phase shifts on the grating fringes having the same spatial frequency through the polarization array based on the target polarization received at one time, and selectively receives the grating fringes of different colors, thereby simultaneously acquiring a multi-frequency grating fringe image and a multi-phase grating fringe image, which greatly reduces the number of grating fringe projections and collections, simplifies the multi-frequency and multi-phase grating fringe acquisition process, and greatly improves the convenience and measurement efficiency.

[0122] 10A and 10B are schematic diagrams of a possible optical system according to one embodiment of the present application. As shown in Fig. 10A and 10B, for the modules and elements included in the optical system, please refer to the descriptions in the previous embodiments. Here, the details will not be described again.

[0123] It can be understood that the optical system architecture shown in Figures 10A and 10B is merely one possible implementation of the optical system 200 provided in this embodiment of the present application and does not constitute a limitation on the optical system provided in this embodiment of the present application.

[0124] When the optical system 200 is applied to a scenario in which profile detection is performed on a target object after acquiring multiple grating fringe images acquired by modulation by the target object, the optical detection module 203 may calculate profile information of the target object based on the multiple grating fringe images.

[0125] Based on the detection results shown in FIG. 9, the optical detection module 203 may use a four-step phase shift method to separately use the four grating images in the schematic diagrams (a), (b), and (c) in FIG. 9 as a group to calculate phase maps corresponding to each group, obtain phase values ​​by calculation based on the phase maps corresponding to the grating images of the three groups, and finally perform profile detection on the target object based on the determined phase values.

[0126] The formula for the light intensity of the four-step phase shift method is as follows: I(x,y,δ j )=A(x,y)+B(x,y)cos[φ(x,y)+δ j ]

[0127] I(x,y,δ j ) is the light intensity function, A(x,y) is the background light intensity, B(x,y) is the modulation depth of the fringes, and δ j is a moving phase value, and φ(x, y) is the phase of the object to be measured, which represents height information of the object to be measured.

[0128] In the standard four-step phase-shifting method, the wrapping phase of the grating image is calculated, and the corresponding phase shifts of the four images are δ0=0, δ1=π / 2, δ2=π, and δ3=3π / 2, respectively.

[0129] By solving the above equation, the four-step phase shift equation can be obtained.

number

[0130] I0(x,y), I1(x,y), I2(x,y), and I3(x,y) are the luminous intensities of the four checkerboard images, respectively.

[0131] The following phase function can be obtained by combining and solving the four equations above: φ(x,y)=arctan(I3(x,y)-I1(x,y)) / (I0(x,y)-I2(x,y)) -π≦φ≦π

[0132] φ(x,y) is the calculated wrapping phase.

[0133] After the optical detection module 203 calculates the (wrapping) phase corresponding to each group of lattice fringe images by using the above-mentioned method, in a phase de-entanglement step, phase de-entanglement may be performed by using a method for calculating synthetic wavelengths.

[0134] In a scenario where three different phase shifts are performed on the target polarization, the pixel array shown in FIG. 8 includes three different phase shifts, i.e., three pixel units with different polarization directions, and three adjacent pixel units corresponding to the three phase shifts are used as a group. In this way, a calculation method related to the three-step phase shift can be used to perform profile detection on the target object. Details will not be described again here.

[0135] Based on the same technical concept, an embodiment of the present application further provides an apparatus: A terminal may include the optical system provided in the embodiment of the present application.

[0136] Based on the same technical concept, an embodiment of the present application further provides a terminal, which may include the optical system provided in the embodiment of the present application.

[0137] The terminal may be a vehicle, an unmanned aerial vehicle, a robot, an in-vehicle terminal, or the like, as needed.

