CN109061607B - Laser radar scanning angle amplifying device and laser radar system - Google Patents
Laser radar scanning angle amplifying device and laser radar system Download PDFInfo
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- CN109061607B CN109061607B CN201811106003.8A CN201811106003A CN109061607B CN 109061607 B CN109061607 B CN 109061607B CN 201811106003 A CN201811106003 A CN 201811106003A CN 109061607 B CN109061607 B CN 109061607B
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- 230000003287 optical effect Effects 0.000 claims abstract description 68
- 210000001747 pupil Anatomy 0.000 claims abstract description 41
- 239000004973 liquid crystal related substance Substances 0.000 claims description 65
- 230000010287 polarization Effects 0.000 claims description 65
- 230000009467 reduction Effects 0.000 claims description 12
- 230000003321 amplification Effects 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
- 210000000887 face Anatomy 0.000 abstract 2
- 230000008859 change Effects 0.000 description 7
- 230000010354 integration Effects 0.000 description 5
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar scanning angle amplifying device and a laser radar system, wherein the laser radar scanning angle amplifying device comprises; a laser emitter for emitting a beam of light; the light incidence end of the collimator faces the light emergence end of the laser transmitter; the reflecting surface of the scanning piece faces to the light emitting end of the collimator and can rotate relative to the light emitting end of the collimator; the beam shrinking system comprises an optical beam shrinking unit, a scanning piece is arranged at an entrance pupil of the optical beam shrinking unit, a light incident end of the optical beam shrinking unit faces to the reflecting surface, when the reflecting surface rotates by a first preset angle relative to the collimator, an emergent angle of a light beam reflected by the reflecting surface rotates by a second preset angle, a light beam emergent by an emergent end of the optical beam shrinking unit rotates by a third preset angle, and the third preset angle is larger than the second preset angle. The laser radar scanning angle amplifying device has no mechanical movement, and the scanning angle amplifying amplitude is larger.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar scanning angle amplifying device and a laser radar system.
Background
The laser radar is a system for detecting the characteristic quantities of the position, the speed and the like of a target by emitting laser beams, and is widely applied to the field of laser detection. To accommodate two-dimensional and/or three-dimensional detection, the laser beam emitted by the lidar needs to be scanned rotationally. In order to achieve a larger scanning speed, the scanning angle of the high-speed laser radar is usually small, which is not beneficial to scanning in a large range of space.
The existing large-angle scanning method utilizes a mechanical turning mirror to deflect at a large angle, and vibration coupling is brought about in the mode, and the scanning angle is limited.
Disclosure of Invention
Based on this, aiming at the problems that vibration coupling is easy to be caused by deflection of a traditional mechanical turning mirror and the scanning angle is limited, it is necessary to provide a laser radar scanning angle amplifying device and a laser radar system, wherein the laser radar scanning angle amplifying device amplifies the scanning angle in an optical beam shrinking mode of an optical beam shrinking unit, the amplifying method has no mechanical movement, no power consumption or extremely low power consumption, no modulation or extremely low modulation frequency, larger scanning angle amplifying amplitude and can obtain a more accurate scanning angle; the laser radar system comprises the laser radar scanning angle amplifying device, so that the laser radar system amplