CN114967162A - Optical shaping modules, devices and lidar systems - Google Patents

Abstract

The application provides an optical shaping module, a device and a laser radar system, and relates to the field of optical technology. It includes a collimation module and a shaping module. The collimation module is configured to collimate the laser beam emitted by the laser light source in the direction of the fast axis and the slow axis to form a collimated beam; the shaping module is configured to shape the slow axis of the collimated beam. , so that the energy of the shaped beam in the angular space range along the slow axis direction is Gaussian distribution. It can be based on a multi-channel EEL chip (larger active area), and the original energy distribution is "crater" type. Through the optical shaping module of this application, a uniform line spot with a Gaussian distribution on the slow axis can be realized. MEMS, etc. realize two-dimensional scanning and Lidar ranging. Achieving Gaussian distribution can effectively utilize laser emission energy, achieve a longer detection distance for the core area (middle) of lidar detection, and quickly realize solution upgrades.

Description

Optical shaping modules, devices and lidar systems

technical field

The present application relates to the field of optical technology, and in particular, to an optical shaping module, a device, and a lidar system.

Background technique

With the development and application of optical technology, LiDAR has been applied in various detection fields, such as automotive autonomous driving detection technology, navigation and positioning technology, and engineering ranging technology.

In the field of auto-driving detection technology, most of the existing technologies are based on the fast axis for optical shaping design to obtain a line spot that meets the needs of lidar applications. However, with the development of auto-driving technology, how to obtain a longer detection distance in the direction in which the vehicle is traveling while taking into account a larger detection angle range has become a technical problem that needs to be solved urgently in the present field.

SUMMARY OF THE INVENTION

The purpose of this application is to provide an optical shaping module, a device and a lidar system to solve the technical problems in the prior art that the detection distance is long and the detection angle is large at the same time. The optical shaping module provided by the embodiment of the present application can realize a uniform line spot with a Gaussian distribution on the slow axis.

The embodiments of the present application are implemented as follows:

In one aspect of the present application, an optical shaping module is provided, including a collimation module and a shaping module, wherein the collimation module is configured to collimate a laser beam emitted by a laser light source in the directions of the fast axis and the slow axis to form a collimation a light beam; the shaping module is configured to shape the slow axis direction of the collimated light beam, so that the energy of the shaped light beam in the angular space range in the slow axis direction exhibits a Gaussian distribution.

The light source is a laser light source, the laser light source emits a laser beam, and the collimation module collimates the laser beam to form a collimated beam; during collimation, the collimation module collimates the fast axis direction and the slow axis direction at the same time. The formed collimated beam then passes through the shaping module, and the shaping module reshapes the slow axis direction of the collimated beam, so that the energy distribution of the slow axis spot is Gaussian, and a uniform line spot can be formed.

In a possible implementation, the collimation module is configured as a single aspherical lens or a collimating lens group, and the single aspherical lens is a double-convex single lens or a plano-convex single lens.

When a single aspherical lens is used to achieve collimation, the system cost is low and the assembly and adjustment are simple. When the collimating lens group is used for collimation, it can adapt to more stringent system volume requirements.

In a possible implementation, the shaping module is configured as a cylindrical lens group or a micro-cylindrical array lens.

The cost of the shaping modules composed of cylindrical lenses is relatively low. The micro-cylindrical array lens is used, which is not sensitive to the change of the LD slow-axis divergence angle. The shaped slow-axis beam divergence angle will not change with the LD slow-axis divergence angle. Change.

In a possible implementation, the shaping module is configured as a cylindrical lens group and a micro-cylindrical array lens.

When the cylindrical lens group and the micro-cylindrical array lens are set at the same time, the collimated beam passes through the cylindrical lens group and the micro-cylindrical array lens in turn to shape the slow-axis direction of the collimated beam, so that the energy distribution of the slow-axis spot is Gaussian. The shaping effect is multiplied.

In a possible implementation, by setting the curvature of each lens of the cylindrical lens group and the distance between the lenses, the beams at different exit pupil heights have different beam densities of divergence angles, so that the shaped beams are in the slow axis. The energy in the angular spatial extent in the direction is Gaussian.