[0138] It is apparent that those skilled in the art can make various modifications and variations to the present application without departing from the scope of the present application, and in this case, the present application is intended to cover these modifications and variations of the embodiments of the present application as long as they fall within the scope of protection defined by the following claims and their equivalent technologies. [Other possible items] (Item 1) a light source module and an optical transmitter module; The light source module is configured to output a first polarized light, the first polarized light includes N colors of linearly polarized light, the different colors of linearly polarized light have the same polarization angle and different transmission directions, and N is an integer greater than 1; The optical transmitter module is configured to receive the first polarized light and generate a second polarized light based on the first polarized light, and the second polarized light is used to project the N colored gratings, wherein different colored gratings have different spatial frequencies. Optical system. (Item 2) the optical system further comprising an optical detection module; The optical detection module is configured to receive a target polarized light corresponding to the second polarized light and acquire a plurality of target grating images based on the target polarized light, the plurality of target grating images including a plurality of target grating images corresponding to each of the N colors, and initial phases of the gratings in at least two target grating images corresponding to each color being different. Item 1. The optical system according to item 1. (Item 3) The optical detection module includes an imaging module and a color polarization detection module; the imaging module is configured to receive the target polarized light, and the target polarized light is used to project initial target lattice fringes of the N colors, the initial target lattice fringes being lattice fringes obtained by modulating the projected lattice fringes with the second polarized light; The color polarization detection module is configured to separately perform phase shifts of at least two different phase values ​​on the initial gratings corresponding to each color to generate the plurality of target grating images corresponding to each color. Item 2. The optical system according to item 2. (Item 4) The light source module includes N monochromatic light sources, N angle adjusting modules, and a beam combining module; each of the N monochromatic light sources configured to output linearly polarized light of a corresponding color; Each of the N angle adjusting modules is configured to adjust a polarization angle of linearly polarized light from a corresponding monochromatic light source to a target angle; The beam combining module is configured to adjust the transmission directions of the N beams of linear polarization from the N angle adjusting modules to have different included angles with a target direction to obtain the first polarization. 4. The optical system according to any one of items 1 to 3. (Item 5) Item 5. The optical system of item 4, wherein the angle adjustment module includes a half-wave plate, and the angle adjustment module is located between the corresponding monochromatic light source and the beam combining module. (Item 6) the beam combining module includes N-1 beam combining elements; a first beam combining element of the N-1 beam combining elements is configured to transmit a first linearly polarized light from a first angle-adjusting module of the N angle-adjusting modules and reflect a second linearly polarized light from a second angle-adjusting module of the N angle-adjusting modules, and control the transmission directions of the first linearly polarized light and the second linearly polarized light to have different included angles with respect to the target direction; or The first beam combining element is configured to transmit the third linearly polarized light from the second beam combining element and reflect the fourth linearly polarized light from a third angle adjusting module in the N angle adjusting modules, and to control the transmission directions of the third linearly polarized light and the fourth linearly polarized light to have different included angles with respect to the target direction. Item 6. The optical system according to item 4 or 5. (Item 7) 7. The optical system of claim 6, wherein any one of the beam combining elements includes a dichroic beam splitter. (Item 8) 8. The optical system of any one of items 4 to 7, wherein the target direction is the transmission direction of linearly polarized light output by one of the N monochromatic light sources. (Item 9) the optical transmitter module includes a first spectroscopic module, a direction adjusting module, a second spectroscopic module, and a polarization adjusting module; the first spectroscopic module is configured to receive the first polarized light and split the first polarized light into a first linearly polarized light along a first direction and a second linearly polarized light along a second direction; the direction adjusting module is configured to receive the second linearly polarized light and adjust the transmission direction of the second linearly polarized light to a third direction; the second spectroscopic module is configured to receive the first linearly polarized light from the first spectroscopic module and the second linearly polarized light from the direction adjusting module, and generate interference light obtained by interfering the first linearly polarized light and the second linearly polarized light; The polarization adjustment module is configured to receive the interference light, adjust the polarization type of the interference light to a circular polarization type, and obtain the second polarization. Item 9. An optical system according to any one of items 1 to 8. (Item 10) the direction adjustment module includes a first reflector and a second reflector; the first reflector is configured to receive the second linearly polarized light from the first spectroscopic module and reflect the received second linearly polarized light to the second reflector; The second reflector is configured to reflect the received second linearly polarized light such that, after being reflected, the second linearly polarized light is incident on the second spectroscopic module along the third direction. Item 10. The optical system according to item 9. (Item 11) Item 11. The optical system of item 9 or 10, wherein the second direction is orthogonal to the first direction. (Item 12) 12. The optical system of any one of items 9 to 11, wherein the first spectroscopic module and the second spectroscopic module include a polarizing beam splitter. (Item 13) 13. The optical system of any one of items 9 to 12, wherein the optical transmitter module further comprises a projection module configured to receive the second polarized light and project the second polarized light onto a target object. (Item 14) Item 14. The optical system of item 13, wherein the optical adjustment module includes a quarter-wave plate and is located between the second spectroscopic module and the projection module. (Item 15) 15. An apparatus comprising an optical system according to any one of items 1 to 14. (Item 16) A terminal comprising an optical system according to any one of items 1 to 14. (Item 17) Item 17. The terminal according to item 16, wherein the terminal is any one of a vehicle, an unmanned aerial vehicle, and a robot.

