CN211627812U - Splicing LiDAR Scanning Device Based on Multiple Spatial Light Modulators - Google Patents
Splicing LiDAR Scanning Device Based on Multiple Spatial Light Modulators Download PDFInfo
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Abstract
本实用新型提供了一种基于多空间光调制器拼接激光雷达扫描装置，包括：光源模块、分光棱镜、探测目标、空间光调制器；所述光源模块发射的光束依次经过空间光调制器、分光棱镜后到达探测目标，或者；所述光源模块发射的光束依次经过分光棱镜、空间光调制器后到达探测目标。本实用新型解决了现有空间光调制器投射角度有限的问题，采用多空间光调制器曲面无缝拼接方式实现来拓展激光点阵的扫描角度，并在空间光调制器的出射端增加一个广角投射系统，来进一步扩大该系统的投射光束的偏转角度，实现了大角度扫描。
The utility model provides a laser radar scanning device based on multi-spatial light modulator splicing, comprising: a light source module, a beam splitting prism, a detection target, and a spatial light modulator; the light beam emitted by the light source module sequentially passes through the spatial light modulator, the beam splitter After the prism, it reaches the detection target, or; the light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism and the spatial light modulator in sequence. The utility model solves the problem of the limited projection angle of the existing spatial light modulator, adopts the method of seamless splicing of curved surfaces of multiple spatial light modulators to expand the scanning angle of the laser dot matrix, and adds a wide angle at the output end of the spatial light modulator The projection system is used to further expand the deflection angle of the projection beam of the system and realize large-angle scanning.
Description
技术领域technical field
本实用新型涉及雷达扫描技术领域，具体地，涉及基于多空间光调制器拼接激光雷达扫描装置。The utility model relates to the technical field of radar scanning, in particular to a laser radar scanning device based on multi-spatial light modulator splicing.
背景技术Background technique
激光雷达是通过向目标发射激光束，并接受散射回波来探测目标的位置、速度等特征量的雷达系统。激光雷达对目标的探测需要以发射激光对探测空间的扫描为前提的，当前应用较为广泛的扫描方式为光机扫描方式和基于光学相控阵器件的扫描方式。光机扫描方式一般通过一个旋转的扫描镜来实现，由于这类系统包含运动部件，因此扫描速度相对较低，应用受到限制。基于光学相控阵器件的扫描方式不需要机械运动部件，通过电控方式即可实现扫描，但是由于受到目前器件的限制，扫描角度较小。Lidar is a radar system that detects the position and velocity of the target by emitting a laser beam to the target and receiving scattered echoes. The detection of the target by the lidar requires the scanning of the detection space by the emitted laser. The currently widely used scanning methods are the optical-mechanical scanning method and the scanning method based on optical phased array devices. The opto-mechanical scanning method is generally realized by a rotating scanning mirror. Since this type of system contains moving parts, the scanning speed is relatively low, and the application is limited. The scanning method based on the optical phased array device does not require mechanical moving parts, and the scanning can be realized by the electronic control method, but due to the limitation of the current device, the scanning angle is small.
专利文献CN108169956A(申请号：201810074424.0)一种基于空间光调制器的低栅瓣多波束扫描方法及系统，涉及光学扫描领域，尤其涉及光学相控阵式多波束的扫描。所述系统包括：光束经过空间光调制器的相位调制后，经透镜聚焦后在透镜焦平面上产生多个焦点，通过控制空间光调制器所加载的相位阵列可以改变焦点在焦平面上的位置以实现二维扫描。Patent document CN108169956A (application number: 201810074424.0) is a low grating lobe multi-beam scanning method and system based on a spatial light modulator, which relates to the field of optical scanning, in particular to optical phased array multi-beam scanning. The system includes: after the light beam is phase-modulated by the spatial light modulator, after being focused by the lens, multiple focal points are generated on the focal plane of the lens, and the position of the focal points on the focal plane can be changed by controlling the phase array loaded by the spatial light modulator for 2D scanning.
实用新型内容Utility model content
针对现有技术中的缺陷，本实用新型的目的是提供一种基于多空间光调制器拼接激光雷达扫描装置。In view of the defects in the prior art, the purpose of the present invention is to provide a laser radar scanning device based on multi-spatial light modulator splicing.
