System with integrated ranging and imaging functions, and laser emitting subsystem

Abstract

Provided in the embodiments of the present application are a system with integrated ranging and imaging functions, and a laser emitting subsystem. A light reflection and transmission module is provided between a first lens group and a second lens group in the laser emitting subsystem, which first lens group and second lens group are used for realizing laser collimation, and fill light emitted by a fill light source is added to a laser-emission light path by means of the light reflection and transmission module, such that light emitted from the laser emitting subsystem has fill light, thereby reducing the size of the system. Moreover, in a laser ranging and imaging subsystem, received reflected light is split by means of a light splitting module to enter a laser ranging module and an imaging module respectively for ranging and imaging, thereby greatly reducing the size of the whole system, and realizing the miniaturization of the system with integrated ranging and imaging functions and having a fill light function.

Description

A system integrating ranging and imaging functions and a laser emission subsystem

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 28, 2023, with application number 202310779011.3 and invention name “A system and laser emission subsystem with integrated ranging and imaging functions”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to laser detection technology, and in particular to a system and a laser emission subsystem integrating ranging and imaging functions. Background Art

[0003] Currently, laser detection technology is being used in an increasingly wide range of applications, for example, in laser ranging and imaging. With the development of laser detection technology, devices or systems integrating laser ranging and imaging functions have emerged, such as laser ranging and imaging systems. As shown in Figure 1, a laser ranging and imaging system in the related art typically includes: a laser emitting module 10, a fill light module 20, a laser ranging module 30, and an imaging module 40. The laser light emitted by the laser emitting module 10 passes through optical element group 1 and is then emitted onto the object A to be measured. The light emitted by the fill light module 20 passes through optical element group 2 and is then irradiated onto the object A to be measured for fill light. The reflected light from the object A passes through optical element group 3 and optical element group 4, respectively, and enters the laser ranging module 30 and imaging module 40. The laser ranging module 30 determines the distance to the object A to be measured based on the time difference between the emitted laser light and the received laser light. The imaging module 40 is used to achieve imaging.

[0004] As can be seen from Figure 1, several modules in the laser ranging and imaging system of the related art are independent of each other, and four optical path systems are formed based on four optical element groups. In other words, four apertures are required to achieve ranging and imaging, resulting in the entire product being large in size and heavy in weight, making it inconvenient for users to carry and use.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a system and a laser emission subsystem that integrate ranging and imaging functions to achieve system miniaturization. The specific technical solutions are as follows:

[0007] An embodiment of the first aspect of the present application provides a system integrating ranging and imaging functions, comprising: a laser emission subsystem and a laser ranging and imaging subsystem;

[0008] The laser emission subsystem includes a laser emission module, a first lens group, a light reflection and transmission module, and a second lens group arranged in sequence along the laser emission direction, and a fill light source arranged toward the light reflection and transmission module; the laser emitted by the laser emission module is irradiated onto the light reflection and transmission module after passing through the first lens group; the fill light emitted by the fill light source is irradiated onto the light reflection and transmission module; the light reflection and transmission module transmits the light irradiated from the first lens group to the second lens group, and reflects the fill light emitted by the fill light source to the second lens group; the second lens group The laser light transmitted by the reflection-transmission module and the reflected fill light are irradiated onto the object to be measured; the first lens group and the second lens group cooperate to form a laser collimation light path; the laser ranging imaging subsystem includes: a light receiving module, a spectrometer module, a laser ranging module and an imaging module; the light receiving module is used to receive externally irradiated light, wherein the externally irradiated light includes the laser light and the fill light reflected by the object to be measured; the spectrometer module is used to split the reflected visible light into visible light to the laser ranging module and the imaging module, so that the laser ranging module performs ranging and the imaging module performs imaging.

[0009] The system integrating ranging and imaging functions according to the embodiment of the present application may also have the following technical features:

[0010] In some embodiments of the present application, the first lens group includes: a concave lens arranged along the laser emission direction; and / or the second lens group includes: a convex lens arranged along a direction away from the light reflection and transmission module.

[0011] In some embodiments of the present application, the light reflection and transmission module includes: a first filter, the first filter is coated with a dichroic film that can transmit laser light and reflect non-laser light; or, the light reflection and transmission module is a first dichroic prism, and the first dichroic surface of the first dichroic prism is coated with a dichroic film layer that can transmit laser light and reflect non-laser wavelengths.

[0012] In some embodiments of the present application, the fill light source includes: an infrared fill light; the type of the infrared fill light includes an LED infrared fill light or a laser infrared fill light.

[0013] In some embodiments of the present application, the laser emission module includes: a laser emitter having a wavelength of 905 nm, 1064 nm, or 1550 nm.

[0014] In some embodiments of the present application, the light receiving module includes: a lens capable of transmitting visible light, infrared light, and laser light;

[0015] In some embodiments of the present application, the lens includes: a first spherical mirror, a second spherical mirror, a third spherical mirror, a fourth spherical mirror, a fifth spherical mirror, a sixth spherical mirror, a seventh spherical mirror, an eighth spherical mirror and a ninth spherical mirror arranged in sequence along the incident light; the first spherical mirror has positive optical power, the second spherical mirror and the third spherical mirror constitute a first cemented mirror, and the first cemented mirror has negative optical power; the fourth spherical mirror and the fifth spherical mirror constitute a second cemented mirror, and the second cemented mirror has positive optical power; the sixth spherical mirror and the seventh spherical mirror constitute a third cemented mirror, and the third cemented mirror has positive optical power; the eighth spherical mirror and the ninth spherical mirror constitute a fourth cemented mirror, and the fourth cemented mirror has positive optical power.

