Lidar assembly and device having detection function

Abstract

A LiDAR assembly and a device having a detection function. The LiDAR assembly (10) comprises: an emitter (100), which is used for emitting first laser light along a first direction; a first scanner (200), an input end of which is arranged opposite an output end of the emitter (100), wherein the first scanner (200) is used for controlling the first laser light to deflect from the first direction to a plurality of different first deflection directions, so as to emit to a target object (20) the first laser light along the plurality of first deflection directions, at least one first deflection direction being different from the first direction; a receiver (500), which is used for receiving laser light reflected by the target object (20) and converting an optical signal into an electrical signal; and a signal processing unit, which is used for receiving the electrical signal and analyzing and calculating the received electrical signal to obtain distance and shape information of the target object (20). The assembly can effectively reduce the number of emitters while ensuring the number of equivalent lines of a LiDAR assembly, thereby reducing costs.

Description

Lidar assembly and device with detection function

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 202311088511.9, filed on August 28, 2023, and entitled “Lidar assembly and device with detection function”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of laser detection, and in particular, to a lidar assembly and a device with detection function. BACKGROUND

[0004] The point cloud density of a lidar determines the resolution of the lidar. The higher the point cloud density, the higher the resolution of the lidar. The point cloud density of a lidar is positively correlated with the equivalent line number of the lidar, that is, the higher the equivalent line number of the lidar, the higher the point cloud density of the lidar. Currently, the equivalent line number of a lidar is usually increased by increasing the number of transmitters and receivers, which results in a high cost of the lidar.

[0005] SUMMARY

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

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

[0008] a receiver configured to receive the laser reflected by the target object and convert the optical signal into an electrical signal;

[0009] a signal processing unit configured to receive the electrical signal and analyze and calculate the received electrical signal to obtain distance and shape information of the target object.

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

[0011] In an embodiment, the first scanner comprises: a first optical element disposed opposite to the output end of the emitter, for converting the first laser light from a linear polarization state to a circular polarization state or from a circular polarization state to a linear polarization state; a second optical element disposed on a side of the first optical element away from the emitter, for deflecting the first laser light from the first direction to a plurality of first deflected directions; and a third optical element disposed between the first optical element and the second optical element, for changing the polarization state of the first laser light or maintaining the polarization state of the first laser light.

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

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

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

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

[0016] In an embodiment, the laser radar assembly further comprises: a transmitting optical assembly, an input end of the transmitting optical assembly is arranged opposite to the output end of the first scanner, and the first laser in the plurality of first deflection directions is transmitted to the target object through the transmitting optical assembly.

[0017] In an embodiment, the transmitting optical assembly comprises a first collimating lens, a first prism and a first mirror arranged in sequence along the light path direction of the first laser, the first mirror is used for transmitting the first laser to the target object; or the transmitting optical assembly comprises a second collimating lens, a second mirror and a rotating mirror rotating around an axis, the rotating mirror is used for transmitting the first laser to the target object; or the transmitting optical assembly comprises a galvanometer mirror, the galvanometer mirror is used for transmitting the first laser to the target object; or the transmitting optical assembly comprises a diverging lens, the diverging lens is used for transmitting the first laser to the target object.

[0018] In an embodiment, the laser radar assembly further comprises: a second scanner, the second scanner is used for controlling the second laser to be deflected from a plurality of different second deflection directions to a second direction, so that the second laser in the second direction is transmitted to the receiver; wherein the second laser is the reflection of the first laser by the target object; the at least one second deflection direction is different from the second direction.

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

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

[0021] In an embodiment, the laser radar assembly further comprises: a receiving optical assembly arranged between the second scanner and the target object, the second laser reflected by the target object is transmitted to the second scanner through the receiving optical assembly.

[0022] In an embodiment, the first scanner comprises N second optical elements; the N second optical elements are arranged in sequence on the side of the first optical element away from the transmitter; N is an integer greater than 1.

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

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

[0025] In an embodiment, the first scanner comprises N third optical elements;

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

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

[0028] In an embodiment, the first scanner comprises 1 third optical element; the N second optical elements are sequentially arranged on the side of the third optical element away from the first optical element.

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

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

[0031] As another aspect of the embodiments of the present disclosure, the embodiments of the present disclosure provide a device with a detection function, comprising the laser radar assembly of any of the above-mentioned embodiments.

[0032] The technical solutions described above can effectively reduce the number of emitters while ensuring the equivalent number of lines of the laser radar assembly, thereby reducing the cost.

[0033] The above summary is merely intended to illustrate the present disclosure and is not intended to limit in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present disclosure will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0034] In the drawings, like reference numerals refer to same or similar components throughout the several views. These drawings are not necessarily to scale. It should be understood that these drawings are merely schematic representations, which are intended to provide a general understanding of the structures and methods described herein. The figures are not intended to provide specific design limitations, which can be set forth in the description provided above.

[0035] FIG. 1 shows a schematic diagram of laser emission of a first laser radar assembly;

[0036] Fig. 2 shows a schematic diagram of laser receiving of a first laser radar assembly;

[0037] Fig. 3 shows a schematic diagram of laser emitting and laser receiving of a second laser radar assembly;

[0038] Fig. 4 shows a schematic diagram of laser emitting of a third laser radar assembly;

[0039] Fig. 5 shows a schematic diagram of laser receiving of the third laser radar assembly;

[0040] Fig. 6 shows a schematic diagram of laser emitting of a fourth laser radar assembly;

[0041] Fig. 7 shows a schematic diagram of laser receiving of the fourth laser radar assembly;

[0042] Fig. 8 shows a schematic diagram of a structure of a laser radar assembly according to an embodiment of the present disclosure;

[0043] Fig. 9 shows a schematic diagram of operation of the laser radar assembly shown in Fig. 8;

[0044] Fig. 10 shows a schematic diagram of a structure of a laser radar assembly according to another embodiment of the present disclosure;

[0045] Fig. 11 shows a schematic diagram of operation of the laser radar assembly shown in Fig. 10;

[0046] Figs. 12-15 show schematic diagrams of a structure of a first scanner according to an embodiment of the present disclosure;

[0047] Figs. 16-18 show schematic diagrams of a structure of a third optical element according to an embodiment of the present disclosure;

[0048] Fig. 19 shows a flowchart of preparation of the third optical element according to an embodiment of the present disclosure;

[0049] Figs. 20-25 show schematic diagrams of a structure of a second optical element according to an embodiment of the present disclosure;

[0050] Figs. 26 and 27 show a flowchart of preparation of the second optical element according to an embodiment of the present disclosure;

[0051] Figs. 28 and 29 show schematic diagrams of laser emitting of a laser radar assembly according to a first embodiment of the present disclosure;

[0052] Figs. 30 and 31 show schematic diagrams of laser receiving of the laser radar assembly according to the first embodiment of the present disclosure;

[0053] Figs. 32 and 33 show schematic diagrams of laser emitting and laser receiving of a laser radar assembly according to a second embodiment of the present disclosure;

[0054] FIGS. 34 and 35 show a laser emission schematic diagram of a laser radar assembly according to a third embodiment of the present disclosure;

[0055] FIGS. 36 and 37 show a laser reception schematic diagram of a laser radar assembly according to the third embodiment of the present disclosure;

[0056] FIG. 38 shows a laser emission schematic diagram of a laser radar assembly according to a fourth embodiment of the present disclosure;

[0057] FIG. 39 shows a laser reception schematic diagram of a laser radar assembly according to the fourth embodiment of the present disclosure;

[0058] FIG. 40 shows a laser emission schematic diagram of a laser radar assembly according to a fifth embodiment of the present disclosure;

[0059] FIG. 41 shows an application example diagram of a device with a detection function according to an embodiment of the present disclosure;

[0060] FIG. 42 shows an example diagram of a first scanner simulation structure according to an embodiment of the present disclosure;