Using the aberration of the system, the spherical aberration of the system is increased by controlling the curvature of the cylindrical mirrors in the cylindrical lens group and the distance between the cylindrical mirrors, so that the rays at different exit pupil heights of the system have different divergence angles The light density makes the imaging appear diffuse, and finally the entire beam reaches a Gaussian distribution in the angular space range.

In a possible implementation, by setting the surface type of the micro-cylindrical array lens, the energy of the sub-beams passing through each micro-cylindrical surface in the angular space range along the slow axis direction exhibits a Gaussian distribution.

Different surface types of micro-cylindrical array lenses can adapt to different and diverse needs, and meet the Gaussian distribution of the slow-axis light spot energy distribution.

In a possible implementation, the micro-cylindrical array lens cooperates with the cylindrical mirror and is configured to adjust the slow-axis divergence angle and spot size of the light beam.

The combination of micro-cylindrical array lens and cylindrical mirror can adjust the slow-axis divergence angle and spot size of the beam to meet diverse needs.

In a possible implementation, a reflector is also included, which is configured to change the propagation direction of the light beam, so as to adjust the size of the optical shaping module and adapt to different scene requirements.

In a second aspect of the present application, an optical shaping device is provided, including a laser light source and the above-mentioned optical shaping module.

A third aspect of the present application provides a lidar system including the above optical shaping device.

The beneficial effects of the present application include: in the optical shaping module, the device and the laser radar system provided by the embodiments of the present application, a collimation module and a shaping module are arranged on the optical axis of the laser light source in sequence, and the laser beam emitted by the laser light source is sequentially collimated through the module and shaping module, wherein the collimation module collimates the laser beam in the direction of the fast axis and the slow axis to form a collimated beam, and the shaping module shapes the slow axis direction of the collimated beam, so that the shaped beam is in the direction of the slow axis The energy in the angular space range of is Gaussian. The optical shaping module provided in the embodiment of the present application can be based on a multi-channel EEL chip (with a large active area), and the original energy distribution is a "crater" type. The uniform line spot with a Gaussian distribution of 30 degrees can be used with rotating mirrors, MEMS, etc. to achieve two-dimensional scanning and lidar ranging. The realization of the Gaussian distribution can effectively utilize the laser emission energy and achieve a longer detection distance for the core area (middle) detected by the lidar.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of an embodiment of an optical shaping module provided by an embodiment of the present application;

FIG. 2 is a schematic structural diagram of another embodiment of an optical shaping module provided by an embodiment of the present application;

3 is a schematic structural diagram of a first embodiment of a collimation module provided by an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a second embodiment of a collimation module provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a third embodiment of a collimation module provided by an embodiment of the present application;

6 is a schematic structural diagram of a first embodiment of a shaping module provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a second embodiment of a shaping module provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a third embodiment of a shaping module provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of a light source angular space slow-axis energy distribution according to an embodiment of the present application;

10 is a schematic diagram of the energy distribution of the angular space slow axis after the light source is shaped by the optical shaping module according to the embodiment of the application;

11 is a schematic structural diagram of one embodiment of the cylindrical lens group provided by the embodiment of the application;

FIG. 12 is a schematic diagram of the energy distribution of the slow axis in the angular space corresponding to the cylindrical lens group of FIG. 11 after shaping;

13 is a schematic structural diagram of another embodiment of the cylindrical lens group provided by the embodiment of the present application;

FIG. 14 is a schematic diagram of the energy distribution of the slow axis of the angular space corresponding to the cylindrical lens group of FIG. 13 after shaping;

FIG. 15 is a schematic structural diagram of an embodiment in which an optical shaping module provided by an embodiment of the present application includes a reflector.

Icon: 100-collimation module; 101-biconvex single lens; 101a, 102-collimating lens; 103-plano-convex single lens; 200-shaping module; 201-microcylindrical array lens; 202-first plano-convex cylinder 203-the second plano-convex cylindrical lens; 204, 204a-plano-concave cylindrical lens; 301-reflector.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in use, only for the convenience of describing the application and simplifying the description, rather than indicating or implying The device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application. Furthermore, the terms "first", "second", "third", etc. are only used to differentiate the description and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that a component is required to be absolutely horizontal or overhang, but rather may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "arrangement", "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of an embodiment of an optical shaping module provided by an embodiment of the present application. The optical shaping module provided by the embodiment of the present application includes a collimation module 100 and a shaping module 200. The collimation module 100 is configured to collimate the laser beam emitted by the laser light source in the fast axis and slow axis directions to form a collimated beam; shaping The module 200 is configured to shape the slow axis direction of the collimated light beam, so that the energy of the shaped light beam in the angular spatial range in the slow axis direction exhibits a Gaussian distribution.