[0016] In some embodiments of the present application, the spectroscopic module includes: a second spectroscopic prism; a second spectroscopic surface of the second spectroscopic prism is coated with a spectroscopic film layer that can reflect laser light and transmit visible light and infrared light.

[0017] In some embodiments of the present application, the ranging module is provided with a photodetector for detecting whether light is received; the light incident from the light receiving module is refracted by the second beam splitter prism and then illuminates the photodetector for ranging.

[0018] In some embodiments of the present application, a filter switching mechanism and an image sensor are provided in the imaging module; the filter switching mechanism is used to switch the position of at least two second filters so that only one second filter is located between the second spectroscopic prism and the image sensor to filter the incident reflected light; the image sensor is used to perform imaging based on the light filtered by the second filter.

[0019] In some embodiments of the present application, the filter switching mechanism includes: at least two second filters and a switching structure; wherein, the at least two second filters are at least two of a visible light-passing infrared light cutoff filter, a visible light and infrared light all-pass filter, and a visible light-cutoff infrared light-passing filter; the at least two second filters are mounted on the switching structure, and the filter switching mechanism switches the position of the second filters so that only one second filter is located between the second spectroscopic prism and the image sensor; the light irradiated from the second spectroscopic prism is irradiated onto the second filter after switching by the filter switching mechanism.

[0020] In some embodiments of the present application, the switching structure includes: a light port, a filter motion structure, a drive motor, and a drive rod; the light port is located between the second spectroscopic prism and the image sensor; the at least two second filters are fixed on the filter motion structure, and the two ends of the drive rod are respectively connected to the drive motor and the filter motion structure; the filter motion structure switches its position under the drive of the drive motor and the drive rod, so that only one second filter is located at the position of the light port.

[0021] According to a second aspect of an embodiment of the present application, a laser emission subsystem is provided, comprising: a laser emission module, a first lens group, a light reflection and transmission module, and a second lens group arranged in sequence along a laser emission direction, and a fill light source arranged toward the light reflection and transmission module; the laser emitted by the laser emission module is irradiated onto the light reflection and transmission module after passing through the first lens group; the fill light emitted by the fill light source is irradiated onto the light reflection and transmission module; the light reflection and transmission module transmits the light irradiated from the first lens group to the second lens group, and reflects the fill light emitted by the fill light source to the second lens group; the second lens group irradiates the laser transmitted by the light reflection and transmission module and the reflected fill light onto the object to be measured; the first lens group and the second lens group cooperate to form a laser collimation optical path.

[0022] Beneficial effects of the embodiments of the present application: In the system with integrated ranging and imaging functions provided by the embodiments of the present application, a light reflection and transmission module is set between the first lens group and the second lens group for realizing laser collimation in the laser emission subsystem, and the fill light emitted by the fill light source is added to the laser emission optical path through the light reflection and transmission module, so that the light emitted from the laser emission subsystem contains fill light, so there is no need to set up a separate fill light optical path. Compared with the laser ranging imaging system shown in Figure 1 which requires a separate fill light optical path, the volume of the laser emission subsystem is reduced, and the miniaturization of the system is achieved.

[0023] In the embodiment of the present application, in addition to not requiring a separate fill light optical path to be set up in the laser emission subsystem, a splitter module is also used in the laser ranging imaging subsystem to split the received light into a laser ranging module and an imaging module for respectively performing ranging and imaging. In other words, at the receiving end, the laser ranging and imaging functions are also realized through only one optical path, and there is no need to set up a separate optical path for ranging and an optical path for imaging. Compared to the laser ranging imaging system shown in FIG1 , which requires separate fill light optical paths, ranging optical paths, and imaging optical paths, the volume of the entire system with integrated ranging and imaging functions is greatly reduced, and the miniaturization of the system with integrated ranging and imaging functions with fill light functions is achieved. Of course, it is not necessary to achieve all of the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0025] FIG1 is a schematic structural diagram of a laser ranging imaging system in the related art;

[0026] FIG2 is a structural diagram illustrating an example of a system integrating ranging and imaging functions provided in an embodiment of the present application;

[0027] FIG3 is a structural diagram of a laser emission subsystem in the embodiment shown in FIG2 ;

[0028] FIG4 is another structural example diagram of the laser emission subsystem in the embodiment shown in FIG2 ;

[0029] FIG5 is a structural diagram illustrating an example of a laser collimation optical path in the embodiment shown in FIG3 ;

[0030] FIG6 is a structural diagram illustrating an optical receiving module in the embodiment shown in FIG2 ;

[0031] FIG. 7 is a structural diagram illustrating an example of the optical filter switching mechanism in the embodiment shown in FIG. 2 .

