CN109283540B - System and optical path structure suitable for outputting patterned light beam - Google Patents
System and optical path structure suitable for outputting patterned light beam Download PDFInfo
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- CN109283540B CN109283540B CN201811161488.0A CN201811161488A CN109283540B CN 109283540 B CN109283540 B CN 109283540B CN 201811161488 A CN201811161488 A CN 201811161488A CN 109283540 B CN109283540 B CN 109283540B
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- 230000003287 optical effect Effects 0.000 title claims abstract description 23
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 9
- 229910052710 silicon Inorganic materials 0.000 claims description 9
- 239000010703 silicon Substances 0.000 claims description 9
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 6
- 230000004075 alteration Effects 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 6
- 230000002441 reversible effect Effects 0.000 claims description 6
- 239000004065 semiconductor Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 3
- 239000001569 carbon dioxide Substances 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009792 diffusion process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000010287 polarization Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000003384 imaging method Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/04—Display arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Mechanical Optical Scanning Systems (AREA)
Abstract
The invention provides a system and an optical path structure suitable for outputting patterned light beams, wherein an emission system (1) comprises a convex reflecting mirror (4) and a light source (5), and the convex reflecting mirror (4) is a revolution body or a free-form surface reflecting mirror; the light beam emitted by the light source (5) is output through the convex reflecting mirror (4), wherein the surface light is emitted to the surrounding scene (9) through the reflection of the convex reflecting mirror (4). The invention adopts the convex reflector for expanding the scanning range of the laser radar, can expand the scanning range of a small angle, effectively simplifies the laser radar light path structure for obtaining a large scanning range, can solve the problems of large volume and high cost, lightens the burden of a controller and is easy to realize mass production.
Description
Technical Field
The present invention relates to the field of lidar, and in particular to a system and optical path structure suitable for outputting patterned beams. In particular, a laser radar system which adopts an optical structure to expand the scanning range.
Background
The laser radar is active remote sensing equipment with a laser as an emission light source and adopting photoelectric detection technology means. Lidar is an advanced detection method combining laser technology with modern photoelectric detection technology. The system consists of a transmitting system, a receiving system, information processing and the like.
The existing laser radar adopts a plurality of groups of lasers, a rotary mechanical structure or a complex optical structure device to expand the scanning range. The control system is required to control the precision, the difficulty is high, the occupied volume is large, and the cost is high. Few solid-state lidars are currently not mass-produced.
In addition, a light distribution structure is often adopted in the field of LEDs, and the light distribution structure can change the light propagation path, so that the light distribution is more uniform or the light distribution is wider. However, the light distribution structure in the LED field is mainly for improving the light utilization rate, uniformity and distribution range, but the light distribution structure optically belongs to non-imaging optics, i.e. the image quality is not considered. For the radar, if an LED light distribution structure is used, a linear scanning beam cannot be emitted, but a spot is formed, a large amount of precision is lost, and energy is dispersed, so that the measurement distance is shortened.
In the prior art, although convex reflectors are available, most of the convex reflectors are applied to reflectors on roads and automobile industries, and the field of view can be enlarged through the convex reflectors so that a driver can see more information, but larger aberration such as distortion exists. Convex reflectors are not currently used in the radar industry.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a system and optical path structure suitable for outputting a patterned beam.
The system suitable for outputting the patterned light beam comprises a transmitting system, a control system and a receiving system; the control system is respectively connected with the transmitting system and the receiving system through circuits;
The emission system comprises a convex reflecting mirror and a light source, wherein the convex reflecting mirror is a revolution body or a free-form surface reflecting mirror; and outputting the light beams emitted by the light source through the convex reflecting mirror, wherein the light beams are reflected by the convex reflecting mirror to at least one of a surrounding scene emitting surface, a line and a point light beam.
Preferably, the revolution body is a spherical mirror, an aspherical mirror or a conical mirror.
Preferably, the surface shape of the aspherical mirror of the revolution body satisfies: the angle change of the scanning beam before reflection is proportional to the angle change after reflection.
Preferably, the surface of the aspherical mirror of the revolution body satisfies the input/output light beam:
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
alpha max、αmin is the maximum value and the minimum value of alpha respectively;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
and theta is an included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector, wherein theta max≥θ≥θmin is more than or equal to 0.
Preferably, θ max-θmin is divided into a plurality of angles dθ, and the formula of the nth point on the curve of the surface type of the aspherical mirror of the revolution body satisfies:
y n-1 denotes the y coordinate at θ= (n-1) dθ, i.e., the y coordinate of the (n-1) th point;
y n denotes the y coordinate of θ=ndθ, i.e., the y coordinate of the nth point;
x n-1 represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the (n-1) -th point;
x n represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the nth point;
θ represents the included angle between the scanning beam before reflection and the rotation center line of the convex reflector;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
l is the distance from the focal point of the reverse extension line of the angle of view of the scanning beam to the vertex of the aspheric surface before reflection;
and the curve rotates around the y axis for one circle to obtain the surface type of the aspheric mirror.
Preferably, the light source includes: any one or more of a semiconductor laser, a fiber laser, a solid state laser, a vertical cavity surface laser, and a carbon dioxide laser.
Preferably, the light source comprises an optical system that expands the beam and/or collimates the light emitted by the light source to correct aberrations.
Preferably, the transmitting system includes: a scanning beam generation module;
The scanning beam generation module includes: any one or more of a spatial light modulator, a galvanometer, a silicon optical device, a movable wave mirror and a movable grating;
the light beam of the light source is output through the scanning light beam generating module.
Preferably, the spatial light modulator is a digital micromirror element, a transmissive liquid crystal on silicon, or a reflective liquid crystal on silicon.
Preferably, the range of the surface slope f' (x) less than or equal to the cot (theta max) of the convex reflecting mirror is an effective range, theta max is the half angle of the maximum scanning range of the scanning light beam generated by modulating the scanning light beam generating module, and x is the vertical distance from any point on the convex reflecting mirror to the rotation center line of the convex reflecting mirror.
Preferably, the form of the dynamic scanning beam generated by the scanning beam generating module is any one or more of the following forms:
-one or more concentric circles shrink;
-one or more concentric circles flare;
-one or more straight lines rotate around a central point;
-one or more rays are rotated about a central point;
-one or more line segments are rotated about a central point;
-one or more parallel straight lines translate in a set direction;
-one or more parallel rays are translated in a set direction;
-one or more parallel line segments are translated in a set direction.
Preferably, the light emitted by the light source passes through the scanning beam generating module, the dynamic scanning beam is generated and projected onto the convex reflector, the dynamic scanning beam is reflected by the convex reflector to emit the dynamic scanning beam to the surrounding scene, and the feedback signal in the scene returns to the receiving system.
Preferably, the control system is used for controlling and synchronizing the light source and the scanning beam generation module in the emission system.
Preferably, the receiving system comprises a light sensor for receiving the scene feedback signal.
According to the invention, the optical path structure suitable for outputting the patterned light beam comprises a convex reflecting mirror;
The convex reflecting mirror is a revolution body or a free-form surface reflecting mirror; the light beam emitted by the light source is output through the convex reflecting mirror, wherein the surface light is emitted to the surrounding scene through the reflection of the convex reflecting mirror.
Preferably, the revolution body is a spherical mirror, an aspherical mirror or a conical mirror.
Preferably, the surface shape of the aspherical mirror of the revolution body satisfies: the angle change of the scanning beam before reflection is proportional to the angle change after reflection.
Preferably, the surface of the aspherical mirror of the revolution body satisfies the input/output light beam:
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
alpha max、αmin is the maximum value and the minimum value of alpha respectively;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
and theta is an included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector, wherein theta max≥θ≥θmin is more than or equal to 0.
Preferably, θ max-θmin is divided into a plurality of angles dθ, and the formula of the nth point on the curve of the surface type of the aspherical mirror of the revolution body satisfies:
y n-1 denotes the y coordinate at θ= (n-1) dθ, i.e., the y coordinate of the (n-1) th point;
y n denotes the y coordinate of θ=ndθ, i.e., the y coordinate of the nth point;
x n-1 represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the (n-1) -th point;
x n represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the nth point;
θ represents the included angle between the scanning beam before reflection and the rotation center line of the convex reflector;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
l is the distance from the focal point of the reverse extension line of the angle of view of the scanning beam to the vertex of the aspheric surface before reflection;
and the curve rotates around the y axis for one circle to obtain the surface type of the aspheric mirror.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has reasonable and simple structure and is easy to maintain and manufacture.