The light source is a laser light source, the laser light source emits a laser beam, and the collimation module 100 collimates the laser beam to form a collimated beam; during collimation, the collimation module 100 collimates the fast axis direction and the slow axis direction at the same time. The formed collimated beam then passes through the shaping module 200, and the shaping module 200 reshapes the slow axis direction of the collimated beam, so that the energy distribution of the slow axis spot is Gaussian, and a uniform line spot can be formed.

The Gaussian distribution is the most important and typical of the possible laser beam forms. Whether it is a square mirror cavity or a circular mirror cavity, the light intensity distribution of the fundamental mode on the cross section is a circular spot, the light intensity is the strongest at the center, and the light intensity gradually weakens toward the edge, which is a Gaussian distribution. The realization of Gaussian distribution can effectively use the laser emission energy to achieve a longer detection distance for the core area (middle) of lidar detection. When it is applied to automotive LiDAR, it is beneficial to obtain a basis for a longer detection distance in the direction of the car. Take into account the larger detection angle range. At the same time, it should be considered that the effective aperture of the lidar rotating mirror is limited, and the size of the rotating mirror needs to be reduced as much as possible.

In the optical shaping module provided by the embodiment of the present application, a collimation module 100 and a shaping module 200 are arranged on the optical axis of the laser light source in sequence, and the laser beam emitted by the laser light source passes through the collimation module 100 and the shaping module 200 in sequence, wherein the collimation module 100 pairs of laser beams are collimated in the direction of the fast axis and the slow axis to form a collimated beam, and the shaping module 200 reshapes the direction of the slow axis of the collimated beam, so that the energy of the shaped beam in the angular space range in the direction of the slow axis is It has a Gaussian distribution and projects a uniform line spot. The optical shaping module provided by the embodiment of the present application can be based on a multi-channel EEL (“Edge Emitting Laser”) chip (with a large active area), and the original energy distribution is “crater” type. The shaping module realizes a uniform line spot with a slow axis of 20-30 degrees and a Gaussian distribution. It can be used with rotating mirrors, MEMS, etc. to achieve two-dimensional scanning and Lidar ranging. The realization of the Gaussian distribution can effectively utilize the laser emission energy and achieve a longer detection distance for the core area (middle) detected by the lidar.

Further, in an achievable manner of the present application, the collimation module 100 is configured as a single aspherical lens. When a single aspherical lens is used to achieve collimation, the system cost is low and the assembly and adjustment are simple.

3 and 4 , the single aspherical lens is a biconvex single lens 101 or a plano-convex single lens 103 . When the aspherical lens is the lenticular single lens 101, the incident surface and the exit surface of the lenticular single lens 101 are both convex surfaces, the focal length of the middle part of the lens surface is long, and the focal length of the end parts of each lens surface is short. The lenticular single lens 101 is mainly used to collect light from a point light source or transmit images to other optical systems. The radius of curvature of the incident surface and the exit surface can be equal, so that the lenticular single lens 101 has symmetry and minimizes spherical aberration. , and eliminates coma and distortion. Of course, the radii of curvature of the incident surface and the exit surface of the lenticular single lens 101 may also be unequal. For example, as shown in FIG. 3 , the lenticular single lens 101 in the present application adopts the difference between the radii of curvature of the incident surface and the exit surface. In the same way, the effect of the subsequent Gaussian distribution can be effectively enhanced, so that the light spot has a strong light density in the middle and weak light density on both sides, which is close to the Gaussian distribution.

Alternatively, the single aspherical lens can also be a plano-convex single lens 103. One of the incident surface and the exit surface of the lens is a plane, and the other is a convex surface. Specifically, the incident surface can be a plane, and the exit surface can be convex; The incident surface is convex and the exit surface is flat. As shown in FIG. 4 , in the present application, the incident surface of the plano-convex single lens 103 is a plane surface, and the exit surface is a convex surface, which is also to enhance the effect of the subsequent Gaussian distribution.