Claims

1. a light source module, an optical transmitter module, and an optical detection module; The light source module is configured to output a first polarized light, the first polarized light includes N color linearly polarized light, the different color linearly polarized light has the same vibration direction angle and different transmission direction, and N is an integer greater than 1; the optical transmitter module is configured to receive the first polarized light and generate a second polarized light based on the first polarized light, the second polarized light being used to project the N colored gratings, the different colored gratings having different spatial frequencies; the optical detection module is configured to receive a target polarized light corresponding to the second polarized light and acquire a plurality of target grating images based on the target polarized light, the plurality of target grating images including a plurality of target grating images corresponding to each of the N colors, and initial phases of the gratings in at least two target grating images corresponding to each color being different; The optical detection module includes an imaging module and a color polarization detection module; the imaging module is configured to receive the target polarized light, and the target polarized light is used to project initial target gratings of the N colors, the initial target gratings being gratings obtained by modulating gratings projected with the second polarized light; The color polarization detection module is configured to separately perform phase shifts of at least two different phase values ​​on the initial target gratings corresponding to each color, and generate the plurality of target grating images corresponding to each color. Optical system.

2. The light source module includes N monochromatic light sources, N angle adjusting modules, and a beam combining module; each of the N monochromatic light sources configured to output linearly polarized light of a corresponding color; Each of the N angle adjusting modules is configured to adjust the angle of the vibration direction of the linearly polarized light from the corresponding monochromatic light source to a target angle; the beam combining module is configured to adjust the transmission directions of the N beams of linearly polarized light from the N angle adjusting modules to have an included angle different from a target direction to obtain the first polarization; 10. The optical system of claim 1.

3. a light source module and an optical transmitter module; The light source module is configured to output a first polarized light, the first polarized light includes N color linearly polarized light, the different color linearly polarized light has the same vibration direction angle and different transmission direction, and N is an integer greater than 1; the optical transmitter module is configured to receive the first polarized light and generate a second polarized light based on the first polarized light, the second polarized light being used to project the N colored gratings, the different colored gratings having different spatial frequencies; The light source module includes N monochromatic light sources, N angle adjusting modules, and a beam combining module; each of the N monochromatic light sources configured to output linearly polarized light of a corresponding color; Each of the N angle adjusting modules is configured to adjust the angle of the vibration direction of the linearly polarized light from the corresponding monochromatic light source to a target angle; the beam combining module is configured to adjust the transmission directions of the N beams of linearly polarized light from the N angle adjusting modules to have an included angle different from a target direction to obtain the first polarization; Optical system.

4. The optical system of claim 3 , wherein the angle adjustment module includes a half-wave plate, and the angle adjustment module is located between the corresponding monochromatic light source and the beam combining module.