根据本实用新型提供的一种基于多空间光调制器拼接激光雷达扫描装置，包括：A laser radar scanning device based on multi-spatial light modulator splicing provided according to the present invention includes:
光源模块、分光棱镜、探测目标、空间光调制器；Light source module, beam splitter prism, detection target, spatial light modulator;
所述光源模块发射的光束依次经过空间光调制器、分光棱镜后到达探测目标，或者；The light beam emitted by the light source module reaches the detection target after passing through the spatial light modulator and the beam splitting prism in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、空间光调制器后到达探测目标。The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism and the spatial light modulator in sequence.
优选地，还包括投射系统；Preferably, a projection system is also included;
所述光源模块发射的光束依次经过空间光调制器、分光棱镜、投射系统后到达探测目标，或者；The light beam emitted by the light source module reaches the detection target after passing through the spatial light modulator, the beam splitting prism and the projection system in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、空间光调制器、投射系统后到达探测目标。The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism, the spatial light modulator and the projection system in sequence.
优选地，所述光源模块包括：光源、扩束器、偏振片；Preferably, the light source module includes: a light source, a beam expander, and a polarizer;
光源发射的光束依次经过扩束器、偏振片后射出。The light beam emitted by the light source passes through the beam expander and the polarizer in sequence and then exits.
优选地，所述空间光调制器包括以下任一项或任多项：Preferably, the spatial light modulator comprises any one or any of the following:
一个或多个透射式空间光调制器、一个或多个反射式空间光调制器、一个或多个数字微反射镜。One or more transmissive spatial light modulators, one or more reflective spatial light modulators, one or more digital micromirrors.
优选地，所述光源模块发射的光束依次经过透射式空间光调制器、分光棱镜、投射系统后到达探测目标，或者；Preferably, the light beam emitted by the light source module reaches the detection target after passing through a transmissive spatial light modulator, a beam splitting prism, and a projection system in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、反射式空间光调制器、投射系统后到达探测目标，或者；The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism, the reflective spatial light modulator and the projection system in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、数字微反射镜、投射系统后到达探测目标。The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism, the digital micro-mirror and the projection system in sequence.
优选地，所述多个空间光调制器通过分光棱镜的镜像作用拼接到一起。Preferably, the plurality of spatial light modulators are spliced together by mirroring action of a beam splitting prism.
优选地，所述投射系统包括以下任一种：Preferably, the projection system includes any of the following:
广角投射系统、鱼眼镜头。Wide-angle projection system, fisheye lens.
优选地，还包括控制器，所述控制器分别与光源模块、空间光调制器相连。Preferably, a controller is also included, and the controller is respectively connected with the light source module and the spatial light modulator.
优选地，所述扩束器中还包括：Preferably, the beam expander further includes:
针孔滤波器。pinhole filter.
优选地，所述光源包括以下任一种：Preferably, the light source includes any of the following:
单色可见光源、红外激光光源。Monochromatic visible light source, infrared laser light source.
与现有技术相比，本实用新型具有如下的有益效果：Compared with the prior art, the utility model has the following beneficial effects:
1、本实用新型利用空间光调制器的相位调制能力，控制光束的形状和偏转方向，并一次生成多点激光点阵，然后结合空间光调制器的时序刷新能力，快速生成激光扫描点阵，完成对目标空间的扫描探测，提高了激光雷达系统的工作效率。1. The present utility model utilizes the phase modulation capability of the spatial light modulator to control the shape and deflection direction of the light beam, and generates a multi-point laser lattice at one time, and then combines the time sequence refresh capability of the spatial light modulator to quickly generate a laser scanning lattice, The scanning and detection of the target space is completed, which improves the working efficiency of the lidar system.
2、本实用新型解决了现有空间光调制器投射角度有限的问题，采用多空间光调制器曲面无缝拼接方式实现来拓展激光点阵的扫描角度，并在空间光调制器的出射端增加一个广角投射系统，来进一步扩大该系统的投射光束的偏转角度，实现了大角度扫描。2. The present utility model solves the problem that the projection angle of the existing spatial light modulator is limited, and adopts the seamless splicing method of multi-spatial light modulator curved surfaces to expand the scanning angle of the laser dot matrix, and increases the output end of the spatial light modulator. A wide-angle projection system is used to further expand the deflection angle of the projection beam of the system, enabling wide-angle scanning.