Of course, the aspherical lens can also be of other surface types, and is not limited to the above-mentioned lenticular single lens 101 and plano-convex single lens 103, as long as the system can realize the angular spatial range of the shaped beam in the slow axis direction. The energy can be Gaussian distributed.

In another implementation manner of the present application, the collimating module 100 is configured with a collimating lens group. When the collimating lens group is used for collimation, it can meet more stringent system volume requirements. The collimating lens group may include multiple The lenses are arranged in sequence to achieve collimation, and the processing accuracy requirements of the lenses themselves are lower than that of a single aspherical lens. As shown in FIG. 5 , the collimating lens group includes two collimating lenses 101a and 102 arranged in sequence. After the collimating lens group, a collimated beam is formed, and the density in the middle of the beam is strong, and the density on both sides of the beam is strong. Weak, it lays a good foundation for the presentation of the subsequent Gaussian distribution.

As for the shaping module 200, the shaping module 200 can be configured as a cylindrical lens group, and the cylindrical lens group includes a plurality of cylindrical lenses arranged in sequence to shape the slow-axis direction of the collimated beam and realize the slow-axis spot energy The distribution is a Gaussian distribution, and the cost of the shaping module 200 composed of cylindrical mirrors is relatively low.

Cylindrical lens is also an aspheric lens, which can effectively reduce spherical aberration and chromatic aberration.

For example, as shown in FIG. 6 , the cylindrical lens group in the present application includes a first plano-convex cylindrical lens 202 , a plano-concave cylindrical lens 204 , a second plano-convex cylindrical lens 203 , and two plano-convex cylindrical lenses arranged in sequence. The curvature of the cylindrical lens is different, and the collimated beam formed by the beam after the collimation module 100 passes through the first plano-convex cylindrical lens 202, the plano-concave cylindrical lens 204, and the second plano-convex cylindrical lens 203 in sequence, so that the shaped beam is shaped. The beam exhibits a Gaussian distribution that is strong in the middle and weak on both sides in the direction of the slow axis.

In another case, the shaping module 200 can also be configured as a single-piece micro-cylindrical array lens 201, and a micro-cylindrical array is formed on a single lens to shape the slow-axis direction of the collimated beam, so that the energy distribution of the slow-axis light spot is Gaussian distribution. The shaping module 200 adopts the micro-cylindrical array lens 201, which is not sensitive to the variation of the LD slow axis divergence angle, and the shaped slow axis beam divergence angle will not change with the LD slow axis divergence angle. For example, as shown in FIG. 7 , the collimated light beam after the collimation module 100 is incident on a single-piece micro-cylindrical array lens 201, and the incident surface and the exit surface of the single-piece micro-cylindrical array lens 201 both form an array surface type, The light beam emitted from the exit surface exhibits a Gaussian distribution with strong middle and weak sides in the direction of the slow axis.

It is also possible that the shaping module 200 is configured as a cylindrical lens group and a micro-cylindrical array lens 201 . A single cylindrical lens group and the micro-cylindrical array lens 201 can respectively realize the slow axis shaping of the collimated beam. When the cylindrical lens group and the micro-cylindrical array lens 201 are set at the same time, the collimated beam will pass through the cylindrical lens in turn. The group and the micro-cylindrical array lens 201 are used to shape the slow axis direction of the collimated beam, so that the energy distribution of the slow axis light spot is Gaussian, and the shaping effect is multiplied. 8, the collimated light beam after passing through the collimation module 100 first enters the micro-cylindrical array lens 201, and then enters the first plano-convex cylindrical lens 202 and the second plano-convex cylindrical lens 203. In the cylindrical lens group, the beam exhibits a Gaussian distribution with strong middle and weak sides in the direction of the slow axis.

Moreover, it can be seen from the comparison between FIG. 7 and FIG. 8 that after the collimated beam in FIG. 7 is incident on a single-chip micro-cylindrical array lens 201, the beam forms a Gaussian distribution in the far field; in FIG. 8, the collimated beam first enters the micro-cylinder When the surface array lens 201 is re-incident to the cylindrical lens group formed by the first plano-convex cylindrical lens 202 and the second plano-convex cylindrical lens 203, the first plano-convex cylindrical lens 202 needs to be arranged close to the micro-cylindrical array lens. At the light-emitting side of 201, avoid the distance between the first plano-convex cylindrical lens 202 and the micro-cylindrical array lens 201 being too far, so that the light beam emitted by the micro-cylindrical array lens 201 has not yet entered the first plano-convex cylindrical surface. When the lens 202 is formed, the Gaussian distribution has been formed, so the first plano-convex cylindrical lens 202 is set at the focal length of the micro-cylindrical array lens 201 .