2. The invention adopts an optical device which enlarges the scanning range of the laser radar, namely a convex reflecting mirror. The scanning range of the small angle can be enlarged. The laser radar optical path structure for obtaining a large scanning range is effectively simplified.
3. The invention can enlarge the scanning range through a simple light path structure, solve the problems of large volume and high cost, lighten the burden of a controller and is easy to realize mass production.
4. The convex reflector in the invention can meet the measurement precision of the radar by combining with controlling aberration or controlling aberration by matching with an optical system.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a system suitable for outputting a patterned beam
FIG. 2 is a schematic diagram of a reflective spatial light modulator generating a scanning beam
FIG. 3 is a schematic diagram of an emission system using only a laser as a light source
Fig. 4 to 9 are different forms of the generated scanning beam, respectively.
Fig. 10 is a schematic diagram of the principle of scanning beam reflection. In fig. 10, the left broken line is a line parallel to the rotation center line of the convex mirror at any point on the reflected light beam, and the right broken line is a line parallel to the rotation center line of the convex mirror at any point on the reflected light beam.
The figure shows:
Transmitting system 1
Control system 2
Receiving system 3
Scene 9
Feedback signal 10
Convex mirror 4
Light source 5
Scanning beam generation module 6
Half wave plate 11
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The system suitable for outputting the patterned light beam comprises an emission system 1, a control system 2 and a receiving system 3; the control system 2 is respectively connected with the transmitting system 1 and the receiving system 3 through circuits;
the emission system 1 comprises a convex reflecting mirror 4 and a light source 5, wherein the convex reflecting mirror 4 is a revolution body or a free-form surface reflecting mirror; the light beam emitted by the light source 5 is output through the convex reflecting mirror 4, wherein at least one of the surface, the line and the spot light beam is emitted to the surrounding scene 9 by the reflection of the convex reflecting mirror 4.
Preferably, the revolution body is a spherical mirror, an aspherical mirror or a conical mirror.
Preferably, the surface shape of the aspherical mirror of the revolution body satisfies: the angle change of the scanning beam before reflection is proportional to the angle change after reflection.
Preferably, the surface of the aspherical mirror of the revolution body satisfies the input/output light beam:
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
alpha max、αmin is the maximum value and the minimum value of alpha respectively;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
and theta is an included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector, wherein theta max≥θ≥θmin is more than or equal to 0.
Preferably, θ max-θmin is divided into a plurality of angles dθ, and the formula of the nth point on the curve of the surface type of the aspherical mirror of the revolution body satisfies:
y n-1 denotes the y coordinate at θ= (n-1) dθ, i.e., the y coordinate of the (n-1) th point;
y n denotes the y coordinate of θ=ndθ, i.e., the y coordinate of the nth point;
x n-1 represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the (n-1) -th point;
x n represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the nth point;
θ represents the included angle between the scanning beam before reflection and the rotation center line of the convex reflector;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
l is the distance from the focal point of the reverse extension line of the angle of view of the scanning beam to the vertex of the aspheric surface before reflection;
and the curve rotates around the y axis for one circle to obtain the surface type of the aspheric mirror.
Preferably, the light source 5 includes: any one or more of a semiconductor laser, a fiber laser, a solid state laser, a vertical cavity surface laser, and a carbon dioxide laser.
Preferably, the light source 5 comprises an optical system that expands the beam and/or collimates the light emitted by the light source to correct aberrations.
Preferably, the transmitting system 1 comprises: a scanning beam generation module 6;
The scanning beam generation module 6 includes: any one or more of a spatial light modulator, a galvanometer, a silicon optical device, a movable wave mirror and a movable grating;
The light beam of the light source 5 is output through the scanning beam generating module 6.
Preferably, the spatial light modulator is a digital micromirror element, a transmissive liquid crystal on silicon, or a reflective liquid crystal on silicon.
Preferably, the range of the surface slope f' (x) < cot (θ max) of the convex mirror 4 is an effective range, θ max is a half angle of a maximum scanning range of the scanning beam generated by modulating the scanning beam generating module 6, and x is a vertical distance from any point on the convex mirror to a rotation center line of the convex mirror.
Preferably, the form of the dynamic scanning beam generated by the scanning beam generating module 6 is any one or any multiple of the following forms:
-one or more concentric circles shrink;
-one or more concentric circles flare;
-one or more straight lines rotate around a central point;
-one or more rays are rotated about a central point;
-one or more line segments are rotated about a central point;
-one or more parallel straight lines translate in a set direction;
-one or more parallel rays are translated in a set direction;
-one or more parallel line segments are translated in a set direction.
Preferably, the light emitted by the light source 5 passes through the scanning beam generating module 6, generates a dynamic scanning beam, projects the dynamic scanning beam onto the convex mirror 4, reflects the dynamic scanning beam by the convex mirror 4 to the surrounding scene 9, and returns a feedback signal 10 in the scene to the receiving system 3.
Preferably, the control system 2 is used for controlling and synchronizing the light source 5 and the scanning beam generating module 6 in the emission system 1.
Preferably, the receiving system 3 comprises a light sensor 11 for receiving the feedback signal 10 of the scene 9.
According to the present invention, there is provided an optical path structure suitable for outputting a patterned light beam, comprising a convex reflecting mirror 4;
The convex reflecting mirror 4 is a revolution body or a free-form surface reflecting mirror; the light beam emitted by the light source 5 is output via the convex mirror 4, wherein a surface light is emitted towards the surrounding scene 9 by reflection of the convex mirror 4.
Preferably, the revolution body is a spherical mirror, an aspherical mirror or a conical mirror.
Preferably, the surface shape of the aspherical mirror of the revolution body satisfies: the angle change of the scanning beam before reflection is proportional to the angle change after reflection.
Preferably, the surface of the aspherical mirror of the revolution body satisfies the input/output light beam:
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
alpha max、αmin is the maximum value and the minimum value of alpha respectively;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
and theta is an included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector, wherein theta max≥θ≥θmin is more than or equal to 0.
Preferably, θ max-θmin is divided into a plurality of angles dθ, and the formula of the nth point on the curve of the surface type of the aspherical mirror of the revolution body satisfies:
y n-1 denotes the y coordinate at θ= (n-1) dθ, i.e., the y coordinate of the (n-1) th point;
y n denotes the y coordinate of θ=ndθ, i.e., the y coordinate of the nth point;
x n-1 represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the (n-1) -th point;
x n represents the x-coordinate at θ= (n-1) dθ, i.e., the x-coordinate of the nth point;
θ represents the included angle between the scanning beam before reflection and the rotation center line of the convex reflector;
θ max is the maximum range half angle of the scanned beam;
θ min is the minimum half-angle of the scan beam;
Alpha is an included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
l is the distance from the focal point of the reverse extension line of the angle of view of the scanning beam to the vertex of the aspheric surface before reflection;
and the curve rotates around the y axis for one circle to obtain the surface type of the aspheric mirror.
More specifically, the invention is especially a lidar for acquiring scene distance without the need for rotating mechanical structures. The control system is used for controlling the laser to emit pulse light beams, controlling hologram changes on the spatial light modulator and controlling emission to be synchronous with the hologram changes; a laser as a light source; the spatial light modulator is used for forming a required dynamic light beam by controlling light emitted by the light source through a chip in an interference diffraction mode; convex mirrors are used to reflect the scanned beam into a 360 ° surrounding or wide range of scenes. With this system, one or more scanning beams are formed in space. Only the hologram modulated by the spatial light modulator needs to be modified during measurement, and the structure of a motion system is not needed.
The aspherical reflecting mirror can be replaced by a spherical reflecting mirror, so that the processing and detecting difficulty of the original can be reduced, certain compensation can be performed on the spatial light modulator, and the same effect can be achieved. If the scan angle is satisfied before reflection by the mirror, the aspherical mirror may be replaced with a conical mirror. The aspherical mirror can also be replaced by a free-form mirror to meet some special scanning range requirements.
In a variation, the spatial light modulator may be replaced with a moving grating, which may increase the scanning frequency. A group of lenses can be added between the laser and the spatial light modulator, and the light beam is collimated and then enters the spatial light modulator, so that the algorithm of the spatial light modulator can be simplified. Or the control system controls the laser to emit the planar light, the planar light is directly reflected to a scene with 360 degrees or a large range around by the reflector, and the receiver receives the feedback signal in the scene. The scanning frequency can be maximized.