3、本实用新型无需机械部件即可完成点阵的扫描，使得激光雷达的扫描系统更加的稳定。3. The utility model can complete the scanning of the dot matrix without mechanical parts, so that the scanning system of the laser radar is more stable.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述，本实用新型的其它特征、目的和优点将会变得更明显：Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:
图1为本实用新型优选例1提供的基于多空间光调制器拼接的大角度激光雷达扫描系统结构示意图1 is a schematic structural diagram of a large-angle lidar scanning system based on multi-spatial light modulator splicing provided by preferred example 1 of the present utility model
图2为本实用新型优选例1提供的多空间光调制器曲面无缝拼接系统结构示意图。FIG. 2 is a schematic structural diagram of a system for seamless splicing of curved surfaces of multiple spatial light modulators provided in Preferred Example 1 of the present invention.
图3为本实用新型优选例1提供的控制模块结构示意图。FIG. 3 is a schematic structural diagram of the control module provided by the preferred example 1 of the present invention.
图4为本实用新型优选例2提供的基于多空间光调制器拼接的激光雷达扫描系统结构示意图。FIG. 4 is a schematic structural diagram of a laser radar scanning system based on multi-spatial light modulator splicing provided by preferred example 2 of the present invention.
图5为本实用新型优选例3提供的基于多空间光调制器拼接的大角度激光雷达扫描系统结构示意图。FIG. 5 is a schematic structural diagram of a large-angle lidar scanning system based on multi-spatial light modulator splicing provided by preferred example 3 of the present invention.
图6为本实用新型优选例1提供的光源模块结构示意图。FIG. 6 is a schematic structural diagram of a light source module provided in Preferred Example 1 of the present invention.
具体实施方式Detailed ways
下面结合具体实施例对本实用新型进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本实用新型，但不以任何形式限制本实用新型。应当指出的是，对本领域的普通技术人员来说，在不脱离本实用新型构思的前提下，还可以做出若干变化和改进。这些都属于本实用新型的保护范围。The present utility model will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
根据本实用新型提供的一种基于多空间光调制器拼接激光雷达扫描装置，包括：A laser radar scanning device based on multi-spatial light modulator splicing provided according to the present invention includes:
光源模块、分光棱镜、探测目标、空间光调制器；Light source module, beam splitter prism, detection target, spatial light modulator;
所述光源模块发射的光束依次经过空间光调制器、分光棱镜后到达探测目标，或者；The light beam emitted by the light source module reaches the detection target after passing through the spatial light modulator and the beam splitting prism in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、空间光调制器后到达探测目标。The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism and the spatial light modulator in sequence.
具体地，还包括投射系统；Specifically, it also includes a projection system;
所述光源模块发射的光束依次经过空间光调制器、分光棱镜、投射系统后到达探测目标，或者；The light beam emitted by the light source module reaches the detection target after passing through the spatial light modulator, the beam splitting prism and the projection system in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、空间光调制器、投射系统后到达探测目标。The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism, the spatial light modulator and the projection system in sequence.
具体地，所述光源模块包括：光源、扩束器、偏振片；Specifically, the light source module includes: a light source, a beam expander, and a polarizer;
光源发射的光束依次经过扩束器、偏振片后射出。The light beam emitted by the light source passes through the beam expander and the polarizer in sequence and then exits.
具体地，所述空间光调制器包括以下任一项或任多项：Specifically, the spatial light modulator includes any one or any of the following:
一个或多个透射式空间光调制器、一个或多个反射式空间光调制器、一个或多个数字微反射镜。One or more transmissive spatial light modulators, one or more reflective spatial light modulators, one or more digital micromirrors.