5. the beam combining module includes N-1 beam combining elements; a first beam combining element of the N-1 beam combining elements is configured to transmit a first linearly polarized light from a first angle adjusting module of the N angle adjusting modules and reflect a second linearly polarized light from a second angle adjusting module of the N angle adjusting modules, and control the transmission directions of the first linearly polarized light and the second linearly polarized light to have different included angles with respect to the target direction; or A second beam combining element among the N−1 beam combining elements is configured to transmit a third linearly polarized light including the first linearly polarized light and the second linearly polarized light from the first beam combining element, reflect a fourth linearly polarized light from a third angle adjusting module among the N angle adjusting modules, and control the transmission directions of the third linearly polarized light and the fourth linearly polarized light to have different included angles with respect to the target direction.

4. The optical system of claim 3.

6. The optical system of claim 5 , wherein any one of the beam combining elements comprises a dichroic beam splitter.

7. The optical system of claim 3 , wherein the target direction is a transmission direction of linearly polarized light output by one of the N monochromatic light sources.

8. the optical transmitter module includes a first spectroscopic module, a direction adjusting module, a second spectroscopic module, and a polarization adjusting module; the first spectroscopic module is configured to receive the first polarized light and split the first polarized light into a first linearly polarized light along a first direction and a second linearly polarized light along a second direction; the direction adjusting module is configured to receive the second linearly polarized light and adjust the transmission direction of the second linearly polarized light to a third direction; the second spectroscopic module is configured to receive the first linearly polarized light from the first spectroscopic module and the second linearly polarized light from the direction adjusting module, and generate light obtained by combining the first linearly polarized light and the second linearly polarized light; The polarization adjustment module is configured to receive the combined light, adjust the polarization type of the combined light to a circular polarization type, and obtain the second polarization.

10. The optical system of claim 1.

9. a light source module and an optical transmitter module; The light source module is configured to output a first polarized light, the first polarized light includes N color linearly polarized light, the different color linearly polarized light has the same vibration direction angle and different transmission direction, and N is an integer greater than 1; the optical transmitter module is configured to receive the first polarized light and generate a second polarized light based on the first polarized light, the second polarized light being used to project the N colored gratings, the different colored gratings having different spatial frequencies; the optical transmitter module includes a first spectroscopic module, a direction adjusting module, a second spectroscopic module, and a polarization adjusting module; the first spectroscopic module is configured to receive the first polarized light and split the first polarized light into a first linearly polarized light along a first direction and a second linearly polarized light along a second direction; the direction adjusting module is configured to receive the second linearly polarized light and adjust the transmission direction of the second linearly polarized light to a third direction; the second spectroscopic module is configured to receive the first linearly polarized light from the first spectroscopic module and the second linearly polarized light from the direction adjusting module, and generate light obtained by combining the first linearly polarized light and the second linearly polarized light; The polarization adjustment module is configured to receive the combined light, adjust the polarization type of the combined light to a circular polarization type, and obtain the second polarization. Optical system.

10. the direction adjustment module includes a first reflector and a second reflector; the first reflector is configured to receive the second linearly polarized light from the first spectroscopic module and reflect the received second linearly polarized light to the second reflector; The second reflector is configured to reflect the received second linearly polarized light so that, after being reflected, the second linearly polarized light is incident on the second spectroscopic module along the third direction.

10. The optical system of claim 9.

11. The optical system of claim 9 , wherein the second direction is orthogonal to the first direction.

12. The optical system of claim 9 , wherein the first spectroscopic module and the second spectroscopic module include a polarizing beam splitter.

13. 10. The optical system of claim 9, wherein the optical transmitter module further comprises a projection module configured to receive the second polarized light and project the second polarized light onto a target object.

14. The optical system of claim 13 , wherein the polarization adjustment module includes a quarter-wave plate and is located between the second spectroscopic module and the projection module.

15. Apparatus comprising an optical system according to any one of claims 1 to 14.

16. A terminal comprising an optical system according to any one of claims 1 to 14.

17. The terminal of claim 16 , wherein the terminal is one of a vehicle, an unmanned aerial vehicle, and a robot.

Images