[0061] FIG. 43 shows an electric field distribution diagram when a voltage V1=0V is applied to the first and second transparent electrode layers of a nematic liquid crystal half-wave plate and a voltage V3=0V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0062] FIG. 44 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1=0V is applied to the nematic liquid crystal half-wave plate and a voltage V3=0V is applied to the single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0063] FIG. 45 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a nematic liquid crystal half-wave plate and a voltage V3=0V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0064] FIG. 46 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to the nematic liquid crystal half-wave plate and a voltage V3=0V is applied to the single-layer nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0065] FIG. 47 shows an example diagram of a second first scanner simulation structure according to an embodiment of the present disclosure;

[0066] FIG. 48 shows an electric field distribution diagram when a voltage V1 = 0 V is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied between the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0067] FIG. 49 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1 = 0 V is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0068] FIG. 50 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of a single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0069] FIG. 51 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0070] FIG. 52 shows an example diagram of a third first scanner simulation structure, according to an embodiment of the present disclosure;

[0071] FIG. 53 shows an electric field distribution diagram when a voltage V1 = 0 V is applied to the first and second transparent electrode layers of a nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of a double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0072] FIG. 54 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a voltage V1 = 0 V is applied to the nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0073] FIG. 55 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of a nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of a double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0074] FIG. 56 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when a saturation voltage V2 is applied to the nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0075] FIG. 57 shows an example diagram of a fourth first scanner simulation structure, according to an embodiment of the present disclosure;

[0076] FIG. 58 shows an electric field distribution diagram when a voltage V1 = 0 V is applied to the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0077] FIG. 59 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized emitted light when a voltage V1 = 0 V is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0078] FIG. 60 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0079] FIG. 61 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized emitted light when a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a voltage V3 = 0 V is applied to the double-layer twisted nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0080] FIG. 62 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the single-layer nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0081] FIG. 63 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized emitted light when a saturation voltage V2 is applied to the single-layer nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0082] FIG. 64 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0083] FIG. 65 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized emitted light when a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate, and a saturation voltage V4 is applied to the single-layer nematic liquid crystal polarization grating, according to an embodiment of the present disclosure;

[0084] FIG. 66 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0085] FIG. 67 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized emergent light when a saturation voltage V2 is applied to the nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0086] FIG. 68 shows an electric field distribution diagram when a saturation voltage V2 is applied to the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0087] FIG. 69 shows a polarization conversion diagram of linearly polarized incident light and circularly polarized emergent light when a saturation voltage V2 is applied to the double-layer twisted nematic liquid crystal half-wave plate and a saturation voltage V4 is applied to the double-layer twisted nematic liquid crystal polarization grating according to an embodiment of the present disclosure;

[0088] FIG. 70 shows a structural schematic diagram of another first scanner according to an embodiment of the present disclosure;

[0089] FIG. 71 shows a structural schematic diagram of yet another first scanner according to an embodiment of the present disclosure.

[0090] Explanation of reference signs: 10: lidar assembly; 100: transmitter; 200: first scanner; 210: first optical element; 220: second optical element; 221: third substrate; 222: third alignment layer; 223: encapsulation structure; 224: second liquid crystal layer; 225: fourth substrate; 226: third transparent electrode layer; 227: fourth alignment layer; 228: fifth substrate; 229: fourth transparent electrode layer; 22a: fifth alignment layer; 22b: third liquid crystal layer; 22c third anti-reflection film; 22d: fourth anti-reflection film; 22e: fifth anti-reflection film; 22f: sixth anti-reflection film; 22g: second spacer; 230: third optical element; 231: first substrate; 232: first transparent electrode layer; 233: first alignment layer; 234: second substrate; 235: second transparent electrode layer; 236: second alignment layer; 237: first liquid crystal layer; 23a: first anti-reflection film; 23b: second anti-reflection film; 23c: first spacer; 31a: first collimating lens; 31b: first prism; 31c: first mirror; 31d: second collimating lens; 31e: second mirror; 31f: rotating mirror; 31g: rotation axis; 31h: galvanometer mirror; 31i: diverging lens; 400: second scanner; 410: fourth optical element; 420: fifth optical element; 430: sixth optical element; 500: receiver; 700: scanning module; 800: focusing lens; 20: target object; F1: first direction; F1’: first deflection direction; F2: second direction; F2’: second deflection direction. DETAILED DESCRIPTION

[0091] Hereinafter, only certain exemplary embodiments will be described simply. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0092] Currently, there are two schemes for implementing large-angle range detection of a laser radar. One scheme is to use a scanning device laser radar assembly to perform rapid beam scanning in a large-angle range to achieve target detection in the large-angle range, such as a mechanical laser radar assembly, a rotating mirror laser radar assembly, and a micro-electro-mechanical-system (MEMS) laser radar assembly. Another scheme is to use a FLASH laser radar to simultaneously emit a laser beam through a vertical-cavity surface-emitting laser (VCSEL) array, expand the beam through a diverging lens, and form a surface light to irradiate a target object. The reflected light is received by a receiver, i.e., a detector, and the distance and shape of the target object are calculated through a time-of-flight method after signal processing.

[0093] FIG. 1 shows a schematic diagram of laser emission of a first laser radar assembly; and FIG. 2 shows a schematic diagram of laser reception of the first laser radar assembly. The laser radar assembly shown in FIGS. 1 and 2 is a mechanical laser radar assembly. The laser emission process is shown in FIG. 1. The emitter 100 emits a laser, which is focused and collimated by a collimating lens, reflected by a prism to a rotating mirror, and emitted by the rotating mirror to a target object. The laser reception process is shown in FIG. 2. The reflected light of the emitted laser by the target object reaches the prism through the rotating mirror, is focused by the collimating lens after passing through the prism, and is received by the receiver 500. Finally, data processing and three-dimensional environment modeling are performed by a processing chip to determine the distance and shape of the target object.

[0094] FIG. 3 shows schematic diagrams of laser emission and laser reception of a second laser radar assembly. The laser radar assembly shown in FIG. 3 is a rotating mirror laser radar assembly. As shown in FIG. 3, the emitter 100 emits a laser, which is focused and collimated by a collimating lens, reflected by a fixed mirror through a light transmission hole to the surface of a rotating mirror 31f, and emitted by the rotating mirror 31f to a target object. The laser reception process is opposite to the laser emission process. The reflected light of the emitted laser by the target object reaches the fixed mirror through the light transmission hole after the rotating mirror, is reflected by the fixed mirror, reaches the collimating lens for focusing and collimation, and is finally received by the receiver 500. After the optical signal is converted into an electrical signal, the electrical signal enters a processing unit for data processing to determine the distance and shape of the target object.

[0095] FIG. 4 shows a schematic diagram of laser emission of a third laser radar assembly; and FIG. 5 shows a schematic diagram of laser reception of the third laser radar assembly. The laser radar assembly shown in FIG. 4 and FIG. 5 is a MEMS laser radar assembly. The laser emission process is shown in FIG. 4, the emitter 100 emits laser light, after focusing and collimation by the collimating lens, the vibrating MEMS mirror deflects the laser light to the target object. The laser reception process is shown in FIG. 5, the reflected light of the emitted laser light by the target object is reflected by the MEMS mirror, then focused and collimated by the collimating lens, and then received by the receiver 500, and finally processed by the processing chip for data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0096] FIG. 6 shows a schematic diagram of laser emission of a fourth laser radar assembly; and FIG. 7 shows a schematic diagram of laser reception of the fourth laser radar assembly. The laser radar assembly shown in FIG. 6 and FIG. 7 is a FLASH laser radar assembly. The laser emission process is shown in FIG. 6, the emitter 100 emits laser light, after focusing and collimation by the collimating lens, the laser light reaches the diverging lens, which increases the emission angle of the emitted light beam, and the power of the laser light per unit area decreases. The laser reception process is shown in FIG. 7, the reflected light of the emitted laser light by the target object is focused and collimated by the collimating lens, and then received by the receiver 500 and converted into an electrical signal, and finally processed by the processing chip for data processing and three-dimensional environment modeling to determine the distance and shape of the target object.

[0097] The above four laser radar assemblies are all single-line type. For example, in the case of achieving a point cloud effect of a 128-line laser radar assembly, 128 groups of emitters 100 and 128 groups of receivers are required. Therefore, the equivalent number of lines of the laser radar needs to be increased by increasing the number of emitters 100 and receivers 500, which will result in a high cost of the laser radar.

[0098] FIG. 8 shows a schematic diagram of a structure of a laser radar assembly 10 according to an embodiment of the present disclosure. As shown in FIG. 8, the laser radar assembly 10 includes an emitter 100 and a first scanner 200.

[0099] Specifically, the emitter 100 is configured to emit first laser light along a first direction. The input end of the first scanner 200 is arranged opposite to the output end of the emitter 100, and the first scanner 200 is configured to control the first laser light to be deflected from the first direction to a plurality of different first deflected directions to emit the first laser light along the plurality of first deflected directions to the target object 20; wherein at least one of the first deflected directions is different from the first direction. In the description of the present disclosure, the meaning of “plurality” is two or more.

[0100] It should be noted that "the first laser is emitted along the plurality of first deflection directions to the target object 20" refers to the direction of the first laser when emitted from the output end of the first scanner 200 is the plurality of first deflection directions, rather than the direction of the first laser when reaching the target object 20 is the plurality of first deflection directions.

[0101] FIG. 9 shows a working schematic diagram of the lidar assembly 10 shown in FIG. 8. Exemplarily, in combination with FIG. 8 and FIG. 9, the lidar assembly 10 can further include a signal emitting unit, a laser driver, and a scanning module 700. The signal emitting unit emits an electrical signal, and the laser driver and the emitter 100 convert the electrical signal into a laser signal for emission. The emitted first laser passes through the first scanner 200, which can achieve a small-angle deflection of the first laser, so that the first laser is deflected from the first direction to a plurality of different first deflection directions, for example, the included angle between at least one first deflection direction and the first direction can be 0.5°-10° (including the end point value); and then passes through the scanning module 700 to achieve a large-angle deflection of the first laser, and finally is emitted to the target object 20. For example, in the case where the first scanner 200 is used to control the first laser to be deflected from the first direction to two different first deflection directions, one beam of first laser can be converted into two beams of first laser with different directions after passing through the first scanner 200. In the case of achieving a point cloud effect of a 128-line lidar assembly, only 64 groups of emitters and 64 groups of receivers are needed. Compared with a single-line lidar assembly, the number of emitters and receivers can be reduced by half, thereby effectively reducing the cost. The emitter 100 can be a laser.

[0102] FIG. 10 shows a structural schematic diagram of a lidar assembly 10 according to another embodiment of the present disclosure, and FIG. 11 shows a working schematic diagram of the lidar assembly 10 shown in FIG. 10. Exemplarily, the emitter 100 is a VCSEL array. The lidar assembly 10 can further include a signal emitting unit and a diverging lens. The signal emitting unit emits an electrical signal to drive the VCSEL array to emit one beam of first laser. The first laser passes through the first scanner 200, which can achieve a small-angle deflection of the first laser, so that the first laser is deflected from the first direction to a plurality of different first deflection directions, for example, the included angle between at least one first deflection direction and the first direction is 0.5°-10°; and then passes through the diverging lens to expand the beam, so that the first laser presents a surface light irradiation to the target object 20.

[0103] The lidar assembly 10 according to the embodiments of the present disclosure can effectively reduce the number of emitters 100 while ensuring the equivalent number of lines of the lidar assembly 10, thereby reducing the cost.

[0104] FIGS. 12-15 show structural schematic diagrams of the first scanner 200 according to an embodiment of the present disclosure. In an implementation, referring to FIGS. 8, 12-15, the first scanner 200 includes a first optical element 210, a second optical element 220, and a third optical element 230. The first optical element 210 is disposed opposite to the output end of the emitter 100, and is configured to convert the first laser from linear polarization state to circular polarization state or from circular polarization state to linear polarization state. The second optical element 220 is disposed on the side of the first optical element 210 away from the emitter 100, and is configured to deflect the first laser from the first direction to a plurality of first deflected directions. The third optical element 230 is disposed between the first optical element 210 and the second optical element 220, and is configured to change the polarization state of the first laser or maintain the polarization state of the first laser.

[0105] Exemplarily, the first laser emitted from the output end of the emitter 100 first enters the first optical element 210, and is converted from linear polarization state to circular polarization state by the first optical element 210, and then enters the third optical element 230. After passing through the third optical element 230, the left-handed circular polarization state is converted to right-handed circular polarization state, or the right-handed circular polarization state is converted to left-handed circular polarization state, or the current circular polarization state is maintained. Then, the first laser enters the second optical element 220, and is deflected from the first direction to a plurality of first deflected directions, so that the second optical element 220 emits the first laser along the plurality of first deflected directions. The first optical element can be a 1 / 4 wave plate.

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

[0107] In the present embodiment, by disposing the first optical element 210, the second optical element 220, and the third optical element 230, the equivalent line bundle of the laser radar assembly 10 can be improved, so that the number of the emitter 100 can be reduced, and the cost can be reduced.

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

[0109] Exemplarily, the first substrate 231 and the second substrate 234 can be made of high-transparency glass. The first transparent electrode layer 232 and the second transparent electrode layer 235 can be made of Indium Tin Oxide (ITO). Depending on the preparation process, the first orientation layer 233 and the second orientation layer 236 can be a rubbing orientation layer or a photoalignment orientation layer. In the case where the first orientation layer 233 and the second orientation layer 236 are rubbing orientation layers, the first orientation layer 233 and the second orientation layer 236 can be made of polyimide (PI); in the case where the first orientation layer 233 and the second orientation layer 236 are photoalignment orientation layers, the first orientation layer 233 and the second orientation layer 236 can be made of azobenzene (SD1), polyethylene 4-methoxycinnamate (PVMC), or photosensitive polyimide, etc. The molecules of the first liquid crystal layer 237 are uniformly oriented. The third optical element 230 can further include a first anti-reflection and anti-reflective film 23a, a second anti-reflection and anti-reflective film 23b, and a first spacer 23c. The first anti-reflection and anti-reflective film 23a is disposed on a side of the first substrate 231 facing away from the first transparent electrode layer 232, and the second anti-reflection and anti-reflective film 23b is disposed on a side of the second substrate 234 facing away from the second transparent electrode layer 235. The first spacer 23c is located between the first orientation layer 233 and the second orientation layer 236, and the diameter of the first spacer 23c can be consistent with the cell thickness, thereby supporting and uniforming the cell thickness. The first spacer 23c can be a mixture of frame sealant and polystyrene balls.

[0110] Figure 19 shows a preparation flow chart of the third optical element 230 according to an embodiment of the present disclosure, wherein the material of the first alignment layer 233 and the second alignment layer 236 can be PI. As shown in Figure 16 and Figure 19, during preparation, the first substrate 231 is first cleaned with deionized water and then dried, and then ITO is deposited by magnetron sputtering process to prepare the first transparent electrode layer 232. Subsequently, a PI layer is spin-coated, dried, and oriented by rubbing with a cloth to obtain the first alignment layer 233. The structure prepared above is assembled with a structure including the second substrate 234 and the second transparent electrode layer 235 plated on the second substrate 234, so that the first transparent electrode layer 232 and the second transparent electrode layer 235 are oppositely arranged, and the first spacer 23c is used to determine the thickness of the liquid crystal cell. Then, vacuum filling is performed to form the first liquid crystal layer 237, and finally, encapsulation is performed to complete the preparation of the third optical element 230. In the case that the third optical element 230 is a single-layer nematic liquid crystal half-wave plate, the liquid crystal in the first liquid crystal layer 237 is nematic liquid crystal. In the case that the third optical element 230 is a double-layer twisted nematic liquid crystal half-wave plate, the liquid crystal in the first liquid crystal layer 237 is liquid crystal arranged in clockwise / inverse clockwise spiral formed by nematic liquid crystal added with chiral macromolecules.