具体地，所述光源模块发射的光束依次经过透射式空间光调制器、分光棱镜、投射系统后到达探测目标，或者；Specifically, the light beam emitted by the light source module reaches the detection target after passing through the transmissive spatial light modulator, the beam splitting prism, and the projection system in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、反射式空间光调制器、投射系统后到达探测目标，或者；The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism, the reflective spatial light modulator and the projection system in sequence, or;
所述光源模块发射的光束依次经过分光棱镜、数字微反射镜、投射系统后到达探测目标。The light beam emitted by the light source module reaches the detection target after passing through the beam splitting prism, the digital micro-mirror and the projection system in sequence.
具体地，所述多个空间光调制器通过分光棱镜的镜像作用拼接到一起。Specifically, the plurality of spatial light modulators are spliced together by mirroring action of a beam splitting prism.
具体地，所述投射系统包括以下任一种：Specifically, the projection system includes any of the following:
广角投射系统、鱼眼镜头。Wide-angle projection system, fisheye lens.
具体地，还包括控制器，所述控制器分别与光源模块、空间光调制器相连。Specifically, it also includes a controller, which is respectively connected with the light source module and the spatial light modulator.
具体地，所述扩束器中还包括：Specifically, the beam expander also includes:
针孔滤波器。pinhole filter.
具体地，所述光源包括以下任一种：Specifically, the light source includes any of the following:
单色可见光源、红外激光光源。Monochromatic visible light source, infrared laser light source.
下面通过优选例，对本实用新型进行更为具体地说明。The present invention will be described in more detail below through preferred examples.
优选例1：Preferred Example 1:
所述的一种基于多空间光调制器拼接的大角度激光雷达扫描系统如图1所示，包括光源模块、控制模块、空间光调制器1(SLM1)、空间光调制器2(SLM2)、分光棱镜(BS)、投射系统、探测目标。首先控制模块将相应的控制信号通过全息图算法转换为全息图形式，并输出加载到空间光调制器上进行显示，对光源系统入射到空间光调制器上进行调制，从而投射出形状和出射方向单独可控的激光点阵，并利用空间光调制器的时序刷新能力形成更大数量的激光扫描点阵；空间光调制器1(SLM1)、空间光调制器2(SLM2)、分光棱镜(BS)构成多空间光调制器曲面无缝拼接系统，拓展激光点阵的扫描角度，并通过投影系统后，实现对探测目标的大角度扫描。The described large-angle lidar scanning system based on multi-spatial light modulator splicing is shown in Figure 1, including a light source module, a control module, a spatial light modulator 1 (SLM1), a spatial light modulator 2 (SLM2), Beam splitting prism (BS), projection system, detection target. First, the control module converts the corresponding control signal into a hologram form through the hologram algorithm, and outputs the output to the spatial light modulator for display, modulates the light source system incident on the spatial light modulator, thereby projecting the shape and exit direction. Individually controllable laser lattices, and use the timing refresh capability of the spatial light modulator to form a larger number of laser scanning lattices; spatial light modulator 1 (SLM1), spatial light modulator 2 (SLM2), beam splitter prism (BS ) to form a multi-spatial light modulator curved surface seamless splicing system, expand the scanning angle of the laser lattice, and after passing through the projection system, realize a large-angle scanning of the detection target.
所述的空间光调制器可以是反射式液晶空间光调制器、透射式液晶空间光调制器、数字微反射镜器件等。The spatial light modulator can be a reflective liquid crystal spatial light modulator, a transmissive liquid crystal spatial light modulator, a digital micro-mirror device, and the like.
所述的多空间光调制器曲面无缝拼接系统如图2所示，空间光调制器1(SLM1)和空间光调制器2(SLM2)通过分光棱镜(BS)的镜像作用以曲面的形式无缝的拼接到一起，实现激光点阵扫描角度的拓展。单个空间光调制器的扫描角度可表示为：The described multi-spatial light modulator curved surface seamless splicing system is shown in Figure 2. Spatial light modulator 1 (SLM1) and spatial light modulator 2 (SLM2) are in the form of curved surfaces through the mirror effect of the beam splitting prism (BS). The slits are spliced together to realize the expansion of the laser lattice scanning angle. The scan angle of a single spatial light modulator can be expressed as:
式中，In the formula,
θ1表示单个空间光调制器的扫描角度θ 1 represents the scan angle of a single spatial light modulator
θ2表示单个空间光调制器的扫描角度θ 2 represents the scan angle of a single spatial light modulator
λ为入射光的波长，λ is the wavelength of the incident light,
p为空间光调制器的像素大小。p is the pixel size of the spatial light modulator.