[0032] Description of reference numerals:

[0033] In FIG1 : laser emission module 10; fill light module 20; laser ranging module 30; imaging module 40;

[0034] In Figures 2 to 7: laser emission subsystem 100; laser emission module 110; laser emitter 111; first lens group 120; light reflection and transmission module 130; first filter 131; first beam splitter prism 132; first beam splitting surface 1321; second lens group 140; fill light source 150; fill light 151;

[0035] Laser ranging imaging subsystem 200; light receiving module 210; first spherical mirror 2101; second spherical mirror 2102; third spherical mirror 2103; fourth spherical mirror 2104; fifth spherical mirror 2105; sixth spherical mirror 2106; seventh spherical mirror 2107; eighth spherical mirror 2108; ninth spherical mirror 2109; first cemented mirror 2110; second cemented mirror 2111; third cemented mirror 2112; fourth cemented mirror 2113; spectrometer module 220; second spectrometer surface 221; laser ranging module 230; photodetector 231; imaging module 240; filter switching mechanism 241; second filter 2411; switching structure 2412; light port 1; filter motion structure 2; drive motor 3; drive rod 4; motion structure slide rail 5; mounting bracket 6; image sensor 242. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0037] As mentioned in the background, in related technologies, the several modules in a laser ranging imaging system are independent of each other, forming four optical path systems based on four optical element groups. This means that four apertures are required to achieve ranging and imaging, resulting in a large and heavy product, making it inconvenient for users to carry and use. Furthermore, the range of laser ranging is related to the aperture of the laser receiving optical path. Increasing the aperture of the laser receiving optical path of a separate laser ranging module comes at a high cost in terms of increased product volume. Therefore, the aperture of the receiving optical path of a separate laser ranging module often needs to take into account the volume, and cannot be increased, which affects the ranging range.

[0038] In the related art, in addition to the method of using four modules in parallel as shown in Figure 1, there is also a laser ranging device that does not have a fill light device on the laser emission optical path to save space, resulting in the system being unusable in low-light environments at night.

[0039] In the related art, there is also a laser ranging imaging system that uses a common optical path for laser emission, laser ranging and image receiving. Because the laser emission and laser receiving optical paths are coaxial, the entire system cannot be equipped with a fill light system in the optical path due to insufficient space. In addition, the technical solution of this system has three obvious defects: (1) The system is a pure optical system and is greatly affected by ambient light. Due to the lack of a fill light module, the system cannot be used in low-light environments such as at night; (2) Because the laser emission module and the laser receiving module are coaxial systems, and the working bands of laser emission and laser reception are consistent, the front prism must be designed as a semi-transparent and semi-reflective mirror. The semi-transparent and semi-reflective mirror will greatly reduce the energy utilization rate of laser emission and reduce the laser ranging performance; (3) Since the system is coaxial for emission and reception, a transparent display screen is required inside. The transparent display screen also has the problem of low transmittance, which will further reduce the light energy utilization rate of the entire system and the image quality is not high.

[0040] In order to solve the problems of related technologies and realize the miniaturization of the system integrating ranging and imaging functions, the embodiments of the present application provide a system integrating ranging and imaging functions and a laser emission subsystem, which are described in detail below.

[0041] As shown in FIG2 , an embodiment of the present application provides a system integrating ranging and imaging functions, including: a laser emission subsystem 100 and a laser ranging and imaging subsystem 200 . As shown in Figures 2 and 3, the laser emitting subsystem 100 includes: a laser emitting module 110, a first lens group 120, a light reflection and transmission module 130, and a second lens group 140 arranged in sequence along the laser emission direction, and a fill light source 150 arranged toward the light reflection and transmission module 130; the laser emitted by the laser emitting module 110 is irradiated onto the light reflection and transmission module 130 after passing through the first lens group 120; the fill light emitted by the fill light source 150 is irradiated onto the light reflection and transmission module 130; the light reflection and transmission module 130 transmits the light irradiated from the first lens group 120 to the second lens group 140, and reflects the fill light emitted by the fill light source 150 to the second lens group 140; the second lens group 140 irradiates the laser transmitted by the light reflection and transmission module 130 and the reflected fill light onto the object to be measured; the first lens group 120 and the second lens group 140 cooperate to form a laser collimation optical path.

[0042] The laser ranging and imaging subsystem 200 includes: a light receiving module 210, a spectrometer module 220, a laser ranging module 230, and an imaging module 240. The light receiving module 210 is used to receive external light, which includes laser light reflected by the object being measured and fill light. The spectrometer module 220 is used to split the reflected light and visible light into the ranging module and the imaging module, so that the ranging module 230 can perform ranging and the imaging module 240 can perform imaging.

[0043] In the system with integrated ranging and imaging functions provided in the embodiment of the present application, a light reflection and transmission module is set between the first lens group 120 and the second lens group 140 for realizing laser collimation in the laser emission subsystem. The fill light emitted by the fill light source is added to the laser emission optical path through the light reflection and transmission module. This makes the light emitted from the laser emission subsystem contain fill light, so there is no need to set up a separate fill light optical path. Compared with the laser ranging imaging system shown in Figure 1 which requires a separate fill light optical path, the volume of the laser emission subsystem is reduced, and the miniaturization of the system is achieved.