[0111] The thickness of the first substrate 231 and the second substrate 234 can be 100 μm-700 μm (including the end point value); the thickness of the first transparent electrode layer 232 and the second transparent electrode layer 235 can be 0.05 μm-2 μm (including the end point value); the thickness of the first alignment layer 233 and the second alignment layer 236 can be 0.01 μm-0.5 μm (including the end point value); the thickness of the first liquid crystal layer 237 can be 2 μm-5 μm (including the end point value); and the thickness of the first anti-reflection coating 23a and the second anti-reflection coating 23b can be 0.2 μm-1 μm (including the end point value).

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

[0113] In the case that the third optical element 230 is a single-layer nematic liquid crystal half-wave plate, the thickness d of the first liquid crystal layer 237 is controlled to be d = λ / 2Δn, where λ is the wavelength of the first laser entering the third optical element 230, and Δn is the refractive index difference of the liquid crystal in the first liquid crystal layer 237. When the voltage V1 applied between the first transparent electrode layer 232 and the second transparent electrode layer 235 is 0 V, the liquid crystal in the first liquid crystal layer 237 is not deflected, and at this time the third optical element 230 is a half-wave plate, which can change the polarization state of the first laser. When the first laser entering the third optical element 230 is left-handed circularly polarized light, the first laser exiting the third optical element 230 is right-handed circularly polarized light; when the first laser entering the third optical element 230 is right-handed circularly polarized light, the first laser exiting the third optical element 230 is left-handed circularly polarized light. When the voltage V2 applied between the first transparent electrode layer 232 and the second transparent electrode layer 235 is the saturation voltage, a first driving electric field is formed between the first transparent electrode layer 232 and the second transparent electrode layer 235. The liquid crystal molecules in the first liquid crystal layer 237 are rearranged under the action of the first driving electric field, and the long axis of the liquid crystal is turned to the direction of the electric field. At this time, the third optical element 230 is a full-wave plate, which can maintain the polarization state of the first laser. When the first laser entering the third optical element 230 is left-handed circularly polarized light, the first laser exiting the third optical element 230 is still left-handed circularly polarized light; when the first laser entering the third optical element 230 is right-handed circularly polarized light, the first laser exiting the third optical element 230 is still right-handed circularly polarized light.

[0114] In the case that the third optical element 230 is a double-layer twisted nematic liquid crystal half-wave plate, the difference from the single-layer nematic liquid crystal half-wave plate is that the structure of the first liquid crystal layer 237 is different, and at this time the first liquid crystal layer 237 is a mirror-symmetry structure. The upper half of the liquid crystal in the first liquid crystal layer 237 is clockwise helical orientation, and the lower half of the liquid crystal in the first liquid crystal layer 237 is counterclockwise helical orientation. The first liquid crystal layer 237 is a half-wave plate functional layer for changing the polarization state of the first laser.

[0115] In one application example, the second optical element 220 can be a liquid crystal polarization grating. The liquid crystal polarization grating uses the periodic arrangement of the liquid crystal director to adjust the polarization state of the incident light, and realizes the function of light splitting. Taking the case that the director is periodically distributed on the x-axis as an example, the director of the liquid crystal molecule can be described as: where Λ is the period of the liquid crystal polarization grating, and α0 is the initial azimuth angle of the liquid crystal. The transmittance of the liquid crystal polarization grating is described using the Jones matrix: where the rotation matrix is the dynamic phase of light in the liquid crystal, and the transmittance

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

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

[0118] By way of example, the second optical element 220 in FIGS. 20 and 21 can be a binary liquid crystal polarization grating. The third substrate 221 can be made of high-transparency glass, and the thickness of the third substrate 221 can be 100-700 μιη (including the end point). Since the liquid crystal in the liquid crystal polarization grating is periodically deflected, the third alignment layer 222 can be a photoalignment layer, and the third alignment layer 222 can be made of azobenzene (SD1), polyvinyl 4-methoxycinnamate (PVMC), or a photosensitive polyimide. The thickness of the third alignment layer 222 can be 0.1-0.5 μιη (including the end point). The encapsulation structure 223 can be made of silicon dioxide, carbon tetrachloride, polymethyl methacrylate (PMMA), or the like. The second optical element 220 can further include a third anti-reflection and anti-reflective film 22c and a fourth anti-reflection and anti-reflective film 22d. The third anti-reflection and anti-reflective film 22c is disposed on a side of the encapsulation structure 223 facing away from the third alignment layer 222, and the fourth anti-reflection and anti-reflective film 22d is disposed on a side of the third substrate 221 facing away from the third alignment layer 222. The thickness of the second liquid crystal layer 224 can be 2-5 μιη (including the end point). In the case where the second optical element 220 is a single-layer nematic binary liquid crystal polarization grating (as shown in FIG. 20), the liquid crystal director of the second liquid crystal layer 224 is periodically changed. In the case where the second optical element 220 is a double-layer twisted nematic binary liquid crystal polarization grating (as shown in FIG. 21), the liquid crystal of the second liquid crystal layer 224 is chiral helix oriented along the z axis. Left-handed / right-handed chiral molecules need to be added to the nematic liquid crystal molecules to form clockwise and counterclockwise helix orientations. The pitch is related to the concentration of the added chiral molecules. The higher the concentration, the smaller the pitch.

[0119] After the first laser passes through the second optical element 220, the first laser can be deflected by the binary deflection, so that the first laser is deflected from the first direction to two different first deflection directions. The two first deflection directions are different from the first direction, and the included angle between the two first deflection directions and the first direction can be equal.

[0120] Figure 26 shows a preparation flow chart of the second optical element according to an embodiment of the present disclosure. As shown in Figures 20 and 26, during preparation, the third substrate 221 is first cleaned with deionized water and dried, then coated with an azobenzene photo-orientation material and dried. Patterned orientation is achieved by polarized light to form the third orientation layer 222. Then the liquid crystal and polymer intermediate are coated by multiple spin coating. After reaching the desired thickness, the polymer is cured using ultraviolet light to form the second liquid crystal layer 224. Finally, the encapsulation structure 223 is coated to prevent water and oxygen, and the preparation of the second optical element 220 is completed. In the case of the second optical element 220 being a single-layer nematic binary polarization grating, the liquid crystal in the second liquid crystal layer 224 is nematic liquid crystal. In the case of the second optical element 220 being a double-layer twisted nematic binary polarization grating, the liquid crystal in the second liquid crystal layer 224 is clockwise / counter-clockwise spiral arranged liquid crystal formed by adding chiral macromolecules to nematic liquid crystal.

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

[0122] Exemplarily, the second optical element 220 in FIGS. 22-25 can be a three-value liquid crystal polarization grating. The fourth substrate 225 and the fifth substrate 228 can be made of high-transmittance glass. The third transparent electrode layer 226 and the fourth transparent electrode layer 229 can be made of ITO. Depending on the preparation process, the fourth alignment layer 227 and the fifth alignment layer 22a can be a rubbing alignment layer or a photoalignment layer. In the case that the fourth alignment layer 227 and the fifth alignment layer 22a are rubbing alignment layers, the fourth alignment layer 227 and the fifth alignment layer 22a can be made of PI; in the case that the fourth alignment layer 227 and the fifth alignment layer 22a are photoalignment layers, the fourth alignment layer 227 and the fifth alignment layer 22a can be made of SD1, PVMC, or a photosensitive polyimide, etc. The liquid crystal director in the third liquid crystal layer 22b varies periodically. The second optical element 220 can further include a fifth anti-reflective coating 22e, a sixth anti-reflective coating 22f, and a second spacer 22g, the fifth anti-reflective coating 22e being disposed on the side of the fourth substrate 225 away from the third transparent electrode layer 226, the sixth anti-reflective coating 22f being disposed on the side of the fifth substrate 228 away from the fourth transparent electrode layer 229. The second spacer 22g is located between the fourth alignment layer 227 and the fifth alignment layer 22a, and the diameter of the second spacer 22g can be consistent with the cell gap, serving to support and uniform the cell gap. The second spacer 22g can be a mixture of a frame sealant and polystyrene beads.