因此，曲面拼接后的扫描角度可以拓展为θt＝4·arcsin(λ/2p)Therefore, the scanning angle after surface splicing can be extended to θ t =4·arcsin(λ/2p)
其中，in,
θt表示曲面拼接后的扫描角度。θ t represents the scanning angle after surface splicing.
所述的多空间光调制器曲面无缝拼接系统中空间光调制器的数量不局限于2个，当空间光调制器的数量为n个时，扫描角度可以拓展为：The number of spatial light modulators in the multi-spatial light modulator curved surface seamless splicing system is not limited to 2. When the number of spatial light modulators is n, the scanning angle can be extended to:
其中，in,
n表示空间光调制器的数量；n represents the number of spatial light modulators;
所述投射系统可以是广角投射系统或者是鱼眼镜头，用来进一步拓展多空间光调制器曲面无缝拼接系统投射出的激光点阵的扫描角度，实现对探测目标的大角度扫描。The projection system can be a wide-angle projection system or a fish-eye lens, which is used to further expand the scanning angle of the laser dot matrix projected by the multi-spatial light modulator curved surface seamless splicing system, so as to realize the large-angle scanning of the detection target.
所述的光源模块主要完成对空间光调制的照明工作，如图6所示，主要包括光源、扩束器、偏振片。光源为具有相干性的一个单色可见或者红外的激光光源；扩束器用来对光源进行扩束整形，形成平行光束或者发散光束入射到空间光调制器上，同时可以通过扩束器里面可以增加针孔滤波兼具滤波作用以提高光束质量；偏振片用来控制入射光束的偏振态以保证空间光调制器的工作状态。The light source module mainly completes the lighting work for spatial light modulation, as shown in FIG. 6 , and mainly includes a light source, a beam expander, and a polarizer. The light source is a monochromatic visible or infrared laser light source with coherence; the beam expander is used to expand and shape the light source to form a parallel beam or a diverging beam incident on the spatial light modulator. The pinhole filter also has the function of filtering to improve the beam quality; the polarizer is used to control the polarization state of the incident beam to ensure the working state of the spatial light modulator.
所述的控制模块主要完成控制信号的全息图算法计算、加载以及空间光调制和光源的同步控制工作。如图3所示，控制模块主要包括主控制单元、控制程序界面、外部通信接口、存储单元、全息图生成单元、多SLMs同步控制单元、SLM驱动单元、光源驱动单元、以及接收系统通信接口。The control module mainly completes the calculation and loading of the hologram algorithm of the control signal, and the synchronous control of the spatial light modulation and the light source. As shown in Figure 3, the control module mainly includes a main control unit, a control program interface, an external communication interface, a storage unit, a hologram generation unit, a multi-SLMs synchronization control unit, an SLM drive unit, a light source drive unit, and a receiving system communication interface.
主控制单元完成整个系统的控制工作；控制程序界面主要提供人机接口界面；外部通信接口主要包括视频、数据等有线接口，或无线、蓝牙、红外等无线接口接收外部数据；全息图生成单元将对应的控制信号通过全息图算法生成全息图，并通过主控制单元输出到空间光调制器驱动单元上，从而驱动空间光调制对入射到其上的光束进行调制从而输出对应的激光点阵；SLMs同步控制单元用来对多个空间光调制器进行同步控制；主控制单元还可以通过内部或者外部的存储单元事先存储的全息图输出到空间光调制器上；主控制单元可以实现对空间光调制和光源的同步驱动；主控制单元可以通过接收系统通信接口与激光雷达的接受系统实现同步控制。The main control unit completes the control work of the entire system; the control program interface mainly provides the human-machine interface interface; the external communication interface mainly includes wired interfaces such as video and data, or wireless interfaces such as wireless, bluetooth, and infrared to receive external data; the hologram generation unit will The corresponding control signal generates a hologram through the hologram algorithm, and outputs it to the spatial light modulator driving unit through the main control unit, so as to drive the spatial light modulation to modulate the light beam incident on it to output the corresponding laser lattice; SLMs The synchronization control unit is used for synchronous control of multiple spatial light modulators; the main control unit can also output the hologram stored in advance in the internal or external storage unit to the spatial light modulator; the main control unit can realize the spatial light modulation Synchronous drive with the light source; the main control unit can achieve synchronous control with the receiving system of the laser radar through the receiving system communication interface.