[0044] Moreover, in addition to not requiring a separate light-filling optical path in the laser emission subsystem, in the embodiment of the present application, a light-splitting module is also used in the laser ranging imaging subsystem to split the received light into a laser ranging module and an imaging module for respectively performing ranging and imaging. In other words, at the receiving end, the laser ranging and imaging functions are also realized through only one optical path, and there is no need to separately set up an optical path for ranging and an optical path for imaging. Compared to the laser ranging imaging system shown in FIG1 , which requires separate light-filling optical paths, ranging optical paths, and imaging optical paths, the volume of the entire system with integrated ranging and imaging functions is greatly reduced, and the miniaturization of the integrated ranging and imaging functions with light-filling functions is achieved. Moreover, since light-filling is performed at the laser emission end, the system has excellent imaging capabilities in low-light environments.

[0045] In the embodiment of the present application, as shown in Figures 2 and 3, the light reflection and transmission module 130 may include: a first filter 131, coated with a dichroic film that transmits laser light and reflects non-laser light; after the laser emitter 111 in the laser emission module 110 emits laser light, it passes through the first lens group 120, the first filter 131, and the second lens group 140 in sequence to form a main optical path for laser emission; the fill light beam emitted by the fill light source 150 is mostly refracted by the first filter 131, then merged into the main optical path and emitted through the second lens group 140. The filter 131 is placed at a 45° angle to the laser emission optical axis so that it can transmit laser light and refract and reflect non-laser light, so that the fill light beam emitted by the fill light source 150 is mostly refracted and merged into the main optical path.

[0046] In this embodiment, the first optical filter 131 has a simple structure and a small size, thereby not increasing the size of the laser emission subsystem 100. Furthermore, the first optical filter 131 does not excessively weaken the energy of the laser after passing through the first optical filter 131, thereby ensuring that the energy that reaches the object being measured is sufficient.

[0047] In other embodiments, as shown in FIG. 4 , the light reflection and transmission module 130 may include a first beam splitter prism 132 , wherein a first beam splitting surface 1321 of the first beam splitter prism 132 is coated with a beam splitting film layer capable of transmitting laser light and refracting and reflecting light in a non-laser wavelength band.

[0048] In this embodiment, the first beam splitter prism 132 transmits laser light and refracts and transmits non-laser wavelengths in a certain ratio. The non-laser wavelengths herein primarily refer to the wavelengths of light emitted by the fill light source, for example, infrared wavelengths with a central wavelength of 850 nm or 940 nm.

[0049] In this embodiment, the first beam splitter prism 132 has a simple structure and a small size, thereby not increasing the size of the laser emission subsystem 100. Furthermore, the first beam splitter prism 132 does not excessively weaken the energy of the laser beam after passing through the first beam splitter prism 132, thereby ensuring that the energy irradiated on the object being measured is sufficient.

[0050] In the embodiments shown in Figures 2, 3, and 4, the fill light source 150, the light reflection and transmission module 130, and the second lens group 140 constitute the actual fill light optical path. The second lens group 140 is capable of diverging the fill light reflected by the light reflection and transmission module 130, thereby increasing the fill light range. At the same time, after the laser passes through the second lens group 140, the light beam becomes a parallel beam and is emitted. In other words, the second lens group 140 realizes multiplexing in the fill light optical path and the laser emission optical path. Compared to the prior art solution in which the fill light module is separately provided on the front panel of the device, this embodiment utilizes the second lens group 140 in the laser collimation optical path to diverge the fill light, and the fill light source can use a smaller fill light lamp, further reducing the size of the system.

[0051] The fill light 151 in the fill light source 150 can be an infrared fill light, that is, the fill light path can be an infrared fill light path.

[0052] As shown in Figures 2, 3, and 4, the infrared fill light path is characterized in that the divergence angle of the fill light path can cover the field of view angle of the imaging light path. As shown in Figure 2, the fill light emitted by the fill light lamp 151 is irradiated onto the light-emitting surface of the first filter 131. The first filter 131 refracts the fill light to the second lens group 140. The second lens group 140 can diverge the fill light reflected by the light reflection and transmission module 130. The angle between the divergent fill light and the optical axis is the divergence angle of the fill light path. The field of view angle of the imaging light path refers to the field of view angle of the light irradiated by the lens to the imaging module. As shown in Figure 2, the divergence angle of the fill light path can cover the field of view angle of the imaging light path.

[0053] In this embodiment, the divergence angle of the system's fill light path only needs to cover the field of view angle of the imaging light path. Therefore, there are no special requirements for the spacing between the parallel laser emission subsystem 100 and the laser ranging imaging subsystem 200. This spacing can be very small, further reducing the size of the system. In Figure 2, the laser emission subsystem 100 is on top and the laser ranging imaging subsystem 200 is on the bottom. In practical applications, either one can be on top without limitation.

[0054] In addition, the fill light 151 can be a fill light with a certain divergence angle. As shown in Figure 2, the fill light emitted by the fill light 151 diverges and irradiates the light exiting surface of the first filter 131. After being refracted by the first filter 131, it is further diverged by the second lens group 140 and irradiates the object to be measured. Specifically, the divergence angle of the fill light 151 is Among them, d is the diameter of the hole used by the fill light to limit the diameter of the fill light beam, and f is the focal length of the fill light lens.

