Optical deflection device, transmitting module, laser radar system, and electronic device

Abstract

An optical deflection device (200), a transmitting module (1), a laser radar system, and an electronic device. The optical deflection device (200) comprises a control unit (230) and an optical deflection module (250). The optical deflection module (250) comprises a plurality of deflection partitions (212), and each deflection partition (212) can independently adjust a deflection angle of an incident light beam; and the plurality of deflection partitions (212) are configured to receive incident light beams at a plurality of different first deflection angles, and a deflection partition (212) which is currently scanned is used for deflecting the incident light beams by a required second deflection angle. The control unit (230) is used for controlling deflection partitions (212) which are not currently scanned to adjust a deflection angle thereby for the light beams, and at least one deflection partition (212) is configured such that a deflection angle for the incident light beams is adjusted, after the incident light beams have finished scanning within a current deflection period but before the incident light beams start scanning in a next deflection period, to a second deflection angle required for the next deflection period. The deflection partitions (212) in a non-scanning state in the optical deflection module (250) are adjusted, reducing waiting time for angle switching adjustment, thereby improving scanning frame rate.

Description

Light deflection device, emission module, laser radar system and electronic device TECHNICAL FIELD

[0001] The present application relates to the technical field of depth sensing, in particular to a light deflection device, an emission module, a laser radar system and an electronic device. BACKGROUND

[0002] In recent years, depth sensing systems, such as laser radars, have begun to be commercialized in the fields of photoelectric sensing, intelligent manufacturing, 3D navigation and imaging. Among them, the highest commercial value and the greatest development potential is to provide real-time road information as an optical detection device for intelligent driving. This requires the laser radar to be able to detect various road signs and obstacles within a range of about 300 meters, a wide field of view, and a scale of less than one meter, and to have a signal update rate of ten to dozens of frames per second to meet the application scenarios of high-speed vehicle driving. While meeting the ranging performance, the product needs to have a relatively small volume. To meet the above performance requirements, the current mainstream commercial vehicle-mounted laser radars use mechanical or semi-solid state light scanning to irradiate the targets in the scanned field of view in time, but due to the presence of moving parts, the system reliability and maintainability are not high.

[0003] Compared with traditional mechanical rotating mirror type and semi-solid state laser radars, all-solid-state laser radars have significant advantages in system cost and reliability. The current mainstream direct time-of-flight (DTOF) Flash type all-solid-state blind-filling laser radar, such as the laser radar disclosed in Chinese patent application No. CN202321460026.5, uses a wide-area light-emitting mode to cover the entire field of view, and uses a face array SPAD array at the receiving end to receive the reflected echo signal in time and in zones, ultimately realizing three-dimensional imaging of targets within dozens of meters. Without changing the frame rate, detection angle and angular resolution, in order to meet the vehicle navigation requirements, the detection power needs to be improved to make the detection distance reach the order of hundreds of meters, which is currently limited by the system's heat dissipation capacity and the requirement of cost control, and is difficult to achieve in engineering.

[0004] To improve the detection distance of the all-solid-state laser radar, a cascaded light deflection structure can be used to expand the light deflection angle range during all-solid-state light scanning, for example, an AOD combined with a liquid crystal polarization grating can be used for two-stage deflection to realize continuous fine adjustment of one-dimensional beam deflection angle within a large angle range. SUMMARY

[0005] The present inventors have found that when using a liquid crystal polarization grating to deflect light, a long waiting time is required for switching the deflection angle of the liquid crystal polarization grating. When scanning is completed in a region corresponding to a deflection angle, the scanning in a region corresponding to a next deflection angle needs to be switched, and a long time needs to be waited for, which is slow in adjusting the angle and greatly affects the detection frame rate of the laser radar scanning.

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

[0007] The present application provides an optical deflection device, comprising a control unit and an optical deflection module, wherein the optical deflection module comprises a plurality of deflection sub-zones, and the deflection angle of each deflection sub-zone can be adjusted individually.

[0008] The plurality of deflection sub-zones are configured to receive incident light beams of a plurality of different first deflection angles, and the deflection sub-zone currently scanned by the incident light beam is used to deflect the incident light beam to a required second deflection angle.

[0009] The control unit is configured to control the deflection sub-zone currently not scanned to adjust the deflection angle of the light beam, so that the deflection angle of at least one deflection sub-zone is adjusted to the second deflection angle required in the next deflection period before the scanning by the incident light beam in the current deflection period is completed and the scanning by the incident light beam in the next deflection period is started.

[0010] In some optional embodiments, in a deflection period, the incident light beams of the plurality of different first deflection angles are incident into the plurality of deflection sub-zones in time, and the plurality of deflection sub-zones receive the incident light beams in time and deflect the incident light beams.

[0011] The deflection period is the time required for the plurality of deflection sub-zones to be scanned by the incident light beams of the plurality of different first deflection angles once, or the deflection period is the time required for the specified part of the plurality of deflection sub-zones to be scanned by the incident light beams of the specified part of the plurality of different first deflection angles once.

[0012] In some optional embodiments, in a deflection period, the incident light beams of the plurality of different first deflection angles are incident onto the corresponding deflection sub-zones in a preset order; and one deflection sub-zone is configured to deflect the incident light beam to a corresponding second deflection angle in a deflection period.

[0013] In some optional embodiments, in a deflection period, the incident angles of the incident light beams of the plurality of different first deflection angles change from large to small, or change from small to large, or change according to a preset random rule.

[0014] In some optional embodiments, the plurality of deflection sub-zones are configured to have the same or different or partially same and partially different second deflection angles for the incident light beams in a deflection period.

[0015] In some optional embodiments, one deflection sub-zone is configured to sequentially receive incident light beams with one or two or more different first deflection angles in a deflection period.

[0016] In some optional embodiments, the arrangement direction of the plurality of deflection sub-zones is consistent with the scanning direction of the incident light beams with the plurality of different first deflection angles.

[0017] In some optional embodiments, when the incident light beams are strip light beams with an aspect ratio greater than a set threshold, the incident light beams with the plurality of different first deflection angles are scanned in a one-dimensional manner along the width direction of the light beams in a deflection period, and the plurality of deflection sub-zones in the light deflection module are arranged along the width direction of the light beams.

[0018] When the incident light beams are non-strip light beams with an aspect ratio within a set threshold range, the incident light beams with the plurality of different first deflection angles are scanned in a two-dimensional manner along a first direction and a second direction perpendicular to each other in a deflection period, and the plurality of deflection sub-zones in the light deflection module are arranged in a two-dimensional array along the first direction and the second direction.

[0019] In some optional embodiments, the plurality of deflection sub-zones are configured to have the same or different or partially same and partially different number of incident light beams received by each deflection sub-zone, and the plurality of deflection sub-zones have the same or different or partially same and partially different width.

[0020] In some optional embodiments, the beam incidence surface of the deflection sub-zone is a rectangle with an aspect ratio greater than a set threshold, the width direction of the deflection sub-zone is consistent with the scanning direction of the incident light beams with the plurality of different first deflection angles, and the width of each deflection sub-zone is determined according to the number of incident light beams received and the width of the incident light beams.

[0021] In some optional embodiments, the control unit is specifically configured to:

[0022] After a deflection sub-zone completes deflection of the incident light beams in a current deflection period and is in a non-scanning state, the control unit controls the deflection sub-zone to adjust the deflection angle of the light beam, and adjusts the deflection angle of the light beam to a second deflection angle required in a next deflection period before the deflection sub-zone enters a scanning state in the next deflection period.

[0023] In some optional embodiments, if a deflection partition is a deflection partition currently scanned by the incident light beam, it is determined that the deflection partition is in a scanning state, otherwise, it is determined that the deflection partition is in a non-scanning state; or

[0024] If a deflection partition is a deflection partition currently scanned or a deflection partition to be scanned next by the incident light beam, it is determined that the deflection partition is in a scanning state, otherwise, it is determined that the deflection partition is in a non-scanning state.

[0025] In some optional embodiments, the deflection partition currently scanned by the incident light beam and the deflection partition to be scanned next are determined as deflection partitions in a scanning state, and the remaining deflection partitions are determined as deflection partitions in a non-scanning state; the deflection partition currently scanned by the incident light beam and the deflection partition to be scanned next are positionally adjacent deflection partitions.

[0026] In some optional embodiments, the control unit is configured to control the voltage applied to the electrodes of each deflection partition to adjust the refractive index of the medium in the deflection partition to the incident light beam, so as to adjust the deflection angle of the deflection partition to the incident light beam.

[0027] In some optional embodiments, the light deflection module adopts a liquid crystal polarization grating, and the control unit is configured to control the voltage applied to the electrodes of each deflection partition to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection partition to the incident light beam.

[0028] In some optional embodiments, the light deflection module comprises at least one light deflection unit, and the light deflection unit comprises a plurality of deflection sub-partitions; the deflection partition comprises the positionally corresponding deflection sub-partitions in the at least one light deflection unit; the deflection sub-partitions in the at least one light deflection unit included in one deflection partition can form one deflection light path.

[0029] In some optional embodiments, when the light deflection module comprises one light deflection unit, the deflection partition is one deflection sub-partition on the one light deflection unit; when the light deflection module comprises two light deflection units, the deflection partition comprises two positionally corresponding deflection sub-partitions on the two light deflection units; when the light deflection module comprises a plurality of light deflection units, the deflection partition comprises a plurality of positionally corresponding deflection sub-partitions on the plurality of light deflection units.

[0030] In some optional embodiments, the control unit is specifically configured to control the voltage on the two electrodes of each deflection sub-partition, and change the deflection angle of at least one deflection sub-partition to the incident light beam by changing the voltage on the two electrodes of the at least one deflection sub-partition, so as to change the second deflection angle of the corresponding deflection partition to the incident light beam.

[0031] In some optional embodiments, the light deflection module comprises at least one light deflection unit which deflects the incident light beam in the same direction; or

[0032] The light deflection module comprises at least two light deflection unit groups, each light deflection unit group comprising at least one light deflection unit, wherein at least one light deflection unit group is configured to deflect the light beam in a first direction, at least one light deflection unit group is configured to deflect the light beam in a second direction, and the first direction and the second direction are perpendicular.

[0033] In some optional embodiments, the light deflection unit comprises a liquid crystal half-wave plate and a liquid crystal polarization grating plate; the liquid crystal half-wave plate comprises electrodes arranged on opposite sides and a half-wave plate liquid crystal layer arranged between the electrodes on the opposite sides;

[0034] The electrode on one side of the liquid crystal half-wave plate comprises a plurality of first electrode sub-blocks, and the electrode on the other side is a first whole electrode; each deflection sub-zone corresponds to at least one first electrode sub-block; each deflection sub-zone comprises a portion of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode sub-block, and a portion of the liquid crystal polarization grating plate corresponding to the position of the at least one first electrode sub-block; or

[0035] Both electrodes of the liquid crystal half-wave plate comprise a plurality of first electrode sub-blocks, and two opposite first electrode sub-blocks form a first electrode pair; each deflection sub-zone corresponds to at least one first electrode pair; each deflection sub-zone comprises a portion of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode pair, and a portion of the liquid crystal polarization grating plate corresponding to the position of the at least one first electrode pair;

[0036] Wherein, the deflection angle of the light beam by the corresponding deflection sub-zone is adjusted by changing the voltage applied to the electrode of the liquid crystal half-wave plate corresponding to the deflection sub-zone.

[0037] In some optional embodiments, the light deflection unit comprises a liquid crystal half-wave plate and a liquid crystal polarization grating plate; the liquid crystal half-wave plate comprises electrodes arranged on opposite sides and a half-wave plate liquid crystal layer arranged between the electrodes on the opposite sides; the liquid crystal polarization grating plate comprises electrodes arranged on opposite sides and a grating liquid crystal layer arranged between the electrodes on the opposite sides;

[0038] The electrode on one side of the liquid crystal half-wave plate comprises a plurality of first electrode sub-blocks, and the electrode on the other side is a first whole electrode; the electrode on one side of the liquid crystal polarization grating plate comprises a plurality of second electrode sub-blocks, and the electrode on the other side is a second whole electrode; at least one second electrode sub-block on the liquid crystal polarization grating plate and at least one first electrode sub-block corresponding in position on the liquid crystal half-wave plate form a sub-block group; or

[0039] The two side electrodes of the liquid crystal half-wave plate each include a plurality of first electrode sub-blocks, and two opposite first electrode sub-blocks form a first electrode pair; the two side electrodes of the liquid crystal polarization grating plate each include a plurality of second electrode sub-blocks, and two opposite second electrode sub-blocks form a second electrode pair; at least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode pair on the liquid crystal half-wave plate corresponding in position form a sub-block group; or

[0040] The one side electrode of the liquid crystal polarization grating plate includes a plurality of second electrode sub-blocks, and the other side electrode is a second whole electrode; the two side electrodes of the liquid crystal half-wave plate each include a plurality of first electrode sub-blocks, and two opposite first electrode sub-blocks form a first electrode pair; at least one second electrode sub-block on the liquid crystal polarization grating plate and at least one first electrode pair on the liquid crystal half-wave plate corresponding in position form a sub-block group; or

[0041] The two side electrodes of the liquid crystal polarization grating plate each include a plurality of second electrode sub-blocks, and two opposite second electrode sub-blocks form a second electrode pair; the one side electrode of the liquid crystal half-wave plate includes a plurality of first electrode sub-blocks, and the other side electrode is a first whole electrode; at least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode sub-block on the liquid crystal half-wave plate corresponding in position form a sub-block group.

[0042] Each deflector sub-zone corresponds to at least one sub-block group; each deflector sub-zone includes a part on the liquid crystal half-wave plate corresponding in position to the sub-block group and a part on the liquid crystal polarization grating plate corresponding in position to the sub-block group;

[0043] Wherein, the deflection angle of the light beam by the corresponding deflector sub-zone is adjusted by changing the voltage applied to the electrode on the liquid crystal half-wave plate corresponding to the deflector sub-zone and the voltage applied to the electrode on the liquid crystal polarization grating plate corresponding to the deflector sub-zone.

[0044] In some optional embodiments, the liquid crystal polarization grating plates of all light deflection units in the light deflection module are passive liquid crystal polarization grating plates, or the liquid crystal polarization grating plates of all light deflection units in the light deflection module are active liquid crystal polarization grating plates, or the liquid crystal polarization grating plates of part of the light deflection units are passive liquid crystal polarization grating plates, and the liquid crystal polarization grating plates of part of the light deflection units are active liquid crystal polarization grating plates; the liquid crystal material of the liquid crystal layer is nematic liquid crystal or blue phase liquid crystal.

[0045] In some optional embodiments, the liquid crystal half-wave plate further includes oppositely arranged first substrates, and the electrodes on the two sides are respectively arranged on the inner surfaces of the first substrates and the second substrates facing each other, and the inner surfaces are planes;

[0046] The liquid crystal polarization grating sheet further comprises a third substrate and a fourth substrate arranged oppositely, and the electrodes on the two sides are arranged on the inner surfaces of the third substrate and the fourth substrate facing each other, and the inner surfaces are planes.

[0047] In some optional embodiments, the light deflection device further comprises a 1 / 4 wave plate arranged in front of the first liquid crystal half wave plate, for changing the polarization state of the incident light beam.

[0048] In some optional embodiments, the adjustment time of the deflection subzone adjustment for the second deflection angle of the incident light beam is not greater than the time interval between the scanning of the adjacent two deflection periods of the deflection subzone by the incident light beam.

[0049] In some optional embodiments, the number of the deflection subzones is determined according to the number of the second deflection angles deflected by the light deflection module, the time required for the light deflection module to deflect the light beams of multiple different first deflection angles to multiple different second deflection angles, and the adjustment time required for the light deflection module to complete one deflection angle adjustment.

[0050] In some optional embodiments, the number D of the deflection subzones is an integer greater than or equal to 2 / (1-FMT), wherein M is the number of deflection angles of the light deflection device, F is the frame rate of the light deflection device after deflecting a round of M deflection angles, and T is the time required for the light deflection device to complete one deflection angle adjustment.

[0051] In some optional embodiments, the light deflection device further comprises:

[0052] A temperature regulator configured to adjust the time of the deflection subzone adjustment for the deflection angle by changing the temperature of the light deflection module.

[0053] In some optional embodiments, the light deflection module is configured to:

[0054] In the case where the incident light beam is a strip-shaped light beam:

[0055] Deflecting the incident light beams of multiple different first deflection angles to the same second deflection angle can complete the scanning of one corresponding scanning subzone in the field of view range; and deflecting each of the light beams of multiple different first deflection angles to multiple different second deflection angles can complete the scanning of multiple scanning subzones corresponding to the multiple different second deflection angles.

[0056] The scanning subzone is a rectangle, and the length of the light beam after being deflected by the second deflection angle is equal to the length of one direction of the scanning subzone.

[0057] In some optional embodiments, the light deflection module is configured to:

[0058] In a deflection period, the incident light beams of the plurality of different first deflection angles are deflected to the same second deflection angle to complete scanning of a corresponding scanning subarea in the field of view range; the second deflection angle of the incident light beams of the plurality of different first deflection angles deflected by different deflection periods is different; or

[0059] In a deflection period, the incident light beams of the plurality of different first deflection angles are deflected to the same second deflection angle to complete scanning of a corresponding scanning subarea in the field of view range; the second deflection angle of the incident light beams of the plurality of different first deflection angles deflected by different deflection periods is different; or

[0060] In some optional embodiments, the light deflection device is used in a transmitting module of a laser radar system; or the light deflection device is a light deflection device in a transmitting module of a laser radar system.

[0061] Embodiments of the present application also provide a light scanning method, comprising:

[0062] The plurality of deflection subareas in the light deflection module are controlled to receive incident light beams of a plurality of different first deflection angles; the deflection angle of the incident light beams can be adjusted individually by each deflection subarea;

[0063] The second deflection angle required by the deflection subarea currently being scanned to deflect the incident light beams is controlled; and

[0064] The deflection subarea currently not being scanned is controlled to adjust the deflection angle of the light beams, so that the deflection angle of at least one deflection subarea is adjusted to the second deflection angle required in the next deflection period after the scanning of the incident light beams by the deflection subarea in the current deflection period ends and before the scanning of the incident light beams by the deflection subarea in the next deflection period starts.

[0065] In some optional embodiments, the control of the plurality of deflection subareas in the light deflection module to receive incident light beams of a plurality of different first deflection angles comprises: in a deflection period, the incident light beams of the plurality of different first deflection angles are controlled to be incident into the plurality of deflection subareas in time, and the plurality of deflection subareas receive the incident light beams of the plurality of different first deflection angles in time;

[0066] The deflection period is the time required for the plurality of deflection subareas to be scanned by the incident light beams of the plurality of different first deflection angles once, or the deflection period is the time required for the specified part of the plurality of deflection subareas to be scanned by the incident light beams of the specified part of the plurality of different first deflection angles once.

[0067] In some optional embodiments, the incident light beams of the plurality of different first deflection angles are sequentially incident on the corresponding deflection sub-zones in a preset order in a deflection period; and each deflection sub-zone is configured to deflect the incident light beams to a corresponding second deflection angle in the deflection period.

[0068] In some optional embodiments, the incident angles of the incident light beams of the plurality of different first deflection angles vary from large to small, or from small to large, or in a preset random rule in a deflection period.

[0069] In some optional embodiments, the plurality of second deflection angles to which the incident light beams are deflected in a deflection period are all the same, or all different, or partially the same and partially different.

[0070] In some optional embodiments, each deflection sub-zone can sequentially receive incident light beams of one, two or more different first deflection angles in a deflection period.

[0071] In some optional embodiments, the plurality of deflection sub-zones are configured to deflect the incident light beams to second deflection angles that are all the same, or all different, or partially the same and partially different in a deflection period.

[0072] In some optional embodiments, the number of incident light beams that each deflection sub-zone can receive are all the same, all different, or partially the same and partially different; and correspondingly, the widths of the plurality of deflection sub-zones are all the same, all different, or partially the same and partially different.

[0073] In some optional embodiments, the control adjusts the deflection angle of the deflection sub-zone that is not currently scanned to the incident light beam, so that the deflection angle of at least one deflection sub-zone to the incident light beam is adjusted to the second deflection angle required for the next time before the current scanning of the incident light beam ends and the next scanning of the incident light beam starts, including:

[0074] After determining that a deflection sub-zone completes the deflection of the incident light beam in the current deflection period and is in a non-scanning state, the control adjusts the deflection angle of the deflection sub-zone to the incident light beam to the second deflection angle required for the next deflection period before the deflection sub-zone enters the scanning state in the next deflection period.

[0075] In some optional embodiments, if a deflection sub-zone is the deflection sub-zone currently scanned by the incident light beam, it is determined that the deflection sub-zone is in a scanning state, otherwise, it is determined that the deflection sub-zone is in a non-scanning state; or

[0076] If a deflection sub-zone is the deflection sub-zone currently scanned or the deflection sub-zone to be scanned next by the incident light beam, it is determined that the deflection sub-zone is in a scanning state, otherwise, it is determined that the deflection sub-zone is in a non-scanning state.

[0077] In some optional embodiments, the deflection subzone currently scanned by the incident light beam and the deflection subzone to be scanned next are determined as the deflection subzones in the scanning state, and the rest of the deflection subzones are determined as the deflection subzones in the non-scanning state; the deflection subzone currently scanned by the incident light beam and the deflection subzone to be scanned next are positionally adjacent deflection subzones.

[0078] In some optional embodiments, the voltage applied to the electrodes of each deflection subzone is controlled to adjust the refractive index of the medium in the deflection subzone to the incident light beam, so as to adjust the deflection angle of the deflection subzone to the incident light beam.

[0079] In some optional embodiments, when the light deflection module adopts a liquid crystal polarization grating, the voltage applied to the electrodes of each deflection subzone is controlled to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection subzone to the incident light beam.

[0080] In some optional embodiments, the light deflection module includes at least one light deflection unit, and the light deflection unit includes a plurality of deflection subzones; when the deflection subzone includes a positionally corresponding deflection subzone in the at least one light deflection unit, the voltage on the electrodes at both ends of each deflection subzone is controlled respectively, and the deflection angle of at least one deflection subzone to the incident light beam is changed by changing the voltage on the electrodes at both ends of at least one deflection subzone, so as to change the second deflection angle of the corresponding deflection subzone to the incident light beam.

[0081] In some optional embodiments, the light deflection module includes at least two light deflection unit groups, and each light deflection unit group includes at least one light deflection unit; the control of the second deflection angle required by the deflection subzone currently scanned by the incident light beam to deflect the incident light beam includes:

[0082] the second deflection angle required by the deflection subzone currently scanned by the incident light beam to deflect the incident light beam in a first direction, and / or the second deflection angle required by the deflection subzone currently scanned by the incident light beam to deflect the incident light beam in a second direction, wherein the first direction and the second direction are perpendicular.

[0083] In some optional embodiments, the adjustment time of the second deflection angle of the deflection subzone to the incident light beam is not greater than the time interval between two adjacent times of the deflection subzone being scanned by the incident light beam.

[0084] In some optional embodiments, the number of the deflection sub-zones is determined according to the number of the second deflection angles, the time required for the light deflection module to deflect the light beams of the plurality of different first deflection angles to a plurality of different second deflection angles, and the adjustment time required for the light deflection module to complete one deflection angle adjustment.

[0085] In some optional embodiments, the number D of the deflection sub-zones is an integer greater than or equal to 2 / (1-FMT), where M is the number of the deflection angles of the light deflection device, F is the frame rate of the light deflection device deflecting a full round of M deflection angles, and T is the time required for the light deflection device to complete one deflection angle adjustment.

[0086] In some optional embodiments, the control unit is specifically configured to perform the following control processes in parallel: controlling the deflection sub-zone currently being scanned in the light deflection device to deflect the incident light beam, and controlling at least one deflection sub-zone not currently being scanned to adjust the deflection angle of the light beam.

[0087] In some optional embodiments, the above method further comprises: changing the temperature of the light deflection module to adjust the time for the deflection sub-zone to adjust the deflection angle.

[0088] In some optional embodiments, the field of view range of the light scanning is divided into a plurality of scanning sub-zones, the scanning sub-zones are rectangular, and the incident light beam is a strip-shaped light beam.

[0089] The scanning of the field of view range comprises: deflecting the incident light beams of a plurality of different first deflection angles to the same second deflection angle, which can complete the scanning of one corresponding scanning sub-zone of the field of view range; and deflecting the light beams of each first deflection angle of the light beams of the plurality of different first deflection angles to a plurality of different second deflection angles, respectively, which can complete the scanning of a plurality of scanning sub-zones corresponding to the plurality of different second deflection angles.

[0090] The length of the light beam after being deflected to the second deflection angle is equal to the length of one direction of the scanning sub-zone.

[0091] In some optional embodiments, in one deflection period, the incident light beams of a plurality of different first deflection angles are deflected to the same second deflection angle to complete the scanning of one corresponding scanning sub-zone of the field of view range; the second deflection angles to which the incident light beams of the plurality of different first deflection angles are deflected are different in different deflection periods; or

[0092] In a deflection cycle, the incident light beams of the plurality of different first deflection angles are deflected to one of a plurality of different second deflection angles respectively, so as to scan the partial areas in the corresponding scanning sub-regions respectively; wherein in a deflection cycle, the incident light beams of the plurality of different first deflection angles are deflected to the same or different second deflection angles; and the second deflection angles of the incident light beams of each first deflection angle in different deflection cycles are different.

[0093] The embodiment of the present application provides a transmitting module, comprising: a light source module and the light deflection device;

[0094] The light source module is configured to emit incident light beams of different first deflection angles in time under the control of the control unit, so as to be incident on the corresponding deflection sub-regions of the light deflection module;

[0095] The light deflection device is configured to receive the incident light beams emitted by the light source module in time and deflect the received incident light beams.

[0096] In some optional embodiments, the light source module comprises a light source and a deflection assembly.

[0097] The light source is configured to emit light beams continuously or at a set frequency under the control of the control unit.

[0098] The deflection assembly is configured to deflect the light beams emitted by the light source under the control of the control unit, and deflect incident light beams of a plurality of different first deflection angles in time.

[0099] In some optional embodiments, the length of the light beams emitted by the light source along a first direction is less than the length along a second direction, the first direction being the deflection direction of the deflection assembly for deflecting the incident light beams, and the second direction being perpendicular to the first direction.

[0100] The embodiment of the present application provides a laser radar system, comprising: a receiving module and the transmitting module described above, the receiving module being configured to sense light signals from a field of view range and obtain three-dimensional information of the field of view range by processing and analyzing the sensed light signals.

[0101] The embodiment of the present application provides an electronic device comprising the laser radar system described above.

[0102] The embodiment of the present application provides the above technical solutions, and the beneficial effects thereof at least include:

[0103] The light deflection device and the light deflection method provided by the embodiment of the present application divide the light deflection module in the light deflection device into multiple deflection sub-zones, the deflection angles of the multiple deflection sub-zones to the incident light beams can be independently adjusted, by dividing the light deflection module, the incident light beams with different first deflection angles can be incident on the corresponding deflection sub-zones in the light scanning process, the second deflection angle required by the deflection of the incident light beams by the current incident deflection sub-zone, since the deflection angle adjustment of the light beams is performed by different sub-zones independently, therefore, the deflection sub-zones that are not scanned can adjust the deflection angle of the light beams by using the time that is not scanned, wherein, at least one deflection sub-zone is adjusted to the second deflection angle required in the next deflection period after the scanning of the incident light beams in the current deflection period is completed and before the scanning of the incident light beams in the next deflection period is started. Therefore, when the incident light beams in the next deflection period are incident on the deflection sub-zone, the incident light beams can be immediately deflected to the required second deflection angle without waiting, the waiting time for the deflection angle adjustment when the scanning of one deflection angle is completed and the scanning of the next deflection angle is switched is reduced, thereby reducing the waiting time for the deflection angle adjustment and improving the detection frame rate of the laser radar scanning.

[0104] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0105] The technical solutions of the present application will be further described in detail below with the help of the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0106] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate embodiments of the present application and explain the present application, and do not constitute a limitation of the present application. In the drawings:

[0107] Fig. 1 is a structural schematic diagram of a light deflection device with liquid crystal half-wave plate one side electrode block in the embodiment of the present application;

[0108] Fig. 2 is a structural schematic diagram of a light deflection device with liquid crystal half-wave plate two side electrode block in the embodiment of the present application;

[0109] Fig. 3 is an example diagram of a two-dimensional array arrangement of deflection sub-zones in the embodiment of the present application;

[0110] Fig. 4a is an example diagram of deflection of two angles in a first direction in the embodiment of the present application;

[0111] Fig. 4b is an example diagram of deflection of multiple angles in a second direction in the embodiment of the present application;

[0112] Figure 5a is a schematic diagram of the principle of scanning sub-regions of the field of view range in the first embodiment of the present application;

[0113] Figure 5b is a schematic diagram of the principle of scanning sub-regions of the field of view range in the first embodiment of the present application;

[0114] Figure 6a is a schematic diagram of the structure of the light deflection device using a passive liquid crystal grating sheet in the first embodiment of the present application;

[0115] Figure 6b is an example diagram of the relationship between the voltage applied to the light deflection module and the deflection angle of one-dimensional deflection in the first embodiment of the present application;

[0116] Figure 6c is an example diagram of the relationship between the voltage applied to the light deflection module and the deflection angle of two-dimensional deflection in the first embodiment of the present application;

[0117] Figure 7 is an example diagram of the deflection sub-region scanning path in the first embodiment of the present application;

[0118] Figure 8 is an example diagram of the deflection sub-region scanning path in the first embodiment of the present application;

[0119] Figure 9 is an example diagram of the deflection sub-region scanning path in the first embodiment of the present application;

[0120] Figure 10 is a schematic diagram of the structure of the light deflection device in which the liquid crystal half-wave sheet and the liquid crystal polarization grating sheet are divided into blocks on one side in the first embodiment of the present application;

[0121] Figure 11 is a schematic diagram of the structure of the light deflection device in which the liquid crystal half-wave sheet and the liquid crystal polarization grating sheet are divided into blocks on both sides in the first embodiment of the present application;

[0122] Figure 12 is a flowchart of the light scanning method in the second embodiment of the present application;

[0123] Figure 13 is a schematic diagram of the structure of the emission module in the third embodiment of the present application;

[0124] Figure 14 is a schematic diagram of the structure of the laser radar system in the third embodiment of the present application. 1, emission module; 2, receiving module; 200, light deflection device; 210, light deflection unit; 220, light deflection unit group; 230, control unit; 240, temperature regulator; 250, light deflection module; 211, first electrode block; 2110, first electrode pair; 212, deflection sub-region; 2121, deflection sub-region; 213, first whole electrode; 214, liquid crystal half-wave sheet; 215, half-wave sheet liquid crystal layer; 216, liquid crystal polarization grating sheet; 217, first substrate; 218, second substrate; 2160, second electrode pair; 2161, third substrate; 2162, fourth substrate; 2163, second electrode block; 2164, grating liquid crystal layer; 2165, second whole electrode; 300, light source; 600, light source module; 610, deflection assembly. DETAILED DESCRIPTION

[0125] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and so that the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0126] In order to solve the problem that the switching waiting time of the deflection angle is long, the adjustment angle is slow, and the scanning detection frame rate of the lidar is affected when the lidar uses a liquid crystal polarization grating to realize beam deflection in the prior art, an all-solid-state two-dimensional light deflection and light scanning scheme is provided in the embodiments of the present application. The light deflection device is divided into different deflection partitions, the emitted laser irradiates different deflection partitions in time, and the deflection partitions that are not irradiated can adjust the deflection angle of the light beam. Therefore, the scanning system does not need to wait for the light deflection device to adjust the state to change the deflection angle, so that the scanning can be continuously performed. The design realizes high frame rate, large field of view angle and long ranging capability, and can meet the requirements of application scenarios such as vehicle-mounted lidar.

[0127] Embodiment one

[0128] The embodiment one of the present application provides a light deflection device 200, the structure of which is shown in FIG. 1 and FIG. 2, which comprises a control unit 230 and a light deflection module 250, the light deflection module 250 comprises a plurality of deflection partitions 212, and the deflection angle of the incident light beam of each deflection partition 212 can be adjusted individually.

[0129] The plurality of deflection partitions 212 are configured to receive incident light beams of a plurality of different first deflection angles, and the currently scanned deflection partition 212 is used to deflect the incident light beam to a required second deflection angle;

[0130] The control unit 230 is configured to control at least one currently unscanned deflection partition 212 to adjust the deflection angle of the light beam, so that the deflection angle of the at least one deflection partition 212 to the incident light beam is adjusted to the second deflection angle required in the next deflection period before the scanning of the incident light beam in the current deflection period is ended and the scanning of the incident light beam in the next deflection period is started.

[0131] Optionally, the control unit 230 is specifically configured to perform the following control processes in parallel: controlling the currently scanned deflection partition in the light deflection device to deflect the incident light beam, and controlling at least one currently unscanned deflection partition to adjust the deflection angle of the light beam.

[0132] The light deflection device 200 can have at least one deflection subregion that is not currently scanned to adjust its deflection angle of the incident light beam under the control of the control unit 230 while the currently scanned deflection subregion deflects the incident light beam. The deflection period is the time required for the plurality of deflection subregions 212 to be scanned by the incident light beams of the plurality of different first deflection angles once. Alternatively, the deflection period is the time required for the plurality of different first deflection angles of the incident light beams to traverse the plurality of deflection subregions 212. In this case, all of the plurality of different first deflection angles of the incident light beams scan all of the plurality of deflection subregions 212 in one deflection period, i.e., each of the plurality of deflection subregions 212 is scanned and is not missed.

[0133] Alternatively, the deflection period is the time required for the specified part of the plurality of deflection subregions 212 to be scanned by the incident light beams of the specified part of the plurality of different first deflection angles once. Alternatively, the deflection period is the time required for the specified part of the plurality of different first deflection angles of the incident light beams to traverse the specified part of the plurality of deflection subregions 212. In one deflection period, the specified part of the plurality of deflection subregions 212 is scanned, i.e., there is a part of the plurality of deflection subregions 212 that is missed. The specified part of the plurality of deflection subregions 212 can be the same or different in different deflection periods, and the specified part of the plurality of different first deflection angles of the incident light beams can be the same or different.

[0134] The light deflection device 200 can be configured to control the at least one deflection sub-zone 212 to adjust the second deflection angle once in the scanning interval of two adjacent deflection periods, so that the at least one deflection sub-zone 212 can be adjusted to the required second deflection angle before the end of the incidence of the last deflected sub-zone 212. That is, the light beams are incident on the deflection sub-zones 212 in time, and the control unit 230 can control the at least one deflection sub-zone 212 to respond in advance to prepare for the next deflection period. Before the light beam is incident on the deflection sub-zone 212 in the next deflection period, the deflection sub-zone 212 has been adjusted to the second deflection angle required for the next deflection period. To some extent, the waiting time for angle adjustment can be reduced, so that at least one incident light beam in the next deflection period can be irradiated without waiting, thereby improving the scanning frame rate of the light scanning. To further improve the scanning frame rate, the control unit 230 can be configured to control each deflection sub-zone 212 to adjust the second deflection angle once in the incidence interval of two adjacent deflection periods, so that each deflection sub-zone 212 can be adjusted to the required second deflection angle before the end of the incidence of the last deflected sub-zone 212. Thus, each incident light beam with a first deflection angle can be directly irradiated without waiting, thereby improving the scanning frame rate of the light scanning.

[0135] In one deflection period, the control unit 230 can control a plurality of incident light beams with different first deflection angles to be incident on the plurality of deflection sub-zones 212 in time, and the plurality of deflection sub-zones 212 can receive the incident light beams in time and deflect the incident light beams. One deflection sub-zone 212 is configured to deflect the incident light beam to a corresponding second deflection angle in one deflection period. The plurality of incident light beams with different first deflection angles can be generated by a light source module. In each deflection period, the control unit 230 can control the light source module to generate a plurality of incident light beams with different first deflection angles in a preset angle range and at a preset deflection time interval, and project the incident light beams onto the corresponding deflection sub-zones of the light deflection device 200. For example, in the range of -1.5 to +1.5 degrees, the light beams are deflected at a plurality of first deflection angles with a certain interval. The first deflection angle is a sequence of angles: -1.5, -1.0, -0.5, 0, 0.5, 1, 1.5, etc. The angle interval can be set as needed. Therefore, the deflection period is the time required to deflect a plurality of incident light beams with different first deflection angles in a preset angle range. The control unit 230 can be arranged in the light deflection device 200 together with the light deflection module 250, or can be arranged separately as a device.

[0136] In a deflection period, the incident light beams of multiple different first deflection angles can be incident on the corresponding deflection sub-zones in a preset order. The incident order of the incident light beams of multiple different first deflection angles can be preset and can be controlled by the control unit 230. Optionally, the incident angles of the incident light beams of multiple different first deflection angles can change from large to small, for example, from -1.5, -1.0, -0.5, 0, 0.5, 1, 1.5 in turn. Optionally, the incident angles of the incident light beams of multiple different first deflection angles can change from small to large, for example, from 1.5, 1.0, 0.5, 0, -0.5, -1, -1.5 in turn. Optionally, the incident angles of the incident light beams of multiple different first deflection angles can also change in a preset random rule, for example, randomly from -1.5, 1, -0.5, 0, -1.0, 0.5, 1.5. In different deflection periods, the incident order of the incident light beams can be the same or different.

[0137] The above light deflection device 200, multiple deflection sub-zones 212 are configured to deflect the incident light beams in a deflection period to multiple second deflection angles, which are all the same, or all different, or partially the same and partially different. Optionally, in a deflection period, the second deflection angles of the incident light beams of multiple first deflection angles are one, or two or more. For example, in a deflection period, multiple deflection sub-zones deflect the incident light beams of multiple different first deflection angles by 1 degree; in the next period, multiple deflection sub-zones 212 deflect the incident light beams of multiple different first deflection angles by 2 degrees; and so on; for another example, in a deflection period, the first deflection sub-zone deflects at least one incident light beam of first deflection angle by 1 degree; the second deflection sub-zone deflects at least one incident light beam of first deflection angle by 2 degrees; and so on. For another example, in a deflection period, the first deflection sub-zone 212 deflects at least one incident light beam of first deflection angle by 1 degree; the second deflection sub-zone 212 deflects at least one incident light beam of first deflection angle by 1 degree; the third deflection sub-zone 212 deflects at least one incident light beam of first deflection angle by 3 degrees; the fourth deflection sub-zone 212 deflects at least one incident light beam of first deflection angle by 5 degrees; and so on.

[0138] The above light deflection device 200, one deflection sub-zone 212 can be configured to correspond to receive at least one incident light beam of first deflection angle. Optionally, one deflection sub-zone 212 can be configured to receive one, two or more incident light beams of different first deflection angles in a deflection period in turn.

[0139] The light deflection device 200, the arrangement direction of the plurality of deflection sub-zones 212 is consistent with the scanning direction of the incident light beams with the plurality of different first deflection angles. The plurality of deflection sub-zones can be arranged in one dimension along a direction, or can be arranged in a two-dimensional array, and the arrangement direction can be consistent with the scanning direction of the incident light beams with the first deflection angles. For example, if the incident light beams are scanned along a first direction, the plurality of deflection sub-zones 212 are also arranged along the first direction; if the incident light beams are scanned in a two-dimensional array, the plurality of deflection sub-zones 212 are arranged in a two-dimensional array. The scanning mode of the incident light beams can be related to the shape of the incident light beams.

[0140] In the case of the incident light beams being strip light beams with an aspect ratio greater than a set threshold, the incident light beams with the plurality of different first deflection angles are scanned in one dimension along the width direction of the light beams in one deflection period, and the plurality of deflection sub-zones 212 included in the light deflection module 250 are arranged along the width direction of the light beams; for example, as shown in FIGS. 1 and 2, the plurality of deflection sub-zones 212 are arranged along the vertical direction. The deflection sub-zone 212 can be a rectangle with an aspect ratio greater than a set threshold. The width direction of the deflection sub-zone is consistent with the scanning direction of the incident light beams with the plurality of different first deflection angles, that is, the width direction of the deflection sub-zone is along the first direction, and the length direction of the deflection sub-zone is along the second direction.

[0141] In the case of the incident light beams being non-strip light beams with an aspect ratio within a set threshold range, the incident light beams with the plurality of different first deflection angles are scanned in two dimensions along the first direction and the second direction perpendicular to each other in one deflection period, and the plurality of deflection sub-zones 212 included in the light deflection module 250 are arranged in a two-dimensional array along the first direction and the second direction. For example, as shown in FIG. 3, the plurality of deflection sub-zones 212 are arranged in a two-dimensional array along the first direction and the second direction, and the deflection sub-zone 212 can be square or approximately square.

[0142] The light deflection device 200, the plurality of deflection sub-zones 212 are configured such that each deflection sub-zone 212 receives the same number, different number, or partially same number and partially different number of incident light beams; correspondingly, the widths of the plurality of deflection sub-zones 212 are all the same, all different, or partially the same and partially different. The width of each deflection sub-zone 212 is determined according to the number of received incident light beams and the width of the incident light beams.

[0143] The number of incident light beams received by each deflection subregion 212 can be set to be the same. For example, each deflection subregion 212 receives one incident light beam, i.e., the deflection subregion incident light beam is one-to-one, or each deflection subregion 212 receives two or more incident light beams, i.e., the deflection subregion 212 and the incident light beam are one-to-two or one-to-many. In this case, the width of each deflection subregion 212 can be the same, and the width of each deflection subregion 212 is equal to the sum of the widths of the light beams it corresponds to, such as one-to-two, the width of a deflection subregion 212 is equal to the sum of the widths of two light beams.

[0144] The number of incident light beams received by each deflection subregion 212 can be set to be different. For example, the first deflection subregion 212 receives one incident light beam, the second deflection subregion 212 receives two incident light beams, the third deflection subregion 212 receives three incident light beams, and so on. In this case, the width of each deflection subregion 212 is different, and the width of each deflection subregion 212 is equal to the sum of the widths of the light beams it corresponds to.

[0145] The number of incident light beams received by each deflection subregion 212 can be set to be partially the same and partially different. For example, the first deflection subregion 212 receives one incident light beam, the second deflection subregion 212 receives two incident light beams, the third deflection subregion 212 receives one incident light beam, the fourth deflection subregion 212 receives two incident light beams, and so on. In this case, the width of each deflection subregion 212 is partially the same and partially different, and the width of each deflection subregion 212 is equal to the sum of the widths of the light beams it corresponds to.

[0146] In some optional embodiments, the control unit 230 can determine whether the deflection angle of each deflection subregion 212 to the light beam can be adjusted according to the scanning state of each deflection subregion 212. Each deflection subregion 212 can adjust its deflection angle to the light beam when it is in a non-scanning state. The control unit 230 can also be used to determine whether each deflection subregion 212 is in a scanning state. After determining that a deflection subregion 212 completes the deflection of the incident light beam in the current deflection period and is in a non-scanning state, the control unit 230 controls the deflection subregion 212 to adjust its deflection angle to the light beam. The deflection angle of the deflection subregion 212 to the light beam is adjusted to a second deflection angle required in the next deflection period before entering the scanning state. Each deflection subregion 212 can start adjusting its deflection angle to the light beam after it completes the deflection of the light beam in the current deflection period and is in a non-scanning state, so that the angle can be adjusted in time, and the non-scanning state means that there is no incident light beam and no need to deflect the light beam.

[0147] In actual application, the deflection sub-area 212 currently scanned by the light beam can be determined as the deflection sub-area in the scanning state, and the rest of the deflection sub-areas 212 can be determined as the deflection sub-areas in the non-scanning state. That is, if a deflection sub-area is the deflection sub-area currently scanned by the incident light beam, it is determined that the deflection sub-area is in the scanning state, otherwise, it is determined that the deflection sub-area is in the non-scanning state.

[0148] Alternatively, the deflection sub-area 212 currently scanned by the incident light beam and the deflection sub-area 212 to be scanned next can also be determined as the deflection sub-areas in the scanning state, and the rest of the deflection sub-areas 212 can be determined as the deflection sub-areas in the non-scanning state. The rest of the deflection sub-areas 212 include all deflection sub-areas in the light deflection module 250 except the deflection sub-area 212 currently scanned by the incident light beam and the deflection sub-area 212 to be scanned next; the deflection sub-area currently scanned by the incident light beam and the deflection sub-area to be scanned next can be adjacent deflection sub-areas in position or can be non-adjacent deflection sub-areas in position. That is, if a deflection sub-area 212 is the deflection sub-area currently scanned by the incident light beam or the deflection sub-area to be scanned next, it is determined that the deflection sub-area 212 is in the scanning state, otherwise, it is determined that the deflection sub-area 212 is in the non-scanning state. The deflection sub-area currently scanned by the incident light beam and the deflection sub-area to be scanned next can be adjacent deflection sub-areas in position or can be non-adjacent deflection sub-areas in position. The incident light beam is usually scanned into each deflection sub-area 212 in a set order, and the control unit 230 can determine the deflection sub-area to be scanned next according to the currently scanned deflection sub-area and the scanning order.