空间光调制器通过加载到其上的全息图对入射光束进行调制，一次生成偏转角度单独可控的多点激光点阵，该方法可以是将全息图进行分块，每个子块加载不同的数字闪耀光栅，通过控制数字闪耀光栅的周期，即可实现光束偏转角度的控制。数字闪耀光栅对光束出射方向的改变大小为：The spatial light modulator modulates the incident beam through the hologram loaded on it, and generates a multi-point laser lattice with individually controllable deflection angles at one time. For blazed gratings, the beam deflection angle can be controlled by controlling the period of the digital blazed gratings. The magnitude of the change of the digital blazed grating to the beam exit direction is:
式中，λ为入射光的波长，p为空间光调制器的像素大小，T表示每个周期所占的空间光调制器的像素个数。In the formula, λ is the wavelength of the incident light, p is the pixel size of the spatial light modulator, and T is the number of pixels of the spatial light modulator occupied by each cycle.
优选例2：Preferred example 2:
一种基于多空间光调制器拼接的激光雷达扫描系统，没有投射系统，空间光调制器投射出的激光点阵直接多探测目标进行扫描，如图4所示。A lidar scanning system based on multi-spatial light modulator splicing has no projection system, and the laser lattice projected by the spatial light modulator directly scans multiple detection targets, as shown in Figure 4.
优选例3：Preferred example 3:
一种基于多空间光调制器拼接的大角度激光雷达扫描系统，透射式空间光调制器。两个光源模块分别对不同空间光调制器提供照明，如图5所示。A large-angle lidar scanning system based on multi-spatial light modulator splicing, a transmissive spatial light modulator. The two light source modules respectively provide illumination for different spatial light modulators, as shown in FIG. 5 .
优选例4：Preferred example 4:
一种基于多空间光调制器拼接的大角度激光雷达扫描系统，采用反射式空间光调制器。A large-angle lidar scanning system based on the splicing of multiple spatial light modulators adopts a reflective spatial light modulator.
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the indicated device. Or elements 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.
本领域技术人员知道，除了以纯计算机可读程序代码方式实现本实用新型提供的系统、装置及其各个模块以外，完全可以通过将方法步骤进行逻辑编程来使得本实用新型提供的系统、装置及其各个模块以逻辑门、开关、专用集成电路、可编程逻辑控制器以及嵌入式微控制器等的形式来实现相同程序。所以，本实用新型提供的系统、装置及其各个模块可以被认为是一种硬件部件，而对其内包括的用于实现各种程序的模块也可以视为硬件部件内的结构；也可以将用于实现各种功能的模块视为既可以是实现方法的软件程序又可以是硬件部件内的结构。Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in the form of pure computer-readable program codes, the system, device and its modules provided by the present invention can be completely implemented by logically programming the method steps. Each module implements the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system, device and each module provided by the present invention can be regarded as a kind of hardware component, and the modules used for realizing various programs included in it can also be regarded as the structure in the hardware component; Modules for realizing various functions are considered to be either software programs for realizing methods or structures within hardware components.
以上对本实用新型的具体实施例进行了描述。需要理解的是，本实用新型并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本实用新型的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essential content of the present invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily, provided that there is no conflict.
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| CN113446963A (en) * | 2021-06-08 | 2021-09-28 | 同济大学 | Angle measuring system based on phased array and measuring method thereof |
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| CN110596677A (en) * | 2019-09-23 | 2019-12-20 | 上海影创信息科技有限公司 | LiDAR scanning device and system based on multi-spatial light modulator splicing |
| CN113446963A (en) * | 2021-06-08 | 2021-09-28 | 同济大学 | Angle measuring system based on phased array and measuring method thereof |
| CN113446963B (en) * | 2021-06-08 | 2022-06-21 | 同济大学 | Angle measuring system based on phased array and measuring method thereof |
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