[0123] FIG. 27 shows a preparation flowchart of the second optical element 220 according to an embodiment of the present disclosure. As shown in FIGS. 22 and 27, during preparation, the fourth substrate 225 is first cleaned with deionized water and then dried, and then ITO is deposited by a magnetron sputtering process to prepare the third transparent electrode layer 226. Then, SD1 is spin-coated and dried, and patterned alignment is achieved by polarized light. The structure prepared above is aligned with a structure including the fifth substrate 228 and the fourth transparent electrode layer 229 plated on the fifth substrate 228, such that the third transparent electrode layer 226 and the fourth transparent electrode layer 229 are oppositely arranged, and the second spacer 22g is used to determine the liquid crystal cell gap. Then, vacuum filling is performed to form the third liquid crystal layer 22b, and finally, encapsulation is performed to complete the preparation of the second optical element 220. In the case that the second optical element 220 is a single-layer nematic liquid crystal polarization grating, the liquid crystal in the third liquid crystal layer 22b is nematic liquid crystal. In the case that the second optical element 220 is a double-layer twisted nematic liquid crystal polarization grating, the liquid crystal in the third liquid crystal layer 22b is liquid crystal arranged in clockwise / inverse clockwise spiral formed by nematic liquid crystal added with chiral macromolecules.

[0124] The thickness of the fourth substrate 225 and the fifth substrate 228 can be 100 μm to 700 μm (including the end point value); the thickness of the third transparent electrode layer 226 and the fourth transparent electrode layer 229 can be 0.05 μm to 2 μm (including the end point value); the thickness of the fourth orientation layer 227 and the fifth orientation layer 22a can be 0.01 μm to 0.5 μm (including the end point value); the thickness of the third liquid crystal layer 22b can be 2 μm to 5 μm (including the end point value); and the thickness of the fifth anti-reflection coating 22e and the sixth anti-reflection coating 22f can be 0.2 μm to 1 μm (including the end point value).

[0125] When the voltage V3 applied between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 is 0 V, the liquid crystal director periodically changes along the X direction, and at this time, the first laser entering the second optical element 220 is deflected. The deflection angle is related to the period of the liquid crystal polarization grating, and the smaller the grating period, the larger the deflection angle. When the voltage V4 applied between the third transparent electrode layer 226 and the fourth transparent electrode layer 229 is the saturation voltage, the second driving electric field is formed between the third transparent electrode layer 226 and the fourth transparent electrode layer 229. The liquid crystal director reorders along the direction of the second driving electric field, and the long axis of the liquid crystal molecule in the third liquid crystal layer 22b is uniformly arranged along the Y axis, at this time, the second optical element 220 has no deflection effect on the first laser.

[0126] After the first laser passes through the second optical element 220, it can be deflected by three values, so that the first laser is deflected from the first direction to three different first deflection directions. One of the first deflection directions is the same as the first direction. The other two first deflection directions are different from the first direction, and the included angle between the two first deflection directions and the first direction can be equal.

[0127] The second optical element 220 can be a single-layer nematic phase three-value liquid crystal polarization grating or a double-layer twisted nematic phase three-value liquid crystal polarization grating. In the case of the double-layer twisted nematic phase three-value liquid crystal polarization grating, left-handed / right-handed chiral molecules are added to the nematic phase liquid crystal molecules to realize the clockwise / counterclockwise helical distribution of the liquid crystal along the z axis in the third liquid crystal layer 22b.

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

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

[0130] (1), the first kind of first scanner simulation structure:

[0131] The schematic diagram of the first scanner simulation structure is shown in FIG. 42. In the first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic binary liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half wave plate.

[0132] The electric field distribution diagram when the first and second transparent electrode layers of the nematic liquid crystal half wave plate are applied with a voltage V1=0 V and the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating are applied with a voltage V3=0 V is shown in FIG. 43. The light beam is deflected by 5°. The polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when the nematic liquid crystal half wave plate is applied with a voltage V1=0 V and the single-layer nematic liquid crystal polarization grating is applied with a voltage V3=0 V is shown in FIG. 44. The polarization state of the incident light is linearly polarized light. After passing through the 1 / 4 wave plate, the incident light is converted into right-handed circularly polarized light. After passing through the nematic liquid crystal half wave plate, the right-handed circularly polarized light is converted into left-handed circularly polarized light. At this time, the left-handed circularly polarized light is diffracted by the single-layer nematic liquid crystal polarization grating by +1 order. The outgoing light is deflected by 5°, and finally, the outgoing light is right-handed circularly polarized light.

[0133] The electric field distribution diagram when the first and second transparent electrode layers of the nematic liquid crystal half wave plate are applied with a voltage V1=0 V and the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating are applied with a voltage V3=0 V is shown in FIG. 43. The light beam is deflected by 5°. The polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light when the nematic liquid crystal half wave plate is applied with a voltage V1=0 V and the single-layer nematic liquid crystal polarization grating is applied with a voltage V3=0 V is shown in FIG. 44. The polarization state of the incident light is linearly polarized light. After passing through the 1 / 4 wave plate, the incident light is converted into right-handed circularly polarized light. After passing through the nematic liquid crystal half wave plate, the right-handed circularly polarized light is converted into left-handed circularly polarized light. At this time, the left-handed circularly polarized light is diffracted by the single-layer nematic liquid crystal polarization grating by +1 order. The outgoing light is deflected by 5°, and finally, the outgoing light is right-handed circularly polarized light.

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

[0135] The schematic diagram of the second first scanner simulation structure is shown in FIG. 47. In the first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic binary liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic liquid crystal half wave plate.

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

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

[0138] (3) The third type of simulation structure for the first scanner:

[0139] Figure 52 shows a schematic diagram of the third type of first scanner simulation structure. In this first scanner simulation structure, the first optical element is a quarter-wave plate, the second optical element is a double-layer twisted nematic liquid crystal polarization grating and a double-layer twisted nematic binary liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half-wave plate.

[0140] When the first and second transparent electrode layers of the nematic liquid crystal half-wave plate are applied with a voltage V1=0V, and the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating are applied with a voltage V3=0V, the electric field distribution diagram is shown in FIG. 53, and the light beam is deflected by 5°. When the nematic liquid crystal half-wave plate is applied with a voltage V1=0V, and the double-layer twisted nematic liquid crystal polarization grating is applied with a voltage V3=0V, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 54. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light through the 1 / 4 wave plate, and then converted into left-handed circularly polarized light when passing through the nematic liquid crystal half-wave plate. At this time, the left-handed circularly polarized light is +1 order diffracted when passing through the double-layer twisted nematic liquid crystal polarization grating, the outgoing light is deflected by 5°, and finally the right-handed circularly polarized light is emitted.

[0141] When the first and second transparent electrode layers of the nematic liquid crystal half-wave plate are applied with a voltage V1=0V, and the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating are applied with a voltage V3=0V, the electric field distribution diagram is shown in FIG. 53, and the light beam is deflected by 5°. When the nematic liquid crystal half-wave plate is applied with a voltage V1=0V, and the double-layer twisted nematic liquid crystal polarization grating is applied with a voltage V3=0V, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 54. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light through the 1 / 4 wave plate, and then converted into left-handed circularly polarized light when passing through the nematic liquid crystal half-wave plate. At this time, the left-handed circularly polarized light is +1 order diffracted when passing through the double-layer twisted nematic liquid crystal polarization grating, the outgoing light is deflected by 5°, and finally the right-handed circularly polarized light is emitted.