[0149] Since the incident light beam deflected by the previous deflection device can be irradiated to different positions of the light deflection module 250, different positions of the light deflection module 250 correspond to different deflection sub-areas 212, and therefore, which deflection sub-areas 212 are in the scanning state and which deflection sub-areas 212 are in the non-scanning state can be determined according to the incident position. The control unit 230 is specifically configured to determine the deflection sub-areas 212 in the scanning state and the deflection sub-areas 212 in the non-scanning state according to the incident position of the incident light beam on the light deflection module; for the deflection sub-area 212 in the non-scanning state, if the incident order of the deflection sub-area 212 is before the deflection sub-area 212 in the scanning state, the deflection angle of the deflection sub-area 212 to the light beam is adjusted to the second deflection angle required for the next deflection period.

[0150] The adjustment of the deflection angle of each deflection sub-zone 212 in the light deflection module 250 can be achieved by changing the voltage on the electrodes. Different light deflection modules 250 deflect light beams in different ways. For a light deflection module 250 that changes the deflection angle by changing the refractive index, the control unit 230 is configured to control the voltage applied to the electrodes of each deflection sub-zone 212 to adjust the refractive index of the medium in the deflection sub-zone 212 to the incident light beam, so as to adjust the deflection angle of the deflection sub-zone 212 to the incident light beam. For example, the light deflection module 250 uses a liquid crystal polarization grating, and the control unit is configured to control the voltage applied to the electrodes of each deflection sub-zone 212 to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection sub-zone 212 to the incident light beam.

[0151] In some optional embodiments, the light deflection module 250 includes at least one light deflection unit 210, and the light deflection unit 210 includes a plurality of deflection sub-zones 2121; the deflection sub-zone 212 includes the deflection sub-zone 2121 corresponding to the position in the at least one light deflection unit. When the light deflection module 250 includes one light deflection unit 210, the deflection sub-zone is a deflection sub-zone 2121 on the one light deflection unit 210; when the light deflection module 250 includes two light deflection units 210, the deflection sub-zone includes two deflection sub-zones 2121 corresponding to the positions on the two light deflection units 210. When the light deflection module 250 includes a plurality of light deflection units 210, the deflection sub-zone 212 includes a plurality of deflection sub-zones 2121 corresponding to the positions on the plurality of light deflection units 210. The light deflection module 250 can include one or more light deflection units 210, and the number of light deflection units 210 is related to the number of second deflection angles. In FIGS. 1 and 2, four light deflection units 210 are taken as an example for illustration. In actual applications, the number of light deflection units 210 can be set as needed, and a plurality of deflection angles can be combined by the deflection angles of the light deflection units 210. For example, when one light deflection unit 210 can realize two angle deflections, if four angle deflections are needed in light scanning, two light deflection units 210 are set; if eight angle deflections are needed, three light deflection units 210 are set; if sixteen angle deflections are needed, four light deflection units 210 are set; and so on. That is, the relationship between the number N of light deflection units 210 and the number M of deflection angles needed satisfies M = 2N. N .

[0152] The light deflection unit 210 includes deflection sub-zones 2121 which can independently adjust the deflection angle. Since the light deflection unit 210 has multiple deflection sub-zones 2121 which can independently control the deflection angle, the light beams with different deflection angles can be deflected on one of the deflection sub-zones 2121 respectively, and thus the deflection angle of the light beams can be adjusted by the time when the deflection sub-zone 2121 is not scanned. When the light deflection module 250 includes at least one light deflection unit, the control unit 230 is specifically configured to control the voltage on the two electrodes of each deflection sub-zone 2121 respectively, and change the deflection angle of the at least one deflection sub-zone 2121 to the incident light beam by changing the voltage on the two electrodes of the at least one deflection sub-zone 2121, so as to realize the change of the second deflection angle of the corresponding deflection sub-zone 212 to the incident light beam. That is, the change of the second deflection angle of the entire deflection sub-zone 212 to the incident light beam is realized by adjusting the deflection angle of part or all of the deflection sub-zones 2121 in the deflection sub-zone 212 to the light beam.

[0153] The above-mentioned light deflection device 200 can perform angular deflection on the incident light beam in one direction, or can perform angular deflection on the incident light beam in two different directions. When only the deflection of the light beam in one direction is needed, the at least one light deflection unit 210 included in the light deflection module 250 deflects the incident light beam in the same direction, and in this case, the number of light deflection units 210 is set according to the number of second deflection angles needed to be deflected, which can be one, two or more.

[0154] In order to realize the angular deflection of the light beam in two different directions, the light deflection module 250 can include at least two light deflection units 210, or in other words, the light deflection module 250 includes at least two light deflection unit groups 220, each of which includes at least one light deflection unit 210, wherein at least one light deflection unit group 220 is configured to deflect the light beam in a first direction, and at least one light deflection unit group 220 is configured to deflect the light beam in a second direction, and the first direction and the second direction can be perpendicular to each other.

[0155] Optionally, the light deflection unit group 220 with a small number of deflection angles of the light beam is arranged at a relatively closer position to the light entrance side. Thus, a better deflection effect can be obtained. For example, as shown in FIGS. 1 and 2, the light deflection unit group 220 for deflecting in the first direction includes one light deflection unit 210 arranged at the leftmost position, which realizes 2 angles of deflection in the first direction, as shown in FIG. 4a; the light deflection unit group 220 for deflecting in the second direction includes three light deflection units 210 arranged at the rightmost position, which realizes 8 angles of deflection in the second direction, as shown in FIG. 4b, in which only three angles are shown. Arranging the light deflection unit 210 for deflecting in the direction with a small number of deflection angles in the front in the optical path can improve the diffraction efficiency of the light beam. The light deflection unit 210 can also realize the corresponding light beam deflection function without being arranged according to the above sequence requirement.

[0156] In some optional embodiments, the light deflection unit 210, for example but not limited to, adopts a liquid crystal polarization grating. The liquid crystal polarization grating can deflect the outgoing light to a predetermined angle without amplifying the incident light divergence angle, and the angle range can reach several tens of degrees, thus being very suitable for expanding the scanning field angle. However, the liquid crystal polarization grating can only deflect discrete angles and has a slow response speed, thus the application adopts a partitioned manner for angle switching adjustment. Each light deflection unit 210 can deflect left-handed and right-handed circular polarized light to different two angles, corresponding to the liquid crystal grating +1 and -1 diffraction order angles. Through the cascade of N light deflection units 210, the light deflection in 2N discrete angles can be realized. N

[0157] The light deflection unit 210 includes a liquid crystal half-wave plate 214 and a liquid crystal polarization grating (LCPG) sheet 216; the liquid crystal half-wave plate 214 includes electrodes arranged on opposite sides and a half-wave plate liquid crystal layer 215 arranged between the electrodes.

[0158] The electrode on one side of the liquid crystal half-wave plate 214 includes a plurality of first electrode sub-blocks 211, and the electrode on the other side is a first whole electrode 213. Each deflection sub-partition 2121 corresponds to at least one first electrode sub-block 211. Each deflection sub-partition 2121 includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of the at least one first electrode sub-block 211, and a portion of the liquid crystal polarization grating sheet 216 corresponding to the position of the at least one first electrode sub-block 211.

[0159] The electrodes on both sides of the liquid crystal half-wave plate 214 each include a plurality of first electrode sub-blocks 211, and two opposite first electrode sub-blocks 211 form a first electrode pair 2110. Each deflection sub-partition 2121 corresponds to at least one first electrode pair 2110. Each deflection sub-partition 2121 includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of the at least one first electrode pair 2110, and a portion of the liquid crystal polarization grating sheet 216 corresponding to the position of the at least one first electrode pair 2110.​

[0160] The deflection angle of the corresponding deflector sub-zone 2121 to the light beam is adjusted by changing the voltage applied to the electrode corresponding to the deflector sub-zone 2121 in the liquid crystal half-wave plate 214.

[0161] That is, the liquid crystal half-wave plate 214 in the light deflection unit 210 is provided with electrodes, which can be divided into blocks on one side or both sides, and the liquid crystal polarization grating plate 216 can be provided with electrodes or not. The following describes the two cases respectively.

[0162] In some optional embodiments, the liquid crystal polarization grating plate 216 is a passive liquid crystal deflection grating without electrodes, and the light deflection unit 210 changes the deflection direction of the light beam passing through the passive liquid crystal deflection grating plate by adjusting the voltage applied to the electrodes on both sides of the liquid crystal half-wave plate 214. The deflector sub-zone 2121 of the light deflection unit 210 can be realized by making the electrodes on one side or both sides of the liquid crystal half-wave plate 214 into a block structure, and the required voltage can be applied to each electrode block respectively, so as to realize independent adjustment of the deflection angle of each deflector sub-zone 2121.

[0163] In the case of making the electrodes on one side into a block structure, see Figure 1. The electrodes on one side of the liquid crystal half-wave plate 214 include a plurality of first electrode blocks 211, and the electrodes on the other side are a first whole electrode 213. Each deflector sub-zone 2121 corresponds to at least one first electrode block 211. Each deflector sub-zone 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode block 211, and the part of the liquid crystal polarization grating plate 216 corresponding to the position of at least one first electrode block 211. The position corresponding part refers to the part directly opposite the position, see the part in the dashed box in Figure 1. The part corresponding to the position of at least one first electrode block 211 refers to the part of the liquid crystal polarization grating plate 216 in the same dashed box as at least one first electrode block 211. In this case, each first electrode block 211 corresponds to a deflector sub-zone 2121, which can be changed to a plurality of first electrode blocks 211 corresponding to a deflector sub-zone 2121. The plurality of first electrode blocks 211 includes the case of 2 or more first electrode blocks 211. The plurality of first electrode blocks 211 can be arranged in a regular array, such as but not limited to a one-dimensional or two-dimensional array, or can be arranged in an irregular array.

[0164] In the case that the electrodes on both sides are made into a segmented structure, as shown in FIG. 2, the electrodes on both sides of the liquid crystal half-wave plate 214 each include a plurality of first electrode segments 211, two opposite first electrode segments form an electrode pair, and each deflector sub-area 2121 corresponds to at least one electrode pair; each deflector sub-area includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of the at least one electrode pair and a portion of the liquid crystal polarization grating plate 216 corresponding to the position of the at least one electrode pair. The portion corresponding to the position refers to the portion that is directly opposite in position. As shown in the dashed box in FIG. 2, the portion corresponding to the position of the at least one electrode pair is the portion of the liquid crystal polarization grating plate 216 located in the same dashed box as the at least one electrode pair. In FIG. 2, the electrode segments corresponding to the positions on both sides of the liquid crystal half-wave plate 214 are directly opposite each other. However, these corresponding segmented electrodes can also not be strictly opposite each other and can have a slight misalignment therebetween. In this case, each electrode pair corresponds to a deflector sub-area 2121, or alternatively, a plurality of electrode pairs can correspond to a deflector sub-area 2121. The plurality of electrode pairs includes 2 or more electrode pairs. The plurality of first electrode segments 211 in the electrodes on each side can be arranged in a regular array, such as but not limited to a one-dimensional or two-dimensional array, or can be arranged in an irregular array.

[0165] The deflection angle of the corresponding deflector sub-area 2121 to the light beam is adjusted by changing the voltage applied to the electrodes of the liquid crystal half-wave plate 214 corresponding to the deflector sub-area 2121.

[0166] In some optional embodiments, the light deflection unit 210 includes a liquid crystal half-wave plate 214 and a liquid crystal polarization grating plate 216. The liquid crystal half-wave plate 214 includes electrodes arranged opposite on both sides and a liquid crystal layer arranged between the electrodes on both sides. The liquid crystal polarization grating plate 216 is an active liquid crystal polarization grating plate, which includes electrodes arranged opposite on both sides and a grating liquid crystal layer 2164 arranged between the electrodes on both sides. The control unit 230 needs to correspondingly adjust the voltage applied to the electrodes of the liquid crystal half-wave plate 214 and the electrodes of the active liquid crystal polarization grating plate 216 to change the deflection angle of the light beam. The deflector sub-area 2121 of the light deflection unit 210 can be realized by making one or both sides of the electrodes of the liquid crystal half-wave plate 214 into a segmented structure and making one or both sides of the electrodes of the liquid crystal polarization grating plate into a segmented structure. The required voltage can be applied to each electrode segment, so that the deflection angle of each deflector sub-area 2121 can be independently adjusted. In the light deflection unit 210, the liquid crystal half-wave plate 214 further includes a first substrate 217 and a second substrate 218 arranged opposite each other. The liquid crystal polarization grating plate 216 further includes a third substrate 2161 and a fourth substrate 2162 arranged opposite each other.

[0167] The case that one side electrode of the liquid crystal polarization grating 216 is made into a sub-block structure is similar to the case that one side electrode of the liquid crystal half-wave plate 214 is made into a sub-block structure, and the case that both side electrodes of the liquid crystal polarization grating 216 are made into a sub-block structure is similar to the case that both side electrodes of the liquid crystal half-wave plate 214 are made into a sub-block structure, which will not be described here. It should be noted that:

[0168] In one light deflection unit 210, the liquid crystal polarization grating 216 and the liquid crystal half-wave plate 214 can be selected to have one side electrode made into a sub-block structure. Referring to FIG. 10, one side electrode of the liquid crystal half-wave plate 214 includes a plurality of first electrode sub-blocks 211, and the other side electrode is a first whole electrode 213; one side electrode of the liquid crystal polarization grating 216 includes a plurality of second electrode sub-blocks 2163, and the other side electrode is a second whole electrode 2165; at least one second electrode sub-block 2163 on the liquid crystal polarization grating 216 and at least one first electrode sub-block corresponding in position on the liquid crystal half-wave plate 214 form a sub-block group; each deflection sub-zone 2121 corresponds to at least one sub-block group, that is, each deflection sub-zone 2121 corresponds to at least one first electrode sub-block 211 of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode sub-block 2163 of the liquid crystal polarization grating 216. Each deflection sub-zone 2121 includes a portion on the liquid crystal half-wave plate 214 corresponding to the position of the sub-block group, and a portion on the liquid crystal polarization grating 216 corresponding to the position of the sub-block group.

[0169] In one light deflection unit 210, the liquid crystal polarization grating 216 and the liquid crystal half-wave plate 214 can be selected to have both side electrodes made into a sub-block structure. Referring to FIG. 11, both side electrodes of the liquid crystal half-wave plate 214 include a plurality of first electrode sub-blocks 211, and two opposite first electrode sub-blocks 211 on the liquid crystal half-wave plate 214 form a first electrode pair 2110; both side electrodes of the liquid crystal polarization grating 216 include a plurality of second electrode sub-blocks 2163, and two opposite second electrode sub-blocks 2163 on the liquid crystal polarization grating 216 form a second electrode pair 2160; at least one second electrode pair 2160 on the liquid crystal polarization grating 216 and at least one first electrode pair 2110 corresponding in position on the liquid crystal half-wave plate 214 form a sub-block group; each deflection sub-zone 2121 corresponds to at least one sub-block group, that is, each deflection sub-zone 2121 corresponds to at least one first electrode pair 2110 of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode pair 2160 of the liquid crystal polarization grating 216. Each deflection sub-zone 2121 includes a portion on the liquid crystal half-wave plate 214 corresponding to the position of the sub-block group, and a portion on the liquid crystal polarization grating 216 corresponding to the position of the sub-block group.