[0055] In the embodiment of the present application, as shown in FIG2 and FIG3 , the fill light source 150 includes: an infrared fill light 151 ; the type of the infrared fill light includes an LED infrared fill light or a laser infrared fill light.

[0056] In order to better implement the technical solution of the present application, further, the central wavelength of the infrared fill light 151 is 850nm or 940nm.

[0057] Specifically, the fill light 151 can use infrared LED lamp beads or VCSEL (Vertical-Cavity Surface-Emitting Laser) infrared laser lamp beads, as shown in Figure 3, including an infrared emitting circuit at the bottom, with an infrared emitting tube arranged in the middle; the fill light lens cover is arranged on the infrared emitting tube, and the center of the fill light lens is provided with the sleeve hole.

[0058] In the embodiment of the present application, the optical power of the laser collimating optical path formed by the first lens group 120 and the second lens group 140 is Follow this formula:

[0059] in, is the optical power of the first lens group 120, is the optical power of the second lens group 140, and t is the distance between the first lens group 120 and the second lens group 140. In this embodiment, t>10mm, the optical power of the first lens group 120 is positive, and the relationship between the optical power of the laser collimation optical path and the optical power of the first lens group 120 is: And t>10mm, when When the optical power of the second lens group 140 is negative, When , the refractive power of the second lens group 140 is positive.

[0060] As shown in FIG5 , in a specific embodiment, the first lens group 120 and the second lens group 140 can be separate lenses, and the laser collimation optical path is sequentially provided with the first lens group 120, the first filter 131, and the second lens group 140 along the laser emission direction. The distance between the first lens group 120 and the second lens group 140 is t=10.3 mm. The first lens group 120 is a concave lens with a focal length of The second lens group 140 is a convex lens, the first surface of which is spherical, the second surface of which is spherical, and the optical power is The laser collimation optical path can align the laser beam emitted by the laser emitting module 110 into a parallel beam.

[0061] In the embodiment of the present application, the laser emitting module 110 includes: a laser emitter having a wavelength of 905 nm, 1064 nm or 1550 nm.

[0062] In the embodiment of the present application, the imaging module 240 may include: a filter switching mechanism 241 and an image sensor 242. As shown in Figure 2, the light receiving module 210, the spectrometer module 220, the filter switching mechanism 241, and the image sensor 242 are sequentially arranged along the light incident axis. The laser beam and the fill light beam emitted by the laser emitting subsystem 100 are reflected back after being irradiated on the object to be measured. The reflected laser beam, visible light beam, and fill light beam are emitted from the light receiving module 210. When passing through the spectrometer module 220 along the main light receiving optical path, part of the light is split and sent to the laser ranging module 230 for ranging, and part of the light is split and sent to the imaging module 240 for imaging.

[0063] As shown in Figure 2, in the system with integrated ranging and imaging functions provided by the embodiment of the present application, the transmitting optical path of the laser ranging and the infrared fill light module actually share a set of optical paths, and the receiving optical path of the laser ranging and the imaging module share a set of optical paths. In this way, the device based on this system is reduced from four apertures to two apertures, greatly reducing the volume and weight of the entire product, making it easier for users to carry and use. Moreover, since the receiving optical path of the laser ranging and the imaging module share a set of optical paths, the volume occupied by the receiving end optical path is reduced, so the optical path diameter of the imaging module can be made much larger than the diameter of the receiving optical path of the laser ranging alone. The large diameter of the receiving optical path can also significantly increase the range of laser ranging.

[0064] As shown in Figure 2, in this embodiment of the present application, the spectroscopic module 220 may be a second spectroscopic prism. The second spectroscopic surface 221 of the second spectroscopic prism is coated with a spectroscopic coating that reflects laser light and transmits visible and infrared light. The second spectroscopic prism transmits most visible light, while refracting and transmitting laser light in a certain proportion. Typically, the second spectroscopic prism refracts laser light at a greater proportion than it transmits, transmitting as little laser light as possible, or even so little that it is negligible, thus being considered as not transmitting laser light. The second spectroscopic prism is positioned at an angle to the optical axis, refracting and reflecting most of the laser light toward the laser ranging module 230. In other words, the second spectroscopic prism refracts and reflects the laser measurement signal wavelength band, removes the laser measurement signal band within the effective wavelength band, and transmits the remaining wavelength band. The laser measurement signal passing through the optical receiving module 210 is refracted and reflected by the second spectroscopic prism before being received by the photodetector 231 in the laser ranging module 230. The filter switching mechanism 241 and the image sensor 242 are sequentially arranged along the incident direction of the optical axis after the second beam splitter prism for imaging.

[0065] In this embodiment, the second beam splitter prism used also has the characteristics of simple structure and small size, so it will not increase the volume of the laser ranging imaging subsystem 200, and will not have a significant impact on the imaging effect of the visible light beam and the fill light beam after passing through the second beam splitter prism.