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

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

[0144] When the first transparent electrode layer and the second transparent electrode layer of the double twisted nematic liquid crystal half-wave plate are applied with a voltage V1=0V, and the third transparent electrode layer and the fourth transparent electrode layer of the double twisted nematic liquid crystal polarization grating are applied with a voltage V3=0V, the electric field distribution diagram is shown in FIG. 58, and the light beam is deflected by 5°. When the double twisted nematic liquid crystal half-wave plate is applied with a voltage V1=0V, and the double twisted nematic liquid crystal polarization grating is applied with a voltage V3=0V, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 59. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light by the 1 / 4 wave plate. When the right-handed circularly polarized light passes through the double twisted nematic liquid crystal half-wave plate, it is converted into left-handed circularly polarized light. At this time, the left-handed circularly polarized light undergoes +1 order diffraction when passing through the double twisted nematic liquid crystal polarization grating. The outgoing light is deflected by 5°, and finally the right-handed circularly polarized light is emitted.

[0145] When the first transparent electrode layer and the second transparent electrode layer of the double twisted nematic liquid crystal half-wave plate are applied with a voltage V1=0V, and the third transparent electrode layer and the fourth transparent electrode layer of the double twisted nematic liquid crystal polarization grating are applied with a voltage V3=0V, the electric field distribution diagram is shown in FIG. 58, and the light beam is deflected by 5°. When the double twisted nematic liquid crystal half-wave plate is applied with a voltage V1=0V, and the double twisted nematic liquid crystal polarization grating is applied with a voltage V3=0V, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 59. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light by the 1 / 4 wave plate. When the right-handed circularly polarized light passes through the double twisted nematic liquid crystal half-wave plate, it is converted into left-handed circularly polarized light. At this time, the left-handed circularly polarized light undergoes +1 order diffraction when passing through the double twisted nematic liquid crystal polarization grating. The outgoing light is deflected by 5°, and finally the right-handed circularly polarized light is emitted.

[0146] Taking the wavelength of the incident light as 940 nanometers (nm) as an example, the simulation results of the first scanner (i.e., the second optical element is a three-value liquid crystal polarization grating) including a three-value liquid crystal polarization grating are introduced. The simulation results of the first scanner including a three-value liquid crystal polarization grating include the full-wave simulation results of the first scanner including a two-value liquid crystal polarization grating, and the case of applying a saturation voltage to the liquid crystal polarization grating, which results in 0° deflection.

[0147] (5) The fifth first scanner simulation structure:

[0148] In the fifth first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic three-value liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half-wave plate.

[0149] When the first and second transparent electrode layers of the single-layer nematic liquid crystal half-wave plate are applied with a saturation voltage V2, and the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating are applied with a saturation voltage V4, the electric field distribution diagram is shown in FIG. 62, and the light beam is deflected by 0°. When the single-layer nematic liquid crystal half-wave plate is applied with a saturation voltage V2, and the single-layer nematic liquid crystal polarization grating is applied with a saturation voltage V4, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 63. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light through the 1 / 4 wave plate. When the saturation voltage V2 is applied, the nematic liquid crystal half-wave plate does not change the polarization state of the light. At this time, the right-handed circularly polarized light passes through the single-layer nematic liquid crystal polarization grating applied with the saturation voltage V4, and 0-order diffraction occurs. The deflection angle of the outgoing light is 0°, the polarization state of the light is not changed, and finally the right-handed circularly polarized light is emitted.

[0150] (6) The sixth first scanner simulation structure:

[0151] In the sixth first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a single-layer nematic three-value liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic liquid crystal half-wave plate.

[0152] When the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate are applied with a saturation voltage V2, and the third and fourth transparent electrode layers of the single-layer nematic liquid crystal polarization grating are applied with a saturation voltage V4, the electric field distribution diagram is shown in FIG. 64, and the light beam is deflected by 0°. When the double-layer twisted nematic liquid crystal half-wave plate is applied with a saturation voltage V2, and the single-layer nematic liquid crystal polarization grating is applied with a saturation voltage V4, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 65. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light through the 1 / 4 wave plate. When the saturation voltage V2 is applied, the double-layer twisted nematic liquid crystal half-wave plate does not change the polarization state of the light. At this time, the right-handed circularly polarized light passes through the single-layer nematic liquid crystal polarization grating applied with the saturation voltage V4, and 0-order diffraction occurs. The deflection angle of the outgoing light is 0°, the polarization state of the light is not changed, and finally the right-handed circularly polarized light is emitted.

[0153] (7) The seventh first scanner simulation structure:

[0154] In the seventh first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a double-layer twisted nematic three-value liquid crystal polarization grating, and the third optical element is a single-layer nematic liquid crystal half-wave plate.

[0155] When the first and second transparent electrode layers of the nematic liquid crystal half-wave plate are applied with a saturation voltage V2, and the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating are applied with a saturation voltage V4, the electric field distribution diagram is shown in FIG. 66, and the light beam is deflected by 0°. When the nematic liquid crystal half-wave plate is applied with a saturation voltage V2, and the double-layer twisted nematic liquid crystal polarization grating is applied with a saturation voltage V4, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 67. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light through the 1 / 4 wave plate. When the saturation voltage V2 is applied, the nematic liquid crystal half-wave plate does not change the state of the polarized light. At this time, the right-handed circularly polarized light passes through the double-layer twisted nematic liquid crystal polarization grating applied with the saturation voltage V4, and 0-order diffraction occurs. The deflection angle of the outgoing light is 0°, the state of the polarized light is not changed, and finally the right-handed circularly polarized light is emitted.

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

[0157] In the eighth first scanner simulation structure, the first optical element is a 1 / 4 wave plate, the second optical element is a single-layer nematic liquid crystal polarization grating and a double-layer twisted nematic liquid crystal polarization grating, and the third optical element is a double-layer twisted nematic liquid crystal half-wave plate.

[0158] When the first and second transparent electrode layers of the double-layer twisted nematic liquid crystal half-wave plate are applied with a saturation voltage V2, and the third and fourth transparent electrode layers of the double-layer twisted nematic liquid crystal polarization grating are applied with a saturation voltage V4, the electric field distribution diagram is shown in FIG. 68, and the light beam is deflected by 0°. When the double-layer twisted nematic liquid crystal half-wave plate is applied with a saturation voltage V2, and the double-layer twisted nematic liquid crystal polarization grating is applied with a saturation voltage V4, the polarization conversion diagram of linearly polarized incident light and circularly polarized outgoing light is shown in FIG. 69. The polarization state of the incident light is linearly polarized light, which is converted into right-handed circularly polarized light through the 1 / 4 wave plate. When the saturation voltage V2 is applied, the double-layer twisted nematic liquid crystal half-wave plate does not change the state of the polarized light. At this time, the right-handed circularly polarized light passes through the double-layer twisted nematic liquid crystal polarization grating applied with the saturation voltage V4, and 0-order diffraction occurs. The deflection angle of the outgoing light is 0°, the state of the polarized light is not changed, and finally the right-handed circularly polarized light is emitted.

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

[0160] In an embodiment, the first scanner 200 includes N second optical elements 220, as shown in FIGS. 70 and 71. The N second optical elements are arranged in sequence on the side of the first optical element 210 away from the emitter. N is an integer greater than 1.

[0161] It should be noted that the number N is taken as an example of 4 in FIGS. 70 and 71. In a specific implementation, the number N can be selected according to actual needs.

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

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

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

[0165] In an embodiment, the first scanner 200 includes N third optical elements 230, as shown in FIG. 70.

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

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

[0168] For the first scanner 200 as shown in FIG. 70, the first laser emitted from the output end of the emitter first enters the first optical element 210, is converted from linear polarization state to circular polarization state by the first optical element 210, and then enters the first third optical element 230. The left-handed circular polarization state is converted to right-handed circular polarization state, or the right-handed circular polarization state is converted to left-handed circular polarization state, or the current circular polarization state is maintained, by the first third optical element 230. Then the angle is deflected by the first second optical element 220 and enters the second third optical element 230, which converts the left-handed circular polarization state to right-handed circular polarization state, or the right-handed circular polarization state to left-handed circular polarization state, or maintains the current circular polarization state, and then the angle is deflected by the second second optical element 220 and enters the next third optical element 230. The functions of each third optical element 230 are the same, and the functions of each second optical element 220 are the same, which will not be described here. The last second optical element 220 emits the first laser along multiple first deflection directions.

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

[0170] In an embodiment, the deflection angles of the four second optical elements 220 away from the first optical element 210 in the first scanner 200 as shown in FIG. 70 are 1.3°, 2.6°, 5.2°, and 10.4°, respectively.

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

[0172] For the first scanner 200 as shown in FIG. 71, the first laser emitted from the output end of the emitter first enters the first optical element 210, is converted from linear polarization state to circular polarization state by the first optical element 210, and then enters the third optical element 230. The left-handed circular polarization state is converted to right-handed circular polarization state, or the right-handed circular polarization state is converted to left-handed circular polarization state, or the current circular polarization state is maintained, by the third optical element 230. Then the angle is deflected by the first second optical element 220, and then the angle is deflected by the N second optical elements 220 in sequence. The last second optical element 220 emits the first laser along multiple first deflection directions.

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

[0174] In an embodiment, the deflection angles of the four second optical elements 220 away from the first optical element 210 are 1.3°, 3.9°, 9.1°, and 10.4°, respectively, as shown in the first scanner 200 of FIG. 71.

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

[0176] In an embodiment, the laser radar assembly 10 further comprises a transmitting optical assembly, an input end of the transmitting optical assembly is arranged opposite to the output end of the first scanner 200, and the first laser along the plurality of first deflection directions is transmitted to the target object 20 through the transmitting optical assembly. In this way, it can be ensured that the first laser with the increased equivalent line number through the first scanner 200 can be correctly transmitted to the target object 20.

[0177] It should be noted that the direction of the first laser along the plurality of first deflection directions may change after passing through the transmitting optical assembly, and therefore the direction of the first laser transmitted to the target object 20 is not necessarily the plurality of first deflection directions.

[0178] FIGS. 28 and 29 show schematic diagrams of laser transmission of the laser radar assembly according to the first embodiment of the present disclosure. In an embodiment, referring to FIGS. 28 and 29, the transmitting optical assembly comprises a first collimating lens 31a, a first prism 31b, and a first mirror 31c arranged in sequence along the light path direction of the first laser, and the first mirror 31c is used to transmit the first laser to the target object.

[0179] For example, the laser radar assembly can be a mechanical laser radar assembly. The transmitter 100 transmits laser, and the first laser along the first direction F1 is deflected into a plurality of different first deflection directions F1’ through the first scanner 200, so as to realize accurate scanning of the laser. For example, in the case where the first scanner 200 comprises a binary liquid crystal polarization grating, the first scanner 200 can deflect the first laser along the first direction F1 into two different first deflection directions F1’; in the case where the first scanner 200 comprises a ternary liquid crystal polarization grating, the first scanner 200 can deflect the first laser along the first direction F1 into three different first deflection directions F1’. The first laser emitted from the first scanner 200 is focused and collimated through the first collimating lens 31a, and is reflected to the rotating first mirror 31c by the first prism 31b, and the rotating first mirror 31c transmits the first laser to the target object. The first mirror 31c is the scanning module 700 described above.

[0180] FIG. 32 and FIG. 33 show laser emission and laser receiving schematic diagrams of the laser radar assembly according to the second embodiment of the present disclosure. In an implementation, referring to FIG. 32 and FIG. 33, the emission optical assembly can include a second collimating lens 31d, a second mirror 31e and a rotating mirror 31f rotating around a rotation axis 31g arranged in sequence along the light path direction of the first laser, and the rotating mirror 31f is used for emitting the first laser to the target object 20.

[0181] Exemplarily, the laser radar assembly can be a rotating mirror type laser radar assembly. The emitter 100 emits laser, and the first laser along the first direction F1 is deflected to a plurality of different first deflection directions F1’ by the first scanner 200, so as to realize accurate scanning of the laser. The first laser emitted from the first scanner 200 is focused and collimated by the second collimating lens 31d, and then reflected by the second mirror 31e to the rotating mirror 31f rotating around the rotation axis 31g, and the rotating mirror 31f emits the first laser to the target object 20. The rotating mirror 31f is the scanning module 700 described above.

[0182] FIG. 34 and FIG. 35 show laser emission schematic diagrams of the laser radar assembly according to the third embodiment of the present disclosure. In an implementation, referring to FIG. 34 and FIG. 35, the emission optical assembly includes a galvanometer mirror 31h, and the galvanometer mirror 31h is used for emitting the first laser to the target object. Exemplarily, the laser radar assembly can be a MEMS laser radar assembly. The emitter 100 emits laser, and after being focused and collimated by the collimating lens, the laser enters the first scanner 200 to realize binary deflection or ternary deflection, so as to obtain the first laser along a plurality of first deflection directions F1’. Finally, the galvanometer mirror 31h such as a MEMS galvanometer mirror emits the first laser to the target object. The galvanometer mirror 31h is the scanning module 700 described above.

[0183] FIG. 38 shows a laser emission schematic diagram of the laser radar assembly according to the fourth embodiment of the present disclosure. As shown in FIG. 38, the laser radar assembly 10 can be a FLASH laser radar assembly 10. The emitter 100 emits laser, and after being focused and collimated by the collimating lens, the laser enters the first scanner 200 to realize binary deflection or ternary deflection, so as to obtain the first laser along a plurality of first deflection directions F1’. Compared with the laser radar assembly 10 in FIG. 6, the first scanner 200 can be used instead of the diverging lens to realize electrically controlled deflection of the first laser, so that the power of the laser per unit area can be greatly improved, thereby improving the detection distance of the laser radar assembly 10.

[0184] FIG. 40 shows a schematic diagram of laser emission of a laser radar assembly according to a fifth embodiment of the present disclosure. In an implementation, as shown in FIG. 40, the emission optical assembly includes a diverging lens 31i for emitting the first laser to the target object. Exemplarily, the first scanner 200 can be located between the collimating lens and the diverging lens 31i. In this way, while the power of the laser per unit area is increased, the field of view angle of the laser radar assembly 10 can be further increased, so that the laser radar assembly 10 can have both long range and large field of view angle.

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

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

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

[0188] In the present embodiment, by providing the second scanner 400, the direction of the second laser of the second scanner 400 is converged from a plurality of different second deflection directions F2’ to a second direction F2, so that the number of receivers 500 can be effectively reduced while the equivalent line number of the laser radar assembly 10 is ensured, thereby further reducing the cost.

[0189] In an embodiment, the second scanner 400 comprises a fourth optical element 410 and a fifth optical element 420. The fourth optical element 410 is arranged close to the target object 20 for deflecting the second laser light from the plurality of second deflection directions to the second direction. The fifth optical element 420 is arranged between the fourth optical element 410 and the receiver 500 for changing or maintaining the polarization state of the second laser light. The fourth optical element 410 can have a structure similar to that of the second optical element 220 described above, and the fifth optical element can have a structure similar to that of the third optical element 230 described above, which will not be repeated here.

[0190] Further, the second scanner 400 can further comprise a sixth optical element 430 arranged between the fifth optical element 420 and the receiver 500 for converting the second laser light from linear polarization state to circular polarization state or from circular polarization state to linear polarization state. The sixth optical element 430 can have a structure similar to that of the first optical element 210 described above, which will not be repeated here.