[0170] In one light deflection unit 210, the electrodes on one side of the liquid crystal polarization grating 216 can be made into a segmented structure, the electrodes on both sides of the liquid crystal half-wave plate 214 can be made into a segmented structure, two opposite first electrode segments on the liquid crystal half-wave plate form a first electrode pair, and at least one second electrode segment on the liquid crystal polarization grating 216 and at least one first electrode pair on the liquid crystal half-wave plate 214 corresponding in position form a segmented group; each deflection sub-zone 2121 corresponds to at least one segmented group, that is, each deflection sub-zone 2121 corresponds to at least one first electrode pair on the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode segment on the liquid crystal polarization grating 216. Each deflection sub-zone 2121 includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group, and a portion of the liquid crystal polarization grating 216 corresponding to the position of the segmented group.

[0171] In one light deflection unit 210, the electrodes on both sides of the liquid crystal polarization grating 216 can be made into a segmented structure, the electrodes on one side of the liquid crystal half-wave plate 214 can be made into a segmented structure, two opposite second electrode segments on the liquid crystal polarization grating 216 form a second electrode pair, and at least one second electrode pair on the liquid crystal polarization grating 216 and at least one first electrode segment on the liquid crystal half-wave plate 214 corresponding in position form a segmented group; each deflection sub-zone 2121 corresponds to at least one segmented group, that is, each deflection sub-zone 2121 corresponds to at least one first electrode segment on the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode pair on the liquid crystal polarization grating 216. Each deflection sub-zone 2121 includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group, and a portion of the liquid crystal polarization grating 216 corresponding to the position of the segmented group.

[0172] Wherein, the deflection angle of the corresponding deflection sub-zone 2121 to the light beam is adjusted by changing the voltage applied to the electrodes on the liquid crystal half-wave plate 214 corresponding to the deflection sub-zone 2121 and the voltage applied to the electrodes on the liquid crystal polarization grating 216 corresponding to the deflection sub-zone 2121.

[0173] It should be noted that for the case where the light deflection device 200 includes at least two light deflection units 210, the respective deflection sub-zones 2121 on the at least two different light deflection units 210 are arranged corresponding to each other, and in this case, the multiple deflection sub-zones 2121 corresponding to each other in position and belonging to different light deflection units 210 can form a deflection light path, which can be adjusted simultaneously when adjusting the deflection angle, and at this time, the voltages applied to the multiple deflection sub-zones 2121 need to be adjusted to achieve the adjustment.

[0174] In another aspect, the plurality of deflection sub-zones 2121 belonging to different light deflection units 210 and corresponding to a deflection light path can also be understood as a deflection zone 212 that can be structurally separated from each other. Each deflection zone 212 has a uniform deflection angle for the light beam and can be independently adjusted as a whole to adjust the deflection angle of the light beam. The plurality of deflection zones 212 are arranged in sequence according to the deflection direction of the light beam at the first deflection angle. That is, the deflection sub-zones 2121 in at least one light deflection unit 210 included in a deflection zone 212 can form a deflection light path. When a deflection zone 212 includes one light deflection unit 210, the deflection sub-zones 2121 in the light deflection unit 210 can form a deflection light path. When a deflection zone 212 includes two light deflection units, the deflection sub-zones 2121 in the two light deflection units 210 can form a deflection light path. When a deflection zone 212 includes a plurality of light deflection units 210, the deflection sub-zones 2121 in the plurality of light deflection units can form a deflection light path.

[0175] Optionally, a 1 / 4 wave plate can be arranged in front of the first layer of liquid crystal half-wave plate to change the polarization state of the incident light beam, and the linearly polarized light emitted by the previous deflection device is changed into circularly polarized light.

[0176] The electrode, for example but not limited to, is an ITO electrode. The shape and arrangement of the electrode blocks depend on the shape of the light beam to be deflected and the change of the scanning position of the light beam on the light deflection unit 210. The incident light beam is a long strip-shaped light beam with the length direction along the second direction, and the light beam is scanned along the first direction on the light deflection unit 210. Correspondingly, the electrode blocks are also long strip-shaped with the length direction along the second direction, and the plurality of electrode blocks are also arranged in parallel along the first direction. The different electrode blocks are arranged separately, so that the voltage can be independently applied to control the arrangement state of the corresponding part of the liquid crystal molecules in the zone.

[0177] In theory, in the same light deflection module 250, the liquid crystal half-wave plates 214 belonging to different light deflection units 210 can also have different ITO electrode structures, for example, the electrode structure of the liquid crystal half-wave plate 214 of a part of the light deflection units is a two-side partition, the electrode structure of the liquid crystal half-wave plate 214 of another part of the light deflection units is a one-side partition, and one side is not partitioned. The liquid crystal polarization grating plates 216 belonging to different light deflection units 210 can also have different ITO electrode structures, for example, the electrode structure of the liquid crystal polarization grating plate 216 of a part of the light deflection units 210 is a two-side partition, the electrode structure of the liquid crystal polarization grating plate 216 of another part of the light deflection units 210 is a one-side partition, and one side is not partitioned.

[0178] Referring to FIG. 1, FIG. 2, FIG. 10, and FIG. 11, the liquid crystal half-wave plate 214 can further include a first substrate 217 and a second substrate 218 arranged oppositely, and electrodes on both sides are arranged on the inner surfaces of the first substrate 217 and the second substrate 218 facing each other, for example, the inner surfaces are flat. The liquid crystal polarization grating plate 216 further includes a third substrate 2161 and a fourth substrate 2162 arranged oppositely, and electrodes on both sides are arranged on the inner surfaces of the third substrate 2161 and the fourth substrate 2162 facing each other, for example, the inner surfaces are flat.

[0179] The liquid crystal polarization grating plates 216 of all the light deflection units 210 in the light deflection module 250 are passive liquid crystal polarization grating plates, or the liquid crystal polarization grating plates 216 of all the light deflection units 210 in the light deflection module 250 are active liquid crystal polarization grating plates, or the liquid crystal polarization grating plates 216 of some light deflection units 210 in the light deflection module 250 are passive liquid crystal polarization grating plates, and the liquid crystal polarization grating plates 216 of some light deflection units 210 are active liquid crystal polarization grating plates. The liquid crystal material of the liquid crystal layer can be one of nematic liquid crystal and blue phase liquid crystal, for example, but not limited to.

[0180] Taking the passive liquid crystal polarization grating plate 216 as an example, the passive liquid crystal polarization grating plate 216 does not need to apply a voltage to change the arrangement of liquid crystals when working, and the polarization state of the light beam can be changed by selecting whether to apply a voltage to the liquid crystal half-wave plate 214, thereby controlling the deflection direction of the light beam passing through the passive liquid crystal polarization grating plate 216. The deflection angle of the passive liquid crystal polarization grating plate 216 to the light beam is pre-set, and the left-handed polarization component and the right-handed polarization component of the incident light beam will be deflected to the positive first-order diffraction direction and the negative first-order diffraction direction of the liquid crystal polarization grating plate 216. The angles of the two diffraction directions relative to the incident direction are equal in size, and the directions of the deflection are opposite. Therefore, by matching light deflection units 210 with different light deflection angles and applying corresponding voltages to the liquid crystal half-wave plate 214, the light beam can be deflected at multiple different pre-set angles.

[0181] For each first deflection angle of the incident light beam changing along the first direction, the synchronization starts to change the voltage applied to the scanned deflection sub-zone in the light deflection module in sequence as the light beam starts to scan, and switches the liquid crystal molecule arrangement of the scanned deflection sub-zone to the state required by the next light beam deflection angle. Thus, each deflection sub-zone 212 can switch the liquid crystal arrangement state by using the previous stage deflection device to deflect the light beam to scan the gap between other deflection sub-zones along the first direction. When the previous stage deflection device deflects the light beam to scan the last deflection sub-zone in the deflection period of the light deflection module, the arrangement of the liquid crystal molecules in the first deflection sub-zone 212 to be scanned in the next deflection period has been switched to the state required by the next light beam deflection angle, so at this time the previous stage deflection device can be controlled to deflect the light beam to the first deflection sub-zone to be scanned along the first direction to start the scanning of the next deflection period without waiting. It can also be understood that the liquid crystal half-wave plate 214 can update the arrangement state of the liquid crystal in real time according to the preset frequency along the scanning direction of the light beam thereon to complete the seamless switching of the light beam deflection angle.

[0182] Referring to FIG. 6a, which shows a structure example of the light deflection module 250 using passive liquid crystal polarization grating sheets, the light deflection units 210 in the light deflection module 250 are cascaded in binary, and a plurality of light deflection units 210 are arranged in sequence along the propagation direction of the light beam and the deflection angle of the light beam passing through them increases by powers of two in sequence. That is, the first light deflection unit 210 closest to the light entrance side has the smallest deflection angle of the light beam passing through it, and the last light deflection unit 210 closest to the light exit side has the largest deflection angle of the light beam passing through it. Assuming that the deflection angle of the light beam passing through the first light deflection unit 210 is r, then the deflection angles of the light beam passing through the N light deflection units 210 arranged in sequence along the outgoing direction of the light beam are ±r, ±2r, ±4r, …, ±2 N-1 -1)·r, respectively. It can be seen that the light deflection module 250 can provide a preset deflection angle of the light beam passing through it of ±r, ±3r, ±5r, …, ±(2 N -1)·r, and the maximum deflection angle of the light beam passing through it is 2N-1·r. The maximum value of the odd number is 2N-1, and N is the number of light deflection units included in the light deflection module 250. The angular interval between the preset deflection angles of adjacent orders is 2r, that is, the preset deflection angles of the light beam passing through the light deflection module 250 are distributed in an arithmetic sequence with a preset angular interval, and the deflection accuracy of the light beam passing through it is 2r, which can be regarded as the angular tolerance of the arithmetic sequence. Thus, the relationship expression between the second deflection angle range Ψ and the total number M of different deflection angles that can be provided by the light deflection units 210 based on binary cascading is: Ψ=(2N -1) · r M = 2 N

[0183] wherein r is the minimum deflection angle of the light beam passing through the light deflection unit, and N is the total number of light deflection units 210 in the light deflection module 250.

[0184] In use, the polarization state of the light beam incident to the passive liquid crystal polarization grating 216 in the light deflection unit 210 can be selected by applying a voltage to the liquid crystal half-wave plate 214 in the light deflection unit 210, so as to correspondingly control the deflection direction of the light beam diffracted by the passive liquid crystal polarization grating 216. For example, if the light beam is deflected to the positive first-order diffraction direction when passing through the passive liquid crystal polarization grating 216 after passing through the liquid crystal half-wave plate 214 to which a saturation voltage is applied, the light beam will be deflected to the negative first-order diffraction direction when passing through the passive liquid crystal polarization grating 216 after passing through the liquid crystal half-wave plate 214 to which no voltage is applied. Since the polarization state of the light beam is changed when it is diffracted by the passive liquid crystal polarization grating 216, if the light beam is to be deflected to the same diffraction order in the next light deflection unit 210, the voltage applied to the liquid crystal half-wave plate 214 in the next light deflection unit 210 needs to be turned off so that the liquid crystal half-wave plate 214 changes the polarization state of the light beam back to the polarization state before the last deflection; if the light beam is to be deflected to the opposite diffraction order in the next light deflection unit 210, a saturation voltage needs to be applied to the liquid crystal half-wave plate 214 in the next light deflection unit 210 so that it does not change the polarization state of the light beam.

[0185] Figure 6b is a schematic diagram of the relationship between the voltage control of the binary cascaded light deflection module and the deflection angle of the one-dimensional deflection of the light beam. The shaded area in the figure represents the application of a saturation voltage to the corresponding liquid crystal half-wave plate 214, at which time the liquid crystal half-wave plate 214 does not change the polarization state of the light beam. The white area represents the turn-off of the saturation voltage applied to the liquid crystal half-wave plate 214, and the corresponding liquid crystal half-wave plate 214 will change the polarization state of the light beam. Since all passive liquid crystal polarization gratings 216 are passive, all passive liquid crystal polarization gratings 216 cannot apply voltage, and will deflect the light beam by a preset angle in the corresponding direction according to the polarization state of the light beam. Figure 6b exemplarily shows that the light deflection module 250 includes four light deflection units in binary cascade, each light deflection unit including a liquid crystal half-wave plate and a passive liquid crystal polarization grating, and in the order of the light beam along the direction of the light beam: the first light deflection unit includes a liquid crystal half-wave plate I and a passive liquid crystal polarization grating I, the second light deflection unit includes a liquid crystal half-wave plate II and a passive liquid crystal polarization grating II, the third light deflection unit includes a liquid crystal half-wave plate III and a passive liquid crystal polarization grating III, and the fourth light deflection unit includes a liquid crystal half-wave plate IV and a passive liquid crystal polarization grating IV. Moreover, the passive liquid crystal polarization gratings I-IV have the same grating vector direction. Among them, the deflection angles of the passive liquid crystal polarization gratings I-IV to the light beam are sequentially increased by the natural number power of two, and the value of the natural number is the sequence number of the light deflection unit minus one, corresponding to r, 2r, 4r and 8r. In actual application, the deflection angle of each liquid crystal polarization grating to the light beam can be selected as needed.

[0186] Referring to FIGS. 6a and 6b, a reference system is established with the light beam horizontally incident at 0 degrees, deflected to the left as a positive angle, and deflected to the right as a negative angle. If the polarization state of the light beam incident on the light deflection module 250 causes the passive liquid crystal polarization grating to deflect the light beam in the direction of positive first-order diffraction, and the deflection angle of +r is desired after the light beam passes through the entire light deflection module, the voltage to the liquid crystal half-wave plate I is turned off, so that the light beam passing through the liquid crystal half-wave plate I first changes its polarization state. In this way, the passive liquid crystal polarization grating I deflects the light beam by -r and changes the polarization state of the light beam back to the polarization state at the time of incidence. Since the passive liquid crystal polarization grating II and the passive liquid crystal polarization grating III need to continue to deflect the light beam in the directions of -2r and -4r, respectively, the voltages to the liquid crystal half-wave plate II and the liquid crystal half-wave plate III are turned off to change the polarization state of the light beam before it enters the corresponding passive liquid crystal polarization grating II and the passive liquid crystal polarization grating III. Finally, the liquid crystal half-wave plate IV is applied with a saturation voltage to maintain the polarization state of the light beam after it passes through the passive liquid crystal polarization grating III. In this way, the light beam can be deflected back to +8r in the opposite direction when it passes through the passive plate IV to finally obtain a deflection direction of r. By analogy, the light deflection module 250 can also deflect the light beam passing through it to other preset deflection angles, such as the angles of 3r, 5r, 7r, 9r, 11r, 13r, 15r, -r, -3r, -5r, -7r, -9r, -11r, -13r, -15r in the figure, by changing the voltage applied to the liquid crystal half-wave plates I-IV to adjust the polarization state of the light beam before it enters the corresponding passive liquid crystal polarization grating I-IV. Through the cooperation of the four light deflection units 210, the light beam can be deflected by 16 different deflection angles. It can be understood that, to achieve different numbers of deflection angles, different numbers of light deflection units 210 can be provided.

[0187] Figure 6c is a schematic diagram of the relationship between the voltage control of the binary cascaded light deflection module and the deflection angle of the two-dimensional deflection of the light beam, which is different from figure 6b in that the four deflection units in figure 6b deflect the light beam in the same direction, such as the horizontal direction or the vertical direction, while in figure 6c, one of the four deflection units deflects the light beam in the first direction, and the other three deflection units deflect the light beam in the second direction, where p represents the minimum deflection angle of the light beam in the vertical direction, and h represents the minimum deflection angle of the light beam in the horizontal direction. The four deflection units cooperate to achieve deflection in two deflection angles in the vertical direction and eight deflection angles in the horizontal direction, such as (-p, h), (p, h), (-p, 3h), (p, 3h), (-p, 5h), (p, 5h), (-p, 7h), (p, 7h), (-p, -7h), (p, -7h), (-p, -5h), (p, -5h), (-p, -3h), (p, -3h), (-p, -h), (p, -h) as shown in figure 6c.

[0188] If an active liquid crystal polarization grating sheet is used, the difference lies in that the passive liquid crystal polarization grating sheet does not need to apply voltage during the working process, and the passive liquid crystal polarization grating sheet only needs to apply corresponding voltage to the liquid crystal half-wave plate to realize the deflection of the light beam during the working process, which has fast response speed and simple driving program; the active liquid crystal polarization grating sheet needs to apply corresponding voltage to different deflection angles during the working process, and the active liquid crystal polarization grating sheet needs to adjust the voltage applied to the liquid crystal half-wave plate and the active liquid crystal polarization grating sheet respectively corresponding to different deflection angles during the working process. When the active liquid crystal polarization grating sheet is used, the voltage applied to the liquid crystal half-wave plate and the active liquid crystal polarization grating sheet in the light deflection unit 210 of the light deflection module can be changed, and different deflection angles can be realized by changing the applied voltage, which will not be described here.

[0189] In some optional embodiments, the light deflection device 200 adjusts the adjustment time of the second deflection angle of the incident light beam by the deflection sub-area to be not more than the time interval of two adjacent deflection periods of the deflection sub-area being scanned by the incident light beam. In order to ensure that each deflection sub-area has sufficient time to adjust the deflection angle, the number of deflection sub-areas can be reasonably set within the time range of the deflection period, because if the number of deflection sub-areas is too small, it cannot be ensured that each deflection sub-area has sufficient time to complete the deflection angle adjustment within the time interval of two adjacent deflection periods being scanned by the incident light beam. Therefore, the number of deflection sub-areas is determined according to the number of the second deflection angles deflected by the light deflection module 250, the time required for the light deflection module 250 to deflect the light beams of multiple different first deflection angles to multiple different second deflection angles, and the adjustment time required for the light deflection module 250 to complete a deflection angle adjustment. Alternatively, the number of deflection sub-areas can be set according to the number of deflection angles, the required frame rate, and the time required for the light deflection device 200 to complete a deflection angle adjustment, so as to ensure that the deflection sub-areas can complete the deflection angle adjustment within the time interval of two scans while meeting the required frame rate. Specifically, the number D of deflection sub-areas 212 is an integer greater than or equal to 2 / (1-FMT), where M is the number of deflection angles of the light deflection device 200, F is the frame rate of the light deflection device 200 for deflecting a full round of M deflection angles, and T is the time required for the light deflection device 200 to complete a deflection angle adjustment. Of course, setting the number of deflection sub-areas according to the formula is a preferred way, which can ensure that each deflection sub-area does not need to wait and can complete the angle adjustment during the scanning gap. Even if the number is set to be smaller, it can also reduce the waiting time to a certain extent.

[0190] The response speed of the liquid crystal half-wave plate 214 is about several milliseconds. During the adjustment of the liquid crystal switch state, the system is in an inoperative state. In order to meet the requirement of the light scanning frame rate of 10 Hz, one traversal of all scanning angles needs to be completed within 100 ms. Therefore, in order to ensure the scanning efficiency of the system, the ITO electrode layer of the liquid crystal half-wave plate is divided into blocks. When the light beam is scanned, the light beam is incident on one electrode block, and at this time, the remaining electrode blocks not incident on the light beam can be adjusted to change the phase delay.

[0191] The above light deflection device deflects the outgoing light beam in the vertical direction as an example. Assuming that the liquid crystal response time is S ms, N light deflection units are combined to achieve a plurality of discrete angles of deflection. Then each light deflection unit needs to be divided into D deflection sub-zones in the vertical direction. Referring to FIGS. 7, 8, and 9, at the beginning of a frame (100 ms in length), the light beam enters the first deflection sub-zone, and the light beam width in the vertical direction is designed to be the width of one deflection sub-zone. The upper-stage deflection device deflects the light beam to a continuous downward angle, and the light beam begins to enter the second deflection sub-zone. At this time, the first and second deflection sub-zones are in the "scanning" state, and the remaining K-2 sub-zones are in the "non-scanning" state. When the light beam leaves the first deflection sub-zone and begins to enter the third deflection sub-zone, the first deflection sub-zone enters the "non-scanning" state, and the second and third deflection sub-zones are in the "scanning" state. According to the above rule, when the light beam enters the Dth deflection sub-zone, a deflection period is completed, and at this time the upper-stage deflection device deflects the light beam to enter the first deflection sub-zone, starting the second deflection period. In a frame, a plurality of deflection periods are required, and in each deflection period, the light deflection device 200 deflects the light to one of a plurality of discrete angles.

[0192] Referring to FIGS. 7, 8, and 9, the light deflection unit 210 is divided into 1-D parallel arranged deflection sub-zones. For each second deflection angle, the incident light beam of different first deflection angles is scanned from the first sub-zone to the Dth deflection sub-zone in the vertical direction. After the AOD deflected light beam leaves the first deflection sub-zone and scans the second deflection sub-zone, the first deflection sub-zone that has been scanned can begin to change the voltage applied to the first deflection sub-zone by the corresponding independently arranged ITO electrode block, so as to switch the part of the liquid crystal molecules corresponding to the first deflection sub-zone to the required liquid crystal molecule arrangement state of the next second deflection angle. That is, in the process of scanning the incident light beam from the second deflection sub-zone to the Dth deflection sub-zone, the part of the liquid crystal molecules corresponding to the first deflection sub-zone can be changed synchronously by the corresponding ITO electrode block, and the whole process is sufficient to complete the change of the part of the liquid crystal molecules corresponding to the first deflection sub-zone. Thus, for a second deflection angle, when the incident light beam of the first deflection angle has been scanned from the first deflection sub-zone to the Dth deflection sub-zone, the part of the liquid crystal molecules corresponding to the first deflection sub-zone has completed the state change required for the next second deflection angle, and the incident light beam can immediately seamlessly start scanning the next second deflection angle from the first deflection sub-zone.

[0193] For example, in order to meet the 10HZ scanning frame rate, one scanning needs to be completed within 100ms for all 16 second deflection angles in FIG. 5a and FIG. 5b, the scanning time of each second deflection angle is 100 / 16=6.25ms, the light deflection unit is divided into 10 deflection sub-zones, and the scanning time of each deflection sub-zone is 6.25 / 10=0.625ms. As described above, the liquid crystal state of the deflection sub-zone cannot be changed during the scanning of the current deflection sub-zone and the next deflection sub-zone, so for a deflection sub-zone, the time for adjusting the deflection angle is 6.25-2*0.625=5ms, which is equal to the adjustment time of the liquid crystal state during switching of the next deflection angle. Therefore, 5ms can meet the seamless switching requirement of the deflection angle.

[0194] In the above description, the light beams are sequentially incident on each deflection sub-zone from top to bottom in one deflection period, and the light beams are still sequentially incident on each deflection sub-zone from top to bottom in the next deflection period. In actual application, the incident order can be randomly adjusted, for example, the light beams can not be sequentially incident from top to bottom. In addition, the second deflection angle of each light beam can be the same or different in one deflection period, as long as the entire field of view can be covered.

[0195] In the above light deflection device 200, the light deflection unit 210 is divided into D deflection sub-zones in the first direction, and the size of the light deflection unit 210 in the first direction is greater than D*d_v, where d_v is the size of the light beam in the first direction at this time. Correspondingly, the size of the light deflection unit 210 in the second direction needs to meet the size of the light beam in the second direction at this time.

[0196] The light deflection module in the above light deflection device 200 may, for example but not limited to, adopt LCPG, and in addition, other suitable devices capable of realizing coarse deflection of light beams can also be adopted. As long as the light deflection module is divided into multiple deflection sub-zones and the deflection angle of each deflection sub-zone can be adjusted individually, it is consistent with the inventive concept of the present application. The light deflection module is usually relatively thin, so when the incident light beam is incident on the light deflection device, the light beam path will not be affected by the thickness of the light deflection device, and the light beam path can be approximately straight.

[0197] In some optional embodiments, the light deflection device 200 further comprises a temperature regulator 240 configured to adjust the time for the deflection angle adjustment of the deflection sub-zones by changing the temperature of the light deflection module 250. In order to ensure that the liquid crystal molecules in the liquid crystal polarization grating sheet in the light deflection module can work normally, the temperature of the light deflection module 250 needs to be controlled to be within a certain temperature range. The temperature of the light deflection module 250 can be controlled within a preset temperature range by the temperature regulator. In addition, the speed of adjusting the state of the liquid crystal molecules is different at different temperatures, so that the time for adjusting the deflection angle of each deflection sub-zone is also different. Therefore, the time for adjusting the deflection angle of the deflection sub-zone can be changed by changing the temperature of the light deflection module 250.

[0198] The light deflection module 250 with the sub-zone structure described above can, in the process of the change of the incident position caused by the change of the first deflection angle of the incident light beam, synchronize the refreshing of the liquid crystal molecule arrangement of the scanned deflection sub-zone to the state required for the next second deflection angle by applying the change of the voltage, so that the switching of the light beam deflection angle can be seamlessly connected without waiting. For the existing LCPG module, since the uniform voltage is applied to the ITO electrode on the liquid crystal half-wave sheet, when the LCPG module needs to switch the deflection angle of the light beam, the voltage applied to the ITO electrode of the liquid crystal half-wave sheet needs to be changed correspondingly. This process needs to wait for the transition of the liquid crystal molecule arrangement, which takes a long time, so the existing LCPG module can only wait during the above-mentioned switching of the deflection angle and cannot scan and detect.

[0199] In some optional embodiments, the incident light beam can be a strip-shaped light beam, and the light deflection device 200 is configured to: in the case that the incident light beam is a strip-shaped light beam, deflect the incident light beams with different first deflection angles to the same second deflection angle, so as to complete the scanning of a corresponding scanning sub-zone in the field of view range; and deflect each of the light beams with different first deflection angles to different second deflection angles, so as to complete the scanning of a plurality of scanning sub-zones corresponding to different second deflection angles. The scanning sub-zone is a rectangle, and the length of the light beam after being deflected to the second deflection angle is equal to the length of one direction of the scanning sub-zone.

[0200] It can be understood that in some embodiments, when the scanning of the entire field of view area is completed, the scanning of one scanning area can be completed first, and then the scanning of the next scanning area is performed, and so on, and all the scanning areas are scanned. That is, the incident light beams of multiple different first deflection angles can be deflected to the same second deflection angle in one deflection period, and the scanning of a corresponding scanning partition in the field of view range is completed; the second deflection angles of the incident light beams of the multiple different first deflection angles are different in different deflection periods, so that the scanning of a corresponding scanning partition is concentratedly completed in one deflection period; after the scanning of one scanning partition is completed, the next scanning partition is scanned in the next deflection period; and thus the scanning of multiple different scanning partitions is correspondingly completed through multiple deflection periods.

[0201] Referring to FIG. 5a, the entire field of view angle can be divided into multiple scanning partitions, and 16 scanning partitions are taken as an example in FIG. 5a, corresponding to 16 grids in the figure. The light deflection device 200 can deflect the received strip-shaped incident light to different second deflection angles, and the strip-shaped light deflected to different second deflection angles can irradiate different scanning partitions. One second deflection angle corresponds to one scanning partition, and the incident light beams of multiple first deflection angles can fully cover one scanning partition after being deflected to the second deflection angle, and 16 second deflection angles can correspond to 16 scanning partitions. Referring to FIG. 5a, 2 second deflection angles are deflected in the first direction, and 8 second deflection angles are deflected in the second direction, so that the scanning of the 16 scanning partitions shown in FIG. 5a can be realized. Each scanning partition corresponds to one second deflection angle, that is, the multiple first deflection angles can cover one scanning partition after being deflected to the same second deflection angle by the light deflection device 200. Among them, the scanning partition is a rectangle, and the length of the strip-shaped light deflected to the second deflection angle is equal to the length of one direction of the scanning partition. In actual scanning, in the first deflection period, the light beams of multiple first deflection angles can be deflected to the first second deflection angle, and the scanning of the scanning partition corresponding to the first square in the first row is completed; in the second deflection period, the light beams of multiple first deflection angles can be deflected to the second second deflection angle, and the scanning of the scanning partition corresponding to the second square in the first row is completed; and so on. In the fourth deflection period, the light beams of multiple first deflection angles are deflected to the fourth second deflection angle, and the scanning of the scanning partition corresponding to the fourth square in the first row is completed as shown in FIG. 5a. Thus, through 16 deflection periods, the scanning of all scanning partitions corresponding to 16 squares is completed.

[0202] In some other embodiments, the light deflection device 200 deflects the incident light beams with different first deflection angles to one of different second deflection angles respectively in one deflection period, and scans the partial areas in the corresponding scanning sub-zones respectively; wherein the second deflection angles of the incident light beams with different first deflection angles are the same or different in one deflection period; and the second deflection angles of the incident light beams with each first deflection angle are different in different deflection periods. In one deflection period, each of the incident light beams with different first deflection angles is randomly deflected to one of the different second deflection angles, so that the second deflection angles of all the incident light beams with different first deflection angles are the same, partially the same, partially different, or completely different from each other in one deflection period. Optionally, the second deflection angles of at least two of the incident light beams with different first deflection angles are different in one deflection period, so that the second deflection angles of all the incident light beams with different first deflection angles are partially the same, partially different, or completely different from each other in one deflection period.

[0203] For example, in one deflection period, the deflected light beams with different first deflection angles can be deflected to more than two different second deflection angles respectively; in this case, in one deflection period, the scanning is not concentrated on one corresponding scanning sub-zone, but jumps to scan the corresponding scanning sub-zones at different positions along the first deflection angle in more than two different scanning sub-zones. Through multiple deflection periods, the scanning of all the scanning sub-zones can also be completed. For example, due to the fact that in this embodiment, in one deflection period, the light beams deflected by the second deflection angles correspond to scanning sub-zones corresponding to different second deflection angles, and the scanned positions are far apart from each other, the mutual crosstalk between adjacent two scans can be reduced.