It should be understood that the implementation manner of the aforementioned collimation module 100 and the implementation manner of the shaping module 200 can be combined arbitrarily, and an optical shaping module can be formed, so as to achieve the goal of realizing the Gaussian distribution of the slow-axis light spot energy distribution. For example, the collimation module 100 is a single aspheric lens, and the shaping module 200 can be configured as any one of a cylindrical lens group, a single-piece micro-cylindrical array lens 201, a cylindrical lens group and a micro-cylindrical array lens 201; Similarly, when the collimating module 100 is configured as a collimating lens group, the shaping module 200 can be configured as one of the cylindrical lens group, the single-piece micro-cylindrical array lens 201 , the cylindrical lens group and the micro-cylindrical array lens 201 . Any one; for example, as shown in FIG. 1, the collimation module 100 is a collimating lens group, and the shaping module 200 is a micro-cylindrical array lens 201; for example, as shown in FIG. 2, the collimating module 100 is a plano-convex single lens 103, which is shaped The module 200 is a combination of a single-piece micro-cylindrical array lens 201 and a cylindrical lens group; the free combination of the above-mentioned collimation module 100 and the shaping module 200 is not listed here, and those skilled in the art can choose according to specific needs. set up.

Through the modular setting of the collimation module 100 and the shaping module 200, different mirror combinations can be selected according to the needs of the project to achieve the best matching effect. The shaping module 200 can be selected to be in the form of a cylindrical lens group, or the shaping module 200 can be a combination of a cylindrical lens group and a micro-cylindrical array lens 201 , and so on will not be repeated.

Taking the eight-channel chip SPL BB90-06-8-03B of the Osram laser light source as an example, the angular space energy 'crater' distribution of its slow-axis light spot is shown in Figure 9, and it is shaped into a Gaussian distribution as shown in Figure 10.

When the shaping modules 200 are all composed of cylindrical lens groups, in order to realize the Gaussian distribution of the slow-axis light spot energy distribution, by setting the curvature of each lens of the cylindrical lens group and the distance between the lenses, the beams at different exit pupil heights have Different divergence angle beam densities make the energy of the shaped beam in the angular space range along the slow axis direction to be Gaussian distribution.

This application adopts the logic contrary to the design idea of conventional optical systems. In order to obtain better optical performance of conventional optical systems, it is required to correct the aberration of the system to a small range. The purpose is for better imaging. characteristics of the reactants. The present application uses the aberration of the system to increase the spherical aberration of the system by controlling the curvature of the cylindrical lens in the cylindrical lens group and the distance between the cylindrical lenses, so that the rays at different exit pupil heights of the system have Different divergence angle light densities make the imaging appear diffuse, and finally the entire beam reaches a Gaussian distribution in the angular space range.

Illustratively, the cylindrical lens group includes a first plano-convex cylindrical lens 202 , a plano-concave cylindrical lens, and a second plano-convex cylindrical lens 203 arranged in sequence. When the cylindrical lens group is shown in FIG. 11 , it corresponds to FIG. 12 13, when the distance between the first plano-convex cylindrical lens 202 and the plano-convex cylindrical lens 204a decreases, the plano-concave cylindrical lens 204a and the second plano-convex cylindrical lens 203 When the distance between them is constant, the energy distribution diagram shown in FIG. 14 can be obtained; when the first plano-convex cylindrical lens 202 moves closer to the plano-concave cylindrical lens 204a, it can be seen that the divergence angle of the beam does not change, but The energy distribution has changed; it can also be seen from the ray diagram that after the first plano-convex cylindrical lens 202 moves closer to the plano-concave cylindrical lens 204a, the light passing through the middle of the plano-concave cylindrical lens 204a and the second plano-convex cylindrical lens 203 increased, the light with larger relative spherical aberration is reduced, and the Gaussian distribution is more obvious.