[0066] As shown in FIG2 , in an embodiment of the present application, a photodetector 231 for detecting whether light is received may be provided in the ranging module 230 ; light incident from the light receiving module 210 is refracted by the second beam splitter prism and then irradiated onto the photodetector 231 for ranging.

[0067] As shown in FIG2 , in an embodiment of the present application, the imaging module 240 may be provided with a filter switching mechanism 241 and an image sensor 242. The filter switching mechanism 241 is configured to switch the positions of at least two second filters 2411 so that only one second filter 2411 is positioned between the second beam splitter prism and the image sensor 242 to filter incident reflected light. The image sensor 242 is configured to generate an image based on the light filtered by the second filter 2411. In this embodiment, the image sensor 242 may be a CCD / CMOS-based image acquisition sensor.

[0068] Referring to FIG6 , as shown in FIG6 , in the embodiment of the present application, the light receiving module 210 is a lens that can transmit visible light, infrared light and laser light. The light receiving module 210 receives light through the lens and irradiates the light to the spectroscopic module 220, i.e., the second spectroscopic prism. As shown in FIG6 , the lens may include: a first spherical mirror 2101 arranged in sequence along the incident light; a second spherical mirror 2102; a third spherical mirror 2103; a fourth spherical mirror 2104; a fifth spherical mirror 2105; a sixth spherical mirror 2106; a seventh spherical mirror 2107; an eighth spherical mirror 2108 and a ninth spherical mirror 2109; the first spherical mirror 2101 has positive focal length, and the second spherical mirror 2102 and the third spherical mirror 2103 form a first composite mirror 2106; a first spherical mirror 2107; a first spherical mirror 2108; a first spherical mirror 2109; a first spherical mirror 2101 having positive focal length, and the second spherical mirror 2102 and the third spherical mirror 2103 form a first composite mirror 2106 ... 10. The first composite mirror 2110 has negative optical power; the fourth spherical mirror 2104 and the fifth spherical mirror 2105 constitute the second composite mirror 2111, and the second composite mirror 2111 has positive optical power; the sixth spherical mirror 2106 and the seventh spherical mirror 2107 constitute the third composite mirror 2112, and the third composite mirror 2112 has positive optical power; the eighth spherical mirror 2108 and the ninth spherical mirror 2109 constitute the fourth composite mirror 2113, and the fourth composite mirror 2113 has positive optical power.

[0069] Specific parameters of the spherical mirrors and the second beam splitter prism 220 in the lens shown in FIG6 are shown in the following table:

[0070] Among them, lenses 1 to 9 correspond to the first spherical mirror 2101 to the ninth spherical mirror 2109, and the order of S is from left to right in Figure 6.

[0071] All the lenses in the lens are spherical lenses, which have the advantage of low processing cost. The spherical lenses in the lens are composed of 4 cemented lenses, so the lens has the advantage of compact structure.

[0072] As shown in Figure 7, in an embodiment of the present application, the filter switching mechanism 241 includes: at least two second filters 2411 and a switching structure 2412; wherein, the at least two second filters 2411 are at least two of a visible light-passing infrared light cutoff filter, a visible light and infrared light all-pass filter, and a visible light-cutoff infrared light-passing filter; at least two second filters 2411 are mounted on the switching structure 2412, and the filter switching mechanism 241 switches the position of the second filters 2411 so that only one second filter 2411 is located between the second beam splitter prism and the image sensor 242; the light irradiated from the second beam splitter prism is irradiated onto the second filter 2411 after switching by the filter switching mechanism 241.

[0073] The filter switching mechanism 241 employed in the embodiments of the present application is a device that automatically switches a second filter 2411 based on an electrical signal. The second filter 2411 can select different filter combinations based on the device's image function. Two combinations can be used to switch between color and night mode, or three combinations can be used to switch between color, night, and through-fog modes. The second filter 2411 corresponding to the color mode is a visible light-passing, infrared-cutoff filter; the night mode is a visible light-near-infrared all-pass filter; and the through-fog mode is a visible light-cutoff, near-infrared-passing filter.

[0074] As shown in Figure 7, the switching structure 2412 may specifically include: a light port 1, a filter motion structure 2, a drive motor 3 and a drive rod 4; the light port 1 is located between the second beam splitter prism and the image sensor 242; at least two second filters 2411 are fixed to the filter motion structure 2, and the two ends of the drive rod 4 are respectively connected to the drive motor 3 and the filter motion structure 2; the filter motion structure 2 is driven by the drive motor 3 and the drive rod 4 to switch its position so that only one second filter 2411 is located at the position of the light port 1.

[0075] In addition, as shown in FIG7 , the switching structure 2412 may include a motion structure slide 5 and a mounting bracket 6 ; the filter motion structure 2 can move left and right based on the motion structure slide 5 . At least two second filters 2411 are fixed to the filter motion structure 2 , and the ends of the drive rod 4 are connected to the drive motor 3 and the filter motion structure 2 , respectively. The switching structure 2412 switches the positions of the second filters 2411 so that only one second filter 2411 is located between the second beam splitter prism and the image sensor 242 . In this way, light emitted from the second beam splitter prism is irradiated onto the second filter 2411 after being switched by the filter switching mechanism 241 .