[0204] Referring to FIG. 5b, the entire field of view can be divided into a plurality of scanning partitions, and the number of scanning partitions is 16, corresponding to 16 grids in the figure. In a deflection period, the light deflection device 200 can deflect the light beams of a plurality of first deflection angles to different second deflection angles, so as to alternately scan different scanning partitions. For example, in the first deflection period, the light deflection device 200 deflects the light beam of the first first deflection angle to the first second deflection angle to scan a small strip-shaped area in the first grid in the first row; deflects the light beam of the second first deflection angle to the second second deflection angle to scan a small strip-shaped area in the second grid in the first row; and so on. In the second deflection period, the light deflection device 200 deflects the light beam of the first first deflection angle to the first second deflection angle to scan a small strip-shaped area in the second grid in the first row; deflects the light beam of the second first deflection angle to the second second deflection angle to scan a small strip-shaped area in the third grid in the first row; and so on. In this way, the scanning areas corresponding to each grid are cross-scanned, and through a plurality of deflection periods, the scanning of all scanning partitions corresponding to all grids is completed. By using this arrangement, the two scanning areas corresponding to the scanning in the field of view in the adjacent two deflection periods are far apart, the photosensitive pixels of the receiving module for sensing the two corresponding scanning areas in the adjacent two scanning periods are also far apart, and the cross talk between the photosensitive pixels working in succession can be reduced.

[0205] Compared with the case of using a circular or nearly circular light spot for scanning, using a long strip light beam to scan the field of view range and making the upper-level light deflection device (for example, the AOD) deflect the light beam in the width direction of the light beam can greatly reduce the number of angles deflected by the light deflection device 200 (for example, the LCPG) in the first direction and the second direction. For example, as shown in FIGS. 5a and 5b, 16 angles are deflected, 8 angles in the horizontal direction and two angles in the vertical direction. The number of angles deflected by the light deflection device 200 is related to the number of layers (i.e., the number of light deflection units in the light deflection device) contained in the light deflection device 200, and therefore, the number of layers of the light deflection device 200 can also be reduced. For example, when 16 angles are deflected, the light deflection device 200 can have four layers, and the light deflection device 200 can be thinner and smaller in size.

[0206] The scanning partition is rectangular, and the length of the bar-shaped light beam after being deflected by the second deflection angle is equal to the length of the scanning partition in one direction, for example, the length of the bar-shaped light beam after being deflected by the second deflection angle is equal to the length of the scanning partition in the second direction in FIGS. 5a and 5b. The long side of the bar-shaped light beam exiting from the previous light deflection device is perpendicular to the light deflection direction of the previous light deflection device, so that, compared with the block-shaped scanning light, the light beam after being deflected by the second deflection angle can cover a larger field of view angle at the same total power, and therefore, the light deflection device 200 can cover a larger overall field of view by deflecting at fewer different angles. This makes the number of layers (that is, the number of light deflection units 210) of the required light deflection device 200 smaller, the cost lower, and the response speed faster.

[0207] The light deflection device 200 described above can be used in a laser radar system using all-solid-state scanning, for example, but not limited to, to realize coverage scanning of the full field of view as a light deflection structure, thereby improving the detection distance and increasing the emission power per unit field of view angle. It can also be used in the fields of high-speed photography, optical engineering, space optical communication, nondestructive testing, optical sensing technology, optical multi-mode guidance technology, magneto-optical recording technology, magneto-optical imaging technology, laser display technology, precision optical instruments, etc. The light deflection device 200 can further deflect the light beam exiting from the previous deflection device, and the previous deflection device finely deflects the light beam. The previous deflection device can use, for example, but not limited to, an optical phased array (OPA), an acousto-optic deflection device (AOD), an electro-optic deflection device (EOD), etc. Since the deflection angle of these deflection devices is only about 2-3 degrees, the light deflection device 200 described above is needed to further expand the deflection angle or deflect in a different direction to realize coverage of the field of view area. The light deflection device 200 described above can use a liquid crystal light deflection device.

[0208] Embodiment Two

[0209] Embodiment Two of the present application provides a light scanning method, the flowchart of which is shown in FIG. 12, which is realized by a light deflection device 200. The light deflection device 200 includes a light deflection module 250 and a control unit 230. The light deflection module 250 includes a plurality of deflection partitions 212, and the deflection angle of each deflection partition 212 can be adjusted individually. The plurality of deflection partitions 212 are configured to receive part of the incident light beams with different first deflection angles. The method includes:

[0210] S101: Control the plurality of deflection partitions in the light deflection module to receive incident light beams with different first deflection angles; the deflection angle of each deflection partition to the incident light beam can be adjusted individually;

[0211] S102: Control the deflection partition currently being scanned to deflect the incident light beam by a required second deflection angle;

[0212] S103: controlling the at least one deflection subregion which is not currently scanned to adjust the deflection angle of the deflection subregion to the incident light beam, so that the deflection angle of the at least one deflection subregion to the incident light beam is adjusted to a second deflection angle required in the next deflection period after the end of the current deflection period of the at least one deflection subregion being scanned by the incident light beam and before the start of the next deflection period of the at least one deflection subregion being scanned by the incident light beam.

[0213] In this step, after determining that a deflection subregion 212 completes the deflection of the incident light beam in the current deflection period and is in the non-scanning state, the deflection subregion is controlled to adjust the deflection angle of the deflection subregion to the light beam, and the deflection angle of the deflection subregion to the light beam is adjusted to a second deflection angle required in the next deflection period before entering the scanning state. The adjustment process can include: determining the deflection subregion 212 currently in the scanning state and the deflection subregion 212 in the non-scanning state according to the incident position of the incident light beam on the light deflection module 250; for the deflection subregion 212 in the non-scanning state, if the incident order of the deflection subregion 212 is before the deflection subregion 212 in the scanning state, the deflection angle of the deflection subregion 212 to the light beam is adjusted, and the deflection angle of the deflection subregion 212 to the light beam is adjusted to a second deflection angle required in the next deflection period. Wherein, if a deflection subregion is the deflection subregion currently scanned by the incident light beam, it is determined that the deflection subregion is in the scanning state, otherwise it is determined that the deflection subregion is in the non-scanning state; or if a deflection subregion is the deflection subregion currently scanned or the next to be scanned by the incident light beam, it is determined that the deflection subregion is in the scanning state, otherwise it is determined that the deflection subregion is in the non-scanning state. Optionally, the deflection subregion 212 currently scanned by the incident light beam and the deflection subregion 212 next to be scanned can be determined as the deflection subregion in the scanning state, and the remaining deflection subregion 212 is determined as the deflection subregion in the non-scanning state; the deflection subregion currently scanned by the incident light beam and the deflection subregion next to be scanned are adjacent deflection subregions in position.

[0214] In the above method, controlling the plurality of deflection subregions in the light deflection module 250 to receive the incident light beams with a plurality of different first deflection angles includes: controlling the incident light beams with a plurality of different first deflection angles to be incident into the plurality of deflection subregions 212 in a time-sharing manner in a deflection period, and the plurality of deflection subregions 212 receiving the incident light beams with a plurality of different first deflection angles in a time-sharing manner; wherein one deflection subregion 212 is configured to deflect the incident light beam to correspond to one second deflection angle in a deflection period. The deflection period is the time required for the plurality of deflection subregions 212 to be scanned by the incident light beams with a plurality of different first deflection angles once. Or the deflection period is the time required for the specified part of the plurality of deflection subregions 212 to be scanned by the incident light beams with the specified part of the plurality of different first deflection angles once.

[0215] In the method, the incident angles of the incident light beams of the plurality of different first deflection angles change from large to small, or from small to large, or according to a preset random rule in a deflection period.

[0216] In the method, the plurality of deflection sub-zones are configured to have the same, different, or partially same and partially different second deflection angles of the incident light beams in a deflection period.

[0217] In the method, one deflection sub-zone 212 can sequentially receive incident light beams of one, two or more different first deflection angles in a deflection period.

[0218] In the method, the plurality of deflection sub-zones 212 are configured to have the same, different, or partially same and partially different second deflection angles of the incident light beams in a deflection period.

[0219] In the method, the number of incident light beams received by each deflection sub-zone 212 is the same, different, or partially same and partially different; correspondingly, the widths of the plurality of deflection sub-zones 212 are the same, different, or partially same and partially different.

[0220] In the method, the refractive index of the medium in the deflection sub-zone 212 to the incident light beam can be adjusted by controlling the voltage applied to the electrodes of the deflection sub-zone 212, so as to adjust the deflection angle of the deflection sub-zone 212 to the incident light beam. In the case of the liquid crystal polarization grating of the light deflection module 250, the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating is adjusted by controlling the voltage applied to the electrodes of the deflection sub-zone 212, so as to change the second deflection angle of the deflection sub-zone 212 to the incident light beam.

[0221] The light deflection module includes at least one light deflection unit 210, and the light deflection unit 210 includes a plurality of deflection sub-zones 2121. In the case that the deflection sub-zone 212 includes at least one deflection sub-zone 2121 corresponding in position to the light deflection unit 210, the voltage on the two electrodes of each deflection sub-zone 2121 is controlled respectively, and the deflection angle of at least one deflection sub-zone 2121 to the incident light beam is changed by changing the voltage on the two electrodes of at least one deflection sub-zone 2121, so as to change the second deflection angle of the corresponding deflection sub-zone 212 to the incident light beam.

[0222] Optionally, the light deflection module 250 comprises at least two light deflection unit groups 220, each of the light deflection unit groups 220 comprises at least one of the light deflection units 210; the second deflection angle required for deflecting the incident light beam currently scanned by the deflection subzone 212 comprises: the second deflection angle required for deflecting the incident light beam in a first direction by the deflection subzone 2121 currently incident on the light deflection unit 210 in the at least one light deflection unit group 220, and / or the second deflection angle required for deflecting the incident light beam in a second direction by the deflection subzone 2121 currently scanned by the light deflection unit 210 in the at least one light deflection unit group 220, wherein the first direction and the second direction are perpendicular.

[0223] The above method, the adjustment time of the second deflection angle of the deflection subzone 212 to the incident light beam is not greater than the time interval between two adjacent times of the deflection subzone 212 being scanned by the incident light beam. The number of the deflection subzones 212 is determined according to the number of the second deflection angles deflected by the light deflection module 250, the time required for the light deflection module 250 to deflect the light beams of multiple different first deflection angles to multiple different second deflection angles, and the adjustment time required for the light deflection module 250 to complete a deflection angle adjustment. Optionally, the number D of the deflection subzones 212 is an integer greater than or equal to 2 / (1-FMT), wherein M is the number of deflection angles of the light deflection device 200, F is the frame rate of the light deflection device 200 for deflecting a complete round of M deflection angles, and T is the time required for the light deflection device 200 to complete a deflection angle adjustment.

[0224] The above method further comprises: changing the temperature of the light deflection module 250 to adjust the time for the deflection subzone 212 to adjust the deflection angle.

[0225] The field of view range of the light scanning is divided into multiple scanning subzones, the scanning subzone is rectangular, and the incident light beam is a strip-shaped light beam; the above method further comprises: deflecting the incident light beams of multiple different first deflection angles to the same second deflection angle, which can complete the scanning of a corresponding scanning subzone of the field of view range; deflecting each of the light beams of the multiple different first deflection angles to multiple different second deflection angles, which can complete the scanning of multiple scanning subzones corresponding to the multiple different second deflection angles; and the length of the strip-shaped light beam after being deflected to the second deflection angle is equal to the length of one of the directions of the scanning subzone.

[0226] In one deflection period, the incident light beams of multiple different first deflection angles are deflected to one second deflection angle to complete scanning of a corresponding scanning subarea in the field of view range; the second deflection angles of the incident light beams of the multiple different first deflection angles deflected by different deflection periods are different; or in one deflection period, the incident light beams of multiple different first deflection angles are respectively deflected to one of multiple different second deflection angles to respectively scan part of the corresponding scanning subarea; in one deflection period, the second deflection angles of the incident light beams of the multiple different first deflection angles deflected are the same or different; and the second deflection angles of the incident light beams of each first deflection angle deflected in different deflection periods are different.

[0227] The above method of the embodiment of the present application has been described in the related description of the light deflection device, and will not be described again in the method part.

[0228] Embodiment three

[0229] The embodiment three of the present application provides a light emitting module, and the structure is shown in FIG. 13, which comprises a light source module 600 and a light deflection device 200; the light deflection device can be the light deflection device provided in the embodiment one.

[0230] The light source module 600 is configured to emit incident light beams of different first deflection angles to the corresponding deflection subarea of the light deflection module 250 under the control of the control unit 230;

[0231] The light deflection device 200 is configured to receive the incident light beams emitted by the light source module 600 and deflect the received incident light beams.

[0232] The light source module 600 can be an integrated light source which can emit light and deflect the light beams to different first deflection angles, or the light source module 600 can comprise two separate devices, for example, a light source 300 and a deflection assembly 610.

[0233] The light source 300 is configured to emit light beams continuously or at a set frequency under the control of the control unit; the length of the light beams emitted by the light source 300 along a first direction is less than the length along a second direction, and the first direction is the deflection direction of the deflection assembly for deflecting the incident light beams, and the second direction is perpendicular to the first direction.

[0234] The deflection assembly 610 is configured to deflect the light beams emitted by the light source 300 under the control of the control unit 230 to deflect the incident light beams of multiple different first deflection angles at different times. The deflection assembly 610 can be an upper-level deflection device of the light deflection device 200, for example, but not limited to, an acousto-optic deflection device (AOD).

[0235] The third embodiment of the present application provides a laser radar system, which is shown in FIG. 14, comprising the receiving module 2 and the transmitting module 1 described above, the receiving module 2 is configured to sense the light signal from the field of view range and obtain the three-dimensional information of the field of view range through processing and analyzing the sensed light signal.

[0236] The third embodiment of the present application provides an electronic device comprising the laser radar system described above.

[0237] The transmitting module, the laser radar system and the electronic device of the embodiments of the present application have been described in the related description of the light deflection device, and the method part will not be repeated.

[0238] In the above description of the embodiments of the present application, the pluralities are understood to include two or more.

[0239] Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, and the like, can refer to an action and / or process of one or more processing or computing systems, or similar devices, that manipulate and / or transform data represented as physical (e.g., electronic) quantities within the processing system's registers and / or memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0240] It should be understood that a specific order or hierarchy of steps in the processes disclosed is an example that can be modified as appropriate. In some embodiments, the specific order or hierarchy of steps in the processes can be re-arranged while remaining within the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not necessarily limited to the specific order or hierarchy presented.

[0241] In the above detailed description, various features are grouped together in single embodiments for the purpose of streamlining the disclosure. Such disclosed embodiments are not to be interpreted as reflecting an intention that the embodiments of the claimed subject matter require greater features than the replacement of the corresponding previously disclosed feature. Rather, additional optional features can be incorporated apart from the single exemplary embodiment described. Thus, the following claims are hereby expressly incorporated into this detailed description, with each claim acting as a separate embodiment of the application.

[0242] Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0243] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0244] For a software implementation, the techniques described herein can be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes can be stored in memory units and executed by processors. The memory unit can be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is well known in the art.

[0245] The above description includes one or more examples of the embodiments. Of course, not all possible combinations of components or method steps described above can be claimed as embodiments. One of ordinary skill in the art can recognize that modifications and variations of the described embodiments are possible and are within the scope of the present disclosure. It is therefore intended that the embodiments described herein be considered in all respects as only illustrative and not restrictive. Specifically, the description of the embodiments should be considered to be illustrative and not exhaustive, and should be considered in the light of the claims. Further, the use of the term "comprise" in the specification is to be construed in the same way as the term "comprise" as defined in the claims. In addition, the use of any term "or" in the specification is to be construed as "non-exclusive or".