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

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

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

[0194] In an embodiment, the second scanner comprises M fifth optical elements.

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

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

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

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

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

[0200] FIGS. 30 and 31 show a schematic diagram of laser receiving of the laser radar assembly according to the first embodiment of the present disclosure. Exemplarily, the laser radar assembly can be a mechanical laser radar assembly. The receiving optical assembly and the transmitting optical assembly can share the first mirror 31c and the first prism 31b. The second laser reflected by the target object passes through the first mirror 31c to the first prism 31b, passes through the first prism 31b, is focused by the collimating lens, and then reaches the second scanner 400, and finally reaches the receiver 500 by the second scanner 400. Finally, the data processing and three-dimensional environment modeling are performed by the processing chip.

[0201] As shown in FIGS. 32 and 33, the laser radar assembly can also be a rotating mirror laser radar assembly. The receiving optical assembly and the transmitting optical assembly can share the rotating mirror 31f and the second mirror 31e. The second laser reflected by the target object passes through the rotating mirror 31f, the second mirror 31e, the collimating lens, and the second scanner 400 in sequence, and is then received by the receiver 500. After the receiver 500 converts the optical signal into an electrical signal, the electrical signal is input into the processing unit for data processing.

[0202] FIGS. 36 and 37 show a schematic diagram of laser receiving of the laser radar assembly according to the third embodiment of the present disclosure. Exemplarily, the laser radar assembly can be a MEMS laser radar assembly. The receiving optical assembly and the transmitting optical assembly can share the galvanometer 31h. The second laser reflected by the target object 20 passes through the galvanometer 31h, the second scanner 400, and the collimating lens in sequence, and is then received by the receiver 500. Finally, the data processing and three-dimensional environment modeling are performed by the processing chip.

[0203] FIG. 39 shows a schematic diagram of laser receiving of the laser radar assembly 10 according to the fourth embodiment of the present disclosure. Exemplarily, the laser radar assembly can be a FLASH laser radar assembly. The laser receiving process of the FLASH laser radar assembly is opposite to the laser transmitting process. The second laser reflected by the target object passes through the second scanner 400 and the collimating lens in sequence, and is then received by the receiver 500. Finally, the data processing and three-dimensional environment modeling are performed by the processing chip.

[0204] The laser radar assembly 10 according to the embodiments of the present disclosure can utilize the binary scanning or the ternary scanning of the first scanner 200 to encrypt the point cloud density in a small angle range, thereby reducing the number of the transmitter 100 and the receiver 500 of the laser radar assembly 10 by 30% to 50%.

[0205] The device with the detection function according to the embodiments of the present disclosure can be an autonomous vehicle, a smart robot, an automatic logistics vehicle, a surveying and mapping device, or the like.

[0206] The device with the detection function according to the embodiments of the present disclosure can effectively reduce the number of transmitters 100 while ensuring the equivalent number of lines of the lidar assembly 10, thereby reducing costs.

[0207] The other configurations of the lidar assembly 10 and the device with the detection function according to the embodiments described above can adopt various technical solutions known to those skilled in the art now and in the future, which will not be described in detail here.

[0208] In the description of the present disclosure, it should be understood that the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0209] In addition, the terms “first” and “second” are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more of the features.

[0210] In the present disclosure, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting”, “fixing” and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection, or communication; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0211] In the present disclosure, unless specifically stated and limited otherwise, "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of a first feature to a second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is horizontally higher than the second feature. "Under", "below" and "underneath" of a first feature to a second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is horizontally lower than the second feature.

[0212] The above disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0213] The above description is merely specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of various changes or replacements within the technical scope disclosed by the present disclosure, and these should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A lidar assembly, wherein, The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device.

2. The lidar assembly of claim 1, wherein, The application relates to a laser ranging device.

3. The lidar assembly of claim 1, wherein, The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device.

4. The lidar assembly of claim 3, wherein, The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device.

5. The lidar assembly of claim 4, wherein, The application relates to a laser ranging device.

6. The lidar assembly of claim 3, wherein, The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device.

7. The lidar assembly of claim 3, wherein, The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. The application relates to a laser ranging device. 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The application relates to a a fourth alignment layer disposed on a side of the third transparent electrode layer facing away from the fourth substrate; a fifth substrate disposed on a side of the fourth alignment layer facing away from the fourth substrate; a fourth transparent electrode layer disposed on a side of the fifth substrate facing the fourth substrate; a fifth alignment layer disposed on a side of the fourth transparent electrode layer facing the fourth substrate; a third liquid crystal layer disposed between the fourth alignment layer and the fifth alignment layer; wherein a second driving electric field is formed between the third transparent electrode layer and the fourth transparent electrode layer, and the second driving electric field is used to change the deflection state of the third liquid crystal layer to deflect the first laser from the first direction to a plurality of first deflection directions.

8. The lidar assembly of any of claims 1-7, wherein, Further comprising: an emission optical assembly, an input end of the emission optical assembly is opposite to an output end of the first scanner arranged to emit the first laser along the plurality of first deflection directions to the target object through the emission optical assembly.

9. The lidar assembly of claim 8, wherein, The emission optical assembly comprises a first collimating lens, a first prism and a first mirror arranged in sequence along the optical path direction of the first laser, and the first mirror is used to emit the first laser to the target object; or The emission optical assembly comprises a second collimating lens, a second mirror and a rotating mirror rotating around an axis, arranged in sequence along the optical path direction of the first laser, and the rotating mirror is used to emit the first laser to the target object; or The emission optical assembly comprises a galvanometer mirror, which is used to emit the first laser to the target object; or The emission optical assembly comprises a diverging lens, which is used to emit the first laser to the target object.

10. The lidar assembly of any one of claims 1-7, wherein, Further comprising: a second scanner, the second scanner is used to control the second laser to be deflected from a plurality of different second deflection directions to a second direction, so that the second laser along the second direction is transmitted to the receiver; wherein the second laser is the reflection of the first laser by the target object; at least one of the second deflection directions is different from the second direction.

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

12. The lidar assembly of claim 11, wherein, The second scanner further comprises: a sixth optical element arranged between the fifth optical element and the receiver, used to convert the second laser from linear polarization state to circular polarization state or from circular polarization state to linear polarization state.

13. The lidar assembly of claim 10, wherein, Further comprising: a receiving optical assembly arranged between the second scanner and the target object, the second laser reflected by the target object is transmitted to the second scanner through the receiving optical assembly.

14. The lidar assembly of any of claims 3-7, wherein, The first scanner comprises N second optical elements; the N second optical elements are arranged in sequence on a side of the first optical element facing away from the emitter; N is an integer greater than 1.

15. The lidar assembly of claim 14, wherein, The polarization directions of the N second optical elements are different; A ratio of a deflection angle of the jth second optical element to a deflection angle of the first second optical element is an integer greater than 1; j is an integer greater than 1 and less than or equal to N, the first second optical element being the second optical element closest to the first optical device among the N second optical elements.

16. The lidar assembly of claim 14 or 15, wherein, The first scanner comprises N third optical elements; The third optical elements and the second optical elements are alternately arranged on a side of the first optical element facing away from the emitter; A first third optical element among the N third optical elements is located between a first second optical element among the N second optical elements and the first optical element.

17. The lidar assembly of claim 14 or 15, wherein, The first scanner comprises one third optical element; The N second optical elements are sequentially arranged on a side of the third optical element facing away from the first optical element.

18. The lidar assembly of any of claims 14-17, wherein, the number of pointing angles of the first scanner is 2 N+1 -1.

19. The lidar assembly of any of claims 11-13, wherein, The second scanner comprises M fourth optical elements; the M fourth optical elements are sequentially arranged on a side of the target object; M is an integer greater than 1.

20. An apparatus having a detection function, wherein, A lidar assembly comprising any one of claims 1-19.

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