[0076] In the embodiment of the present application, at least two second filters 2411 are affixed to the filter motion structure 2 and can move with the filter motion structure 2. The drive motor 3, which is the power source of the switching mechanism 2, can drive the drive rod 4 to swing left and right. The drive rod 4, in turn, drives the filter motion structure 2 to move left and right on the motion structure slide rail 5. When the drive rod 4 swings to the left, the second filter 2411 on the right side of the filter motion structure 2 is located within the light passage, and the imaging light path will pass through the second filter 2411 on the right side of the filter motion structure 2. When the drive rod 4 swings to the right, the second filter 2411 on the left side of the filter motion structure 2 is located within the light passage, and the imaging light path will pass through the second filter 2411 on the left side of the filter motion structure 2. The mounting bracket 6 is used to install the filter switching mechanism 241 in the laser ranging imaging system.

[0077] According to a second aspect of an embodiment of the present application, a laser emission subsystem is provided, as shown in Figures 3 and 4, comprising: a laser emission module 110, a first lens group 120, a light reflection and transmission module 130, and a second lens group 140 arranged in sequence along the laser emission direction, and a fill light source 150 arranged toward the light reflection and transmission module 130; the laser emitted by the laser emission module 110 is irradiated onto the light reflection and transmission module 130 after passing through the first lens group 120; the fill light emitted by the fill light source 150 is irradiated onto the light reflection and transmission module 130; the light reflection and transmission module 130 transmits the light irradiated from the first lens group 120 to the second lens group 140, and reflects the fill light emitted by the fill light source 150 to the second lens group 140; the second lens group 140 irradiates the laser transmitted by the light reflection and transmission module 130 and the reflected fill light onto the object to be measured; the first lens group 120 and the second lens group 140 cooperate to form a laser collimation optical path.

[0078] In the embodiment of the present application, the laser emitting module 110, the first lens group 120, the light reflection and transmission module 130 and the second lens group 140 are arranged in sequence along the optical axis. The laser emitter 111 in the laser emitting module 110 emits laser light which passes through the first lens group 120, the light reflection and transmission module 130 and the second lens group 140 in sequence. The fill light beam emitted by the fill light source 150 is refracted by the light reflection and transmission module 130 and then merged into the main light path and emitted through the second lens group 140.

[0079] The laser emitting subsystem 100 provided in the embodiment of the present application is provided with a light reflection and transmission module 130 between the first lens group 120 and the second lens group 140 for realizing laser collimation. The fill light emitted by the fill light source 150 is added to the laser emission optical path through the light reflection and transmission module 130. This makes the light emitted from the laser emitting subsystem 100 contain fill light, so there is no need to set up a separate fill light optical path. Compared with the laser ranging imaging system shown in Figure 1 which requires a separate fill light optical path, the volume of the laser emitting subsystem 100 is reduced, and the miniaturization of the laser ranging imaging system is achieved.

[0080] The laser emission subsystem 100 provided in the embodiments of the present application essentially shares a common optical path between the laser ranging emission optical path and the fill light module. Compared to the laser ranging imaging system shown in Figure 1 , this not only implements fill light but also saves a set of optical paths at the transmitting end of the laser ranging imaging system, or in other words, reduces an aperture. Therefore, the size of the laser ranging imaging system using the laser emission subsystem 100 provided in the embodiments of the present application is also reduced, achieving miniaturization of the laser ranging imaging system.

[0081] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0082] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0083] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A system integrating ranging and imaging functions, characterized in that: include: A laser emission subsystem (100) and a laser ranging imaging subsystem (200); The laser emission subsystem (100) comprises: a laser emission module (110), a first lens group (120), a light reflection and transmission module (130), and a second lens group (140) arranged in sequence along a laser emission direction, and a fill light source (150) arranged toward the light reflection and transmission module (130); The laser emitted by the laser emission module (110) is irradiated onto the light reflection and transmission module (130) after passing through the first lens group (120); the fill light emitted by the fill light source (150) is irradiated onto the light reflection and transmission module (130); The light reflection and transmission module (130) transmits the light irradiated from the first lens group (120) to the second lens group (140), and reflects the supplementary light emitted by the supplementary light source (150) to the second lens group (140); The second lens group (140) irradiates the laser light transmitted by the light reflection and transmission module (130) and the reflected supplementary light onto the object to be measured; the first lens group (120) and the second lens group (140) cooperate to form a laser collimation light path; The laser ranging imaging subsystem (200) comprises: a light receiving module (210), a light splitting module (220), a laser ranging module (230) and an imaging module (240); The light receiving module (210) is used to receive externally irradiated light, wherein the externally irradiated light includes laser light reflected by the object to be measured and fill light; The light splitting module (220) is used to split the reflected visible light into a laser distance measuring module (230) and an imaging module (240), so that the laser distance measuring module (230) performs distance measurement and the imaging module (240) performs imaging.

2. The system integrating ranging and imaging functions according to claim 1, characterized in that: The first lens group (120) comprises: a concave lens arranged along the laser emission direction; and / or, The second lens group (140) comprises a convex lens arranged in a direction away from the light reflection and transmission module (130).