Claims

1. An optical deflection device, characterized in that, include: The control unit and the optical deflection module, wherein the optical deflection module includes multiple deflection zones, and the deflection angle of each deflection zone can be adjusted individually for the incident beam; The plurality of deflection partitions are configured to receive incident beams at a plurality of different first deflection angles, and the currently scanned deflection partition is used to deflect the incident beam at a second deflection angle required. The control unit is configured to control at least one currently unscanned deflection zone to adjust its deflection angle to the incident beam, such that the deflection angle of at least one deflection zone to the incident beam is adjusted to the second deflection angle required for the next deflection cycle after the current deflection cycle has been scanned by the incident beam and before the next deflection cycle has begun to be scanned by the incident beam.

2. The optical deflection device as described in claim 1, characterized in that, Within one deflection period, the incident beams with multiple different first deflection angles are incident into the multiple deflection zones in a time-division manner, and the multiple deflection zones receive the incident beams and deflect the incident beams in a time-division manner. The deflection period is the time required for the plurality of deflection partitions to be scanned once by incident beams at the plurality of different first deflection angles, or the deflection period is the time required for a specified portion of the plurality of deflection partitions to be scanned once by incident beams at the specified portion of the plurality of different first deflection angles.

3. The optical deflection device as described in claim 1, characterized in that, Within one deflection period, the incident beams with multiple different first deflection angles are sequentially incident onto the corresponding deflection partitions in a preset order; a deflection partition is configured to deflect the incident beams to a corresponding second deflection angle within one deflection period.

4. The optical deflection device as described in claim 1, characterized in that, Within one deflection period, the incident angles of the multiple incident beams with different first deflection angles vary from large to small, or from small to large, or vary according to a preset random rule. The plurality of deflection zones are configured such that the plurality of second deflection angles deflecting the incident beam within one deflection cycle are all the same, all different, or partially the same and partially different. A deflection zone can be configured to sequentially receive one, two, or more incident beams with different first deflection angles within a deflection period.

5. The optical deflection device as described in claim 1, characterized in that, The arrangement direction of the plurality of deflection partitions is consistent with the scanning direction of the plurality of incident beams with different first deflection angles.

6. The optical deflection device as described in claim 5, characterized in that, When the incident beam is a strip beam with an aspect ratio greater than a set threshold, within one deflection cycle, the incident beams with multiple different first deflection angles perform a one-dimensional scan along the width direction of the beam, and the multiple deflection partitions included in the optical deflection module are arranged along the width direction of the beam. When the incident beam is a non-strip beam with an aspect ratio within a set threshold range, within one deflection cycle, the incident beams with multiple different first deflection angles perform a two-dimensional scan along a first direction and a second direction that are perpendicular to each other, and the multiple deflection partitions included in the optical deflection module are arranged in a two-dimensional array along the first direction and the second direction.

7. The optical deflection device as described in claim 1, characterized in that, The plurality of deflection partitions are configured such that the number of incident beams received by each deflection partition is the same, different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection partitions are the same, different, or partially the same and partially different.

8. The optical deflection device as described in claim 7, characterized in that, The incident surface of the deflection partition is a rectangle with an aspect ratio greater than a set threshold. The width direction of the deflection partition is consistent with the scanning direction of multiple incident beams with different first deflection angles. The width of each deflection partition is determined according to the number of incident beams received and the width of the incident beams.

9. The optical deflection device as described in claim 2, characterized in that, The control unit is specifically used for: Once a deflection zone has completed the deflection of the incident beam in the current deflection cycle and is in a non-scanning state, the deflection zone is controlled to adjust its deflection angle to the beam. Before entering the scanning state in the next deflection cycle, its deflection angle to the beam is adjusted to the second deflection angle required for the next deflection cycle.

10. The optical deflection device as described in claim 9, characterized in that, If a deflection zone is the deflection zone currently being scanned by the incident beam, then the deflection zone is determined to be in a scanning state; otherwise, the deflection zone is determined to be in a non-scanning state. If a deflection zone is the deflection zone that the incident beam is currently scanning or the next deflection zone to be scanned, then the deflection zone is determined to be in a scanning state; otherwise, the deflection zone is determined to be in a non-scanning state.

11. The optical deflection device as described in claim 9, characterized in that, The deflection partition currently being scanned by the incident beam and the next deflection partition to be scanned are defined as deflection partitions in the scanning state, and the remaining deflection partitions are defined as deflection partitions in the non-scanning state; the deflection partition currently being scanned by the incident beam and the next deflection partition to be scanned are deflection partitions that are adjacent in position.

12. The optical deflection device as described in claim 1, characterized in that, The control unit is used to control the voltage applied to the electrodes of each deflection zone to adjust the refractive index of the medium in the deflection zone to the incident beam, so as to adjust the deflection angle of the deflection zone to the incident beam. The adjustment time for the second deflection angle of the incident beam by the deflection partition adjustment is no greater than the time interval between two adjacent deflection cycles of the deflection partition being scanned by the incident beam.

13. The optical deflection device as described in claim 1, characterized in that, The optical deflection module employs a liquid crystal polarization grating, and the control unit is used to control the voltage applied to the electrodes of each deflection zone to adjust the arrangement direction of liquid crystal molecules in the liquid crystal polarization grating, thereby changing the second deflection angle of the deflection zone to the incident beam.

14. The optical deflection device as described in claim 1, characterized in that, The optical deflection module includes at least one optical deflection unit, and the optical deflection unit includes multiple deflector partitions; the deflection partition includes the deflector partitions in the at least one optical deflection unit that correspond to the position; the deflector partitions in at least one optical deflection unit included in a deflection partition can form a deflection optical path.

15. The optical deflection device as described in claim 14, characterized in that, When the optical deflection module includes one optical deflection unit, the deflection partition is one deflector rotor partition on this optical deflection unit; when the optical deflection module includes two optical deflection units, the deflection partition includes two deflector rotor partitions corresponding to the positions on these two optical deflection units; when the optical deflection module includes multiple optical deflection units, the deflection partition includes multiple deflector rotor partitions corresponding to the positions on these multiple optical deflection units.

16. The optical deflection device as described in claim 14, characterized in that, The control unit is specifically used to: control the voltage on the two electrodes of each deflector section respectively, and change the deflection angle of at least one deflector section to the incident beam by changing the voltage on the two electrodes of at least one deflector section, so as to change the second deflection angle of the incident beam of the corresponding deflection section.

17. The optical deflection device as described in claim 14, characterized in that, The optical deflection module includes at least one optical deflection unit that deflects the incident beam in the same direction; or The optical deflection module includes at least two optical deflection unit groups, each optical deflection unit group including at least one optical deflection unit, wherein at least one optical deflection unit group is configured to deflect the light beam in a first direction, and at least one optical deflection unit group is configured to deflect the light beam in a second direction, the first direction and the second direction being perpendicular.

18. The optical deflection device as described in claim 14, characterized in that, The optical deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarizing grating; the liquid crystal half-wave plate includes electrodes disposed opposite to each other on both sides and a half-wave plate liquid crystal layer disposed between the two electrodes. One side electrode of the liquid crystal half-wave plate includes multiple first electrode blocks, and the other side electrode is a first whole electrode. Each deflector partition corresponds to at least one first electrode block. Each deflector partition includes a portion on the liquid crystal half-wave plate corresponding to the position of the at least one first electrode block and a portion on the liquid crystal polarizing grating corresponding to the position of the at least one first electrode block; or The electrodes on both sides of the liquid crystal half-wave plate include multiple first electrode blocks, and two opposing first electrode blocks form a first electrode pair. Each deflector partition corresponds to at least one first electrode pair. Each deflector partition includes a portion on the liquid crystal half-wave plate corresponding to the position of the at least one first electrode pair and a portion on the liquid crystal polarizing grating corresponding to the position of the at least one first electrode pair. Specifically, the deflection angle of the beam by the corresponding deflector section is adjusted by changing the voltage applied to the electrode corresponding to the deflector section in the liquid crystal half-wave plate.

19. The optical deflection device as described in claim 14, characterized in that, The optical deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarizing grating; the liquid crystal half-wave plate includes electrodes disposed opposite to each other on both sides and a half-wave plate liquid crystal layer disposed between the electrodes on both sides; the liquid crystal polarizing grating includes electrodes disposed opposite to each other on both sides and a grating liquid crystal layer disposed between the electrodes on both sides. One side electrode of the liquid crystal half-wave plate includes multiple first electrode blocks, and the other side electrode is a first monolithic electrode; one side electrode of the liquid crystal polarizing grating includes multiple second electrode blocks, and the other side electrode is a second monolithic electrode; at least one second electrode block on the liquid crystal polarizing grating and at least one corresponding first electrode block on the liquid crystal half-wave plate form a block group; or The electrodes on both sides of the liquid crystal half-wave plate each include multiple first electrode blocks, and two opposing first electrode blocks form a first electrode pair; the electrodes on both sides of the liquid crystal polarizing grating each include multiple second electrode blocks, and two opposing second electrode blocks form a second electrode pair; at least one second electrode pair on the liquid crystal polarizing grating and at least one corresponding first electrode pair on the liquid crystal half-wave plate form a block group; or One side electrode of the liquid crystal polarizing grating includes multiple second electrode blocks, and the other side electrode is a second monolithic electrode; both sides of the liquid crystal half-wave plate include multiple first electrode blocks, and two opposing first electrode blocks form a first electrode pair; at least one second electrode block on the liquid crystal polarizing grating and at least one corresponding first electrode pair on the liquid crystal half-wave plate form a block group; or Both sides of the liquid crystal polarizing grating include multiple second electrode blocks, and two opposing second electrode blocks form a second electrode pair. One side of the liquid crystal half-wave plate includes multiple first electrode blocks, and the other side electrode is a first whole electrode. At least one second electrode pair on the liquid crystal polarizing grating and at least one first electrode block corresponding to the position on the liquid crystal half-wave plate form a block group. Each deflector partition corresponds to at least one block group; each deflector partition includes a portion on the liquid crystal half-wave plate corresponding to the position of the block group, and a portion on the liquid crystal polarizing grating plate corresponding to the position of the block group; Specifically, the deflection angle of the beam by the corresponding deflector partition is adjusted by changing the voltage applied to the electrode corresponding to the deflector partition in the liquid crystal half-wave plate and the voltage applied to the electrode corresponding to the deflector partition in the liquid crystal polarizing grating.

20. The optical deflection device as described in claim 18, characterized in that, All the liquid crystal polarization gratings in the optical deflection module are passive liquid crystal polarization gratings, or all the liquid crystal polarization gratings in the optical deflection module are active liquid crystal polarization gratings, or some of the liquid crystal polarization gratings in the optical deflection module are passive liquid crystal polarization gratings and some of the liquid crystal polarization gratings in the optical deflection module are active liquid crystal polarization gratings; the liquid crystal material of the liquid crystal layer is nematic liquid crystal or blue phase liquid crystal.

21. The optical deflection device as described in claim 19, characterized in that, The liquid crystal half-wave plate also includes a first substrate and a second substrate disposed opposite to each other, and electrodes on both sides are respectively disposed on the inner surfaces of the first substrate and the second substrate facing each other, wherein the inner surfaces are planar. The liquid crystal polarizing grating also includes a third substrate and a fourth substrate arranged opposite to each other, with electrodes on both sides respectively disposed on the inner surfaces of the third substrate and the fourth substrate facing each other, and the inner surfaces being planar.

22. The optical deflection device as described in claim 18, characterized in that, It also includes a quarter-wave plate placed in front of the first liquid crystal half-wave plate to change the polarization state of the incident beam.

23. The optical deflection device as described in claim 1, characterized in that, The number of deflection zones is determined based on the number of second deflection angles deflected by the optical deflection module, the time required for the optical deflection module to deflect multiple beams with multiple different first deflection angles to multiple different second deflection angles, and the adjustment time required for the optical deflection module to complete one deflection angle adjustment.

24. The optical deflection device as described in claim 23, characterized in that, The number of deflection partitions D is an integer greater than or equal to 2 / (1-FMT), where M is the number of deflection angles of the optical deflection device, F is the frame rate at which the optical deflection device completes one round of deflection of M deflection angles, and T is the time required for the optical deflection device to complete one deflection angle adjustment.

25. The optical deflection device as described in claim 1, characterized in that, The control unit is specifically used to execute the following control processes in parallel: controlling the currently scanned deflection partition in the optical deflection device to deflect the incident beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle to the beam.

26. The optical deflection device as described in claim 1, characterized in that, Also includes: A temperature regulator is configured to adjust the time for the deflection zone to adjust the deflection angle by changing the temperature of the optical deflection module.

27. The optical deflection device according to any one of claims 1-26, characterized in that, The optical deflection module is configured as follows: In the case where the incident beam is a strip beam: By deflecting multiple incident beams with different first deflection angles to the same second deflection angle, scanning of one corresponding scanning zone of the field of view can be completed; by deflecting each beam with a different first deflection angle to multiple different second deflection angles, scanning of multiple scanning zones corresponding to different second deflection angles can be completed. The scanning partition is rectangular, and the length of the beam after being deflected by the second deflection angle is equal to the length of one direction of the scanning partition.

28. The optical deflection device as described in claim 27, characterized in that, The optical deflection module is configured as follows: Within one deflection cycle, multiple incident beams with different first deflection angles are deflected to the same second deflection angle to complete the scanning of a corresponding scanning zone of the field of view; the second deflection angle deflected by the multiple incident beams with different first deflection angles is different in different deflection cycles. or Within one deflection cycle, incident beams with multiple different first deflection angles are deflected to one of multiple different second deflection angles, and scan a portion of the corresponding scanning partition. Within one deflection cycle, the second deflection angles of the incident beams with multiple different first deflection angles may be the same or different. The second deflection angles of the incident beams with each first deflection angle are different in different deflection cycles.

29. The optical deflection device according to any one of claims 1-28, characterized in that, The optical deflection device is used in the transmitting module of a lidar system; or the optical deflection device is an optical deflection device in the transmitting module of a lidar system.

30. A transmitting module, characterized in that, include: The light source module and the light deflection device as described in any one of claims 1-29; The light source module is used to emit incident light beams with different first deflection angles in a time-division manner under the control of the control unit, so as to be incident on the corresponding deflection zone of the light deflection module; An optical deflector is used to receive the incident light beam emitted by the light source module in a time-division manner and deflect the received incident light beam.

31. [Amended according to Rule 26, 25.03.2025] The transmitting module as described in claim 30, characterized in that, The light source module includes a light source and a deflection component; The light source is used to emit a light beam continuously or at a set frequency under the control of the control unit; The deflection component is used to deflect the light beam emitted by the light source under the control of the control unit, and to deflect multiple incident light beams with different first deflection angles in a time-division manner.

32. [Amended according to Rule 26, 25.03.2025] The transmitting module as described in claim 30 or 31, characterized in that, The light beam emitted by the light source has a length along the first direction that is shorter than its length along the second direction. The first direction is the deflection direction of the incident light beam by the deflection component, and the second direction is perpendicular to the first direction.

33. A lidar system, characterized in that, include: The receiving module and the transmitting module as described in any one of claims 30-32, wherein the receiving module is configured to sense light signals from the field of view and obtain three-dimensional information of the field of view by processing and analyzing the sensed light signals.

34. An electronic device, characterized in that, Including the lidar system as described in claim 33.

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