The present invention will be described in more detail with reference to the following preferred examples.
Preferred embodiments of the spatial light Modulator generating scanning Beam scheme
The laser radar scanning receiving system of the invention comprises a transmitting system 1, a control system 2 and a receiving system 3 as shown in fig. 1. The emission system 1 includes a convex mirror 4, a light source 5, and a scanning beam generating module 6, as shown in fig. 2. The convex mirror 4 is an aspherical mirror, the light source 5 is a semiconductor laser or a semiconductor laser and a group of collimating lenses are used for collimating the light, and the scanning beam generating module 6 is a reflective spatial light modulator. Wherein the receiving system 3 typically employs a light sensor.
In this case the laser may be mounted behind or below the side of the aspherical mirror. If the reflection type spatial light modulator is placed below, a half wave plate is added between the reflection type spatial light modulator and the aspheric surface reflecting mirror, so that the polarization direction of light is rotated by 90 degrees, and the aspheric surface reflecting mirror is designed to be totally reflected in one polarization direction and totally transmitted in the other polarization direction. The structure is shown in fig. 2.
The control system 2 controls the light source 5 to emit a series of pulse laser beams, after being collimated by the lens group, the pulse laser beams are modulated by the reflective spatial light modulator to generate dynamic scanning beam holograms as shown in fig. 4-9, for example, the output included angle of adjacent radii of circular light rays is 0.4 degrees, the non-spherical mirror rotation symmetry axis is used for performing diffusion movement, the beam diffusion angle is 0.0025 degrees, each circle is expanded by 0.003 degrees every 1ms, and the scanning beam range is 4 degrees. Then the reflected light is reflected by the aspherical reflecting mirror forming the convex reflecting mirror 4 to the scene 9, and the diffused circular scanning light beam is reflected by the convex reflecting mirror 4 to form a plane shape
After being reflected by the aspheric mirror, the angle of the scanning beam output to the surrounding scene is uniformly enlarged by 20 times, the direction of the scanning beam is changed into a transverse scanning beam moving downwards longitudinally, the included angle of the adjacent beams is 8 degrees, the longitudinal scanning range is enlarged to 40 degrees, the transverse scanning range is enlarged to 360 degrees, the movement speed of the scanning beam is 0.05 degrees downwards every 1ms, and the beam diffusion angle is enlarged to 0.06 degrees. The whole scene 9 can be scanned once in 160ms, and the number of times the whole scene 9 can be scanned within 1s is 6.25. The scanned beam will be reflected and scattered when it encounters an obstacle in the scene 9 and the feedback signal 10 will be returned to the light sensor. And x and y are coordinates in a rectangular coordinate system.
The control system 2 synchronously controls the light source, the spatial light modulator, the light sensor. Taking 1ms as a period, the control system 2 controls the light source to emit a series of pulse light beams in the first 0.5ms of each 1ms, simultaneously, the hologram modulated by the spatial light modulator of the control system is static in the 1ms, the optical sensor receives a feedback signal in the 1ms, and the direction and distance of the object are calculated according to the direction and time of the return signal and the direction and time of emission. In the next cycle, the control system 2 controls the spatial light modulator to change the hologram so that each scanning beam moves to the next angle, and the remaining steps are repeated.
If the light sensor receives the return signals of the scanning light beams in a plurality of directions in one period, the control system 2 controls the spatial light modulator to generate one scanning light beam in each direction in the next period. If the additionally generated scanning beam no longer obtains a feedback signal in a certain period thereafter, the control system 2 controls the spatial light modulator to no longer generate the scanning beam in this direction in the subsequent period.
Preferred examples of the surface scanning scheme
Without the scanning beam generating module 6, the control system 2 controls the laser to emit a plane light, the plane light is reflected to the scene 9 through the convex reflector 4, the receiver receives feedback signals in all directions, and the distance and the direction of the object are judged according to the return time and the direction of the feedback signals. The scheme can scan the scene 9 with the maximum frequency, but the beam energy is dispersed, and the scanning distance is relatively short.