3. The system integrating ranging and imaging functions according to claim 1, characterized in that: The light reflection and transmission module (130) comprises: a first filter (131), on which a spectroscopic film capable of transmitting laser light and reflecting non-laser light is plated; or, The light reflection and transmission module (130) is a first beam splitter prism (132). The first splitter surface (1321) of (132) is coated with a splitter film layer that can transmit laser light and reflect non-laser wavelengths.

4. The system integrating ranging and imaging functions according to claim 1, characterized in that: The fill light source (150) comprises: an infrared fill light; the type of the infrared fill light comprises an LED infrared fill light or a laser infrared fill light.

5. The system integrating ranging and imaging functions according to claim 1, characterized in that: The laser emitting module (110) comprises: a laser emitter having a wavelength of 905 nm, 1064 nm or 1550 nm.

6. The system integrating ranging and imaging functions according to claim 1, characterized in that: The light receiving module (210) comprises a lens capable of transmitting visible light, infrared light and laser light.

7. The system integrating ranging and imaging functions according to claim 6, characterized in that: The lens comprises: a first spherical mirror (2101), a second spherical mirror (2102), a third spherical mirror (2103), a fourth spherical mirror (2104), a fifth spherical mirror (2105), a sixth spherical mirror (2106), a seventh spherical mirror (2107), an eighth spherical mirror (2108) and a ninth spherical mirror (2109) arranged in sequence along an incident light ray; The first spherical mirror (2101) has positive optical power; the second spherical mirror (2102) and the third spherical mirror (2103) form a first cemented mirror (2110), and the first cemented mirror (2110) has negative optical power; the fourth spherical mirror (2104) and the fifth spherical mirror (2105) form a second cemented mirror (2111), and the second cemented mirror (2111) has positive optical power; the sixth spherical mirror (2106) and the seventh spherical mirror (2107) form a third cemented mirror (2112), and the third cemented mirror (2112) has positive optical power; the eighth spherical mirror (2108) and the ninth spherical mirror (2109) form a fourth cemented mirror (2113), and the fourth cemented mirror (2113) has positive optical power.

8. The system integrating ranging and imaging functions according to claim 1, characterized in that: The light splitting module (220) comprises: a second light splitting prism; a second light splitting surface (221) of the second light splitting prism is coated with a light splitting film layer capable of reflecting laser light and transmitting visible light and infrared light.

9. The system integrating ranging and imaging functions according to claim 1, characterized in that: The distance measuring module (230) is provided with a photodetector (231) for detecting whether light is received; light incident from the light receiving module (210) is refracted by the second beam splitter prism and then irradiated onto the photodetector (231) for distance measurement.

10. The system integrating ranging and imaging functions according to claim 1, characterized in that: The imaging module (240) is provided with a filter switching mechanism (241) and an image sensor (242); The filter switching mechanism (241) is used to switch the positions of at least two second filters (2411) so that only one second filter (2411) is located between the second beam splitter prism and the image sensor (242) to filter incident reflected light; The image sensor (242) is used to perform imaging based on the light filtered by the second filter (2411).

11. The system integrating ranging and imaging functions according to claim 10, characterized in that: The filter switching mechanism (241) comprises: at least two second filters (2411) and a switching structure (2412); wherein the at least two second filters (2411) are at least two of a visible light-passing infrared light-cutting filter, a visible light and infrared light all-pass filter, and a visible light-cutting infrared light-passing filter; The at least two second filters (2411) are mounted on the switching structure (2412); the filter switching mechanism (241) switches the positions of the second filters (2411) so that only one second filter (2411) is located between the second beam splitter prism and the image sensor (242); and the light irradiated from the second beam splitter prism is irradiated onto the second filter (2411) after being switched by the filter switching mechanism (241).

12. The system integrating ranging and imaging functions according to claim 11, characterized in that: The switching structure (2412) comprises: a light port (1), a filter motion structure (2), a drive motor (3) and a drive rod (4); the light port (1) is located between the second beam splitter prism and the image sensor (242); the at least two second filters (2411) are fixed to the filter motion structure (2), and the two ends of the drive rod (4) are respectively connected to the drive motor (3) and the filter motion structure (2); the filter motion structure (2) is driven by the drive motor (3) and the drive rod (4) to switch positions so that only one second filter (2411) is located at the position of the light port (1).

13. A laser emission subsystem, characterized in that: include: A laser emission module (110), a first lens group (120), a light reflection and transmission module (130) and a second lens group (140) arranged in sequence along a laser emission direction, and a supplementary light source (150) arranged toward the light reflection and transmission module (130); The laser emitted by the laser emission module (110) is irradiated onto the light reflection and transmission module (130) after passing through the first lens group (120); the supplementary light emitted by the supplementary light source (150) is irradiated onto the On the light reflection and transmission module (130); The light reflection and transmission module (130) transmits the light irradiated from the first lens group (120) to the second lens group (140), and reflects the supplementary light emitted by the supplementary light source (150) to the second lens group (140); The second lens group (140) irradiates the laser light transmitted by the light reflection and transmission module (130) and the reflected supplementary light onto the object to be measured; the first lens group (120) and the second lens group (140) cooperate to form a laser collimation light path.

Images