In the shaping module 200 that the micro-cylindrical array lens 201 participates in, in order to realize the Gaussian distribution of the slow-axis light spot energy distribution, the surface shape of the micro-cylindrical array lens 201 is set so that the sub-beams passing through each micro-cylindrical surface are in the direction of the slow axis. The angular space energy distribution is Gaussian.

In addition, the micro-cylindrical array lens 201 cooperates with the cylindrical mirror and is configured to adjust the slow-axis divergence angle and the spot size of the light beam to meet various demands.

The optical shaping module provided by the present application further includes a reflector 301 configured to change the propagation direction of the light beam. The setting position of the reflector 301 can be set according to specific needs. For example, it can be arranged between the collimation module 100 and the shaping module 200 to change the propagation direction of the collimated beam formed by the collimation module 100 . Also as shown in FIG. 15 , the reflective mirror 301 can be arranged between the shaping modules 200. When the shaping module 200 is composed of a cylindrical lens group, the reflective mirror 301 can be arranged between a plurality of cylindrical mirrors, and the specific position is as required. set up.

In addition, the optical shaping module provided in the embodiment of this application can be controlled by using a scattering sheet, and the beam waist of the beam spot can also be placed at the turning mirror, and the beam waist of the shaped beam or the minimum spot size can be imaged by a lens or a lens group. Switch to the mirror to reduce the mirror size.

On the other hand, an embodiment of the present application further provides an optical shaping device, which includes a laser light source and the aforementioned optical shaping module. The laser light source emits a laser beam, and after the laser beam is collimated by the collimating module 100 and shaped by the shaping module 200 in turn, the energy in the angular space range along the slow axis direction is Gaussian distribution.

On this basis, an embodiment of the present application further provides a lidar system, including the aforementioned optical shaping device. The light source line spot shaping system applied to lidar uses LD as the active device, and the angular space energy distribution curve in the direction of the slow axis is shaped into a Gaussian distribution. It is beneficial to take into account a larger detection angle range on the basis of obtaining a longer detection distance in the direction of the car's driving, which is suitable for the use scenario of automotive LiDAR.

The optical shaping device and the laser radar system include the same structure and beneficial effects as the optical shaping module in the foregoing embodiment. The structure and beneficial effects of the optical shaping module have been described in detail in the foregoing embodiments, and will not be repeated here.

The above are only optional embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

In addition, it should be noted that the specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless they are inconsistent. The combination method will not be specified otherwise.

Claims (10)

1. An optical shaping module is characterized by comprising a collimation module and a shaping module, wherein the collimation module is configured to collimate laser beams emitted by a laser light source in the directions of a fast axis and a slow axis to form collimated light beams; the shaping module is configured to shape a slow axis direction of the collimated light beam so that energy of the shaped light beam in an angular space range in the slow axis direction is in a Gaussian distribution.

2. The optical shaping module of claim 1 wherein the collimating module is configured as a single aspheric lens or a collimating lens group, the single aspheric lens being a biconvex single lens or a plano-convex single lens.

3. The optical shaping module of claim 1 wherein the shaping module is configured as a set of cylindrical lenses or a micro-cylindrical array lens.

4. The optical shaping module of claim 1 wherein the shaping module is configured as a set of cylindrical lenses and a micro-cylindrical array lens.

5. The optical shaping module of claim 3 or 4 wherein the curvature of each lens of the set of cylindrical lenses and the distance between the lenses are set so that the beams at different exit pupil heights have different divergence angle beam densities, such that the energy of the shaped beam in the slow axis direction over the angular space is Gaussian.

6. The optical shaping module of claim 3 or 4 wherein the surface of the micro-cylindrical array lens is configured such that the energy of the sub-beam passing through each micro-cylinder is Gaussian distributed in the angular space range in the slow axis direction.

7. The optical shaping module of claim 6 wherein the micro-cylindrical array lens, in cooperation with the cylindrical mirror, is configured to adjust a slow-axis divergence angle and a spot size of the light beam.

8. The optical shaping module of any one of claims 1 to 4 further comprising a mirror configured to change the direction of propagation of the light beam.

9. An optical shaping device comprising a laser light source, characterized in that it further comprises an optical shaping module according to any one of claims 1 to 8.

10. A lidar system comprising the optical shaping device of claim 9.

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