Preferred embodiment of the raster-generated scanning Beam scheme
The laser irradiates on the edge of a disk rotating around the center of the disk, the edge of the disk is printed with a continuously-changing grating, the light passes through the grating to form a dynamic scanning beam which vertically crosses and rotates around the center point as shown in figure 8, the scanning beam is reflected by an aspheric mirror, 6 longitudinal scanning beams which transversely move are output to 360-degree scenes around, the included angle between every two beams is 60 degrees, panoramic scanning is completed once every 10ms deflection is 60 degrees, and the scanning can be performed for 100 times in 1 s.
In the scheme, the control system controls the stepping motor to be synchronous with the laser, and the laser emits a beam of light every time one microstructure rotates to the straight line where the rotation symmetry axis of the aspherical mirror is located.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (16)
1. A system suitable for outputting a patterned beam, comprising an emission system (1), a control system (2), a receiving system (3); the control system (2) is respectively connected with the transmitting system (1) and the receiving system (3) through circuits;
characterized in that the emission system (1) comprises a convex reflector (4), a light source (5);
the convex reflector (4) is a revolution body or a free-form surface reflector; the light beam emitted by the light source (5) is output through the convex reflector (4), wherein at least one of the light beams emitted by the surface, the line and the point of the surrounding scene (9) is reflected by the convex reflector (4);
the emission system (1) further comprises a scanning light beam generation module (6), light emitted by the light source (5) passes through the scanning light beam generation module (6), a dynamic scanning light beam is generated and is thrown onto the convex reflector (4), and the dynamic scanning light beam is reflected by the convex reflector (4) to emit to a surrounding scene (9);
the dynamic scanning beam generated by the scanning beam generation module (6) is in any one or more of the following forms:
-one or more concentric circles shrink;
-one or more concentric circles flare;
-one or more straight lines rotate around a central point;
-one or more rays are rotated about a central point;
-one or more line segments are rotated about a central point;
-one or more parallel straight lines translate in a set direction;
-one or more parallel rays are translated in a set direction;
-one or more parallel line segments are translated in a set direction;
Will be Divided into a plurality of anglesThe curve of the surface type of the aspheric reflecting mirror of the revolution body is the firstThe formula for the individual points satisfies:
，
Representation of When (1)Coordinates, i.e. the firstOf individual pointsCoordinates;
Representation of Y-coordinate of (a), i.e. the firstOf individual pointsCoordinates;
Representation of When (1)Coordinates, i.e. the firstOf individual pointsCoordinates;
Representation of When (1)Coordinates, i.e. the firstOf individual pointsCoordinates;
Indicating the included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector;
is the maximum range half angle of the scanning beam;
Is the minimum range half angle of the scanned beam;
the included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
The distance from the focus of the reverse extension line of the view angle of the scanning beam to the aspheric vertex before reflection;
and the curve rotates around the y axis for one circle to obtain the surface type of the aspheric mirror.
2. The system of claim 1, wherein the solid of revolution is a spherical mirror, an aspherical mirror, or a conical mirror.
3. The system of claim 1, wherein the aspherical mirror of the solid of revolution has a surface shape that satisfies: the angle change of the scanning beam before reflection is proportional to the angle change after reflection.
4. The system of claim 1, wherein the aspheric mirror of the rotator has a surface shape that satisfies the input-output beam:
the included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
、 respectively is Maximum and minimum of (2);
is the maximum range half angle of the scanning beam;
Is the minimum range half angle of the scanned beam;
the included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector.
5. System adapted to output a patterned light beam according to claim 1, characterized in that the light source (5) comprises: any one or more of a semiconductor laser, a fiber laser, a solid state laser, a vertical cavity surface laser, and a carbon dioxide laser.
6. System adapted to output a patterned light beam according to claim 1, characterized in that the light source (5) comprises an optical system that expands the beam and/or aligns the light emitted by the light source to correct aberrations.
7. The system for outputting a patterned beam according to claim 1, wherein,
The scanning beam generation module (6) comprises: any one or more of a spatial light modulator, a galvanometer, a silicon optical device, a movable wave mirror and a movable grating;
the light beam of the light source (5) is output through the scanning light beam generating module (6).
8. The system of claim 7, wherein the spatial light modulator is a digital micromirror element, a transmissive liquid crystal on silicon, or a reflective liquid crystal on silicon.
9. System adapted to output a patterned light beam according to claim 7, characterized in that the surface slope of the convex mirror (4)The range of (2) is the effective range,The maximum half angle of the scanning range of the scanning beam generated by modulating the scanning beam generating module (6) is x, and x is the vertical distance from any point on the convex reflector to the rotation center line of the convex reflector.
10. The system according to claim 7, characterized in that the light emitted by the light source (5) is passed through a scanning beam generating module (6), the generated dynamic scanning beam is projected onto a convex mirror (4), the dynamic scanning beam is reflected by the convex mirror (4) towards the surrounding scene (9), and a feedback signal (10) in the scene is returned to the receiving system (3).
11. The system adapted to output a patterned light beam according to claim 1, wherein the control system (2) is adapted to control and synchronize the light source (5), the scanning beam generation module (6) in the emission system (1).
12. System adapted to output a patterned beam according to claim 1, characterized in that the receiving system (3) comprises a light sensor (11) for receiving a feedback signal (10) of the scene (9).
13. An optical path structure suitable for outputting a patterned beam, characterized by comprising a convex mirror (4);
the convex reflector (4) is a revolution body or a free-form surface reflector; the light beam emitted by the light source (5) is output through the convex reflector (4), wherein the surface light beam is emitted to the surrounding scene (9) through the reflection of the convex reflector (4);
the emission system (1) further comprises a scanning beam generation module (6), the light emitted by the light source (5) passes through the scanning beam generation module (6), a dynamic scanning beam is generated and is thrown onto the convex reflector (4), and the dynamic scanning beam is reflected by the convex reflector (4) to emit to a surrounding scene (9);
the dynamic scanning beam generated by the scanning beam generation module (6) is in any one or more of the following forms:
-one or more concentric circles shrink;
-one or more concentric circles flare;
-one or more straight lines rotate around a central point;
-one or more rays are rotated about a central point;
-one or more line segments are rotated about a central point;
-one or more parallel straight lines translate in a set direction;
-one or more parallel rays are translated in a set direction;
-one or more parallel line segments are translated in a set direction;
Will be Divided into a plurality of anglesThe curve of the surface type of the aspheric reflecting mirror of the revolution body is the firstThe formula for the individual points satisfies:
，
Representation of When (1)Coordinates, i.e. the firstOf individual pointsCoordinates;
Representation of Y-coordinate of (a), i.e. the firstOf individual pointsCoordinates;
Representation of When (1)Coordinates, i.e. the firstOf individual pointsCoordinates;
Representation of When (1)Coordinates, i.e. the firstOf individual pointsCoordinates;
Indicating the included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector;
is the maximum range half angle of the scanning beam;
Is the minimum range half angle of the scanned beam;
the included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
The distance from the focus of the reverse extension line of the view angle of the scanning beam to the aspheric vertex before reflection;
and the curve rotates around the y axis for one circle to obtain the surface type of the aspheric mirror.
14. The optical path structure adapted to output a patterned beam according to claim 13, wherein the revolution body is a spherical mirror, an aspherical mirror, or a conical mirror.
15. The optical path structure adapted to output a patterned beam according to claim 13, wherein the aspherical mirror of the revolution body has a surface shape satisfying: the angle change of the scanning beam before reflection is proportional to the angle change after reflection.
16. The optical path structure for output patterned beams according to claim 13, wherein the aspherical mirror of the rotator has a surface shape such that the input/output beam satisfies:
the included angle between the reflected light passing through the aspheric reflecting mirror and the direction of the rotation center line of the convex reflecting mirror;
、 respectively is Maximum and minimum of (2);
is the maximum range half angle of the scanning beam;
Is the minimum range half angle of the scanned beam;
the included angle between the scanning beam before reflection and the rotation center line direction of the convex reflector.
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| CN111024987A (en) * | 2019-11-28 | 2020-04-17 | 内蒙古北方重工业集团有限公司 | Device for enlarging light curtain area based on spherical reflection and using method thereof |
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| CN109283540A (en) * | 2018-09-30 | 2019-01-29 | 江苏慧光电子科技有限公司 | System and light channel structure suitable for output pattern light beam |
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| CN109283540A (en) * | 2018-09-30 | 2019-01-29 | 江苏慧光电子科技有限公司 | System and light channel structure suitable for output pattern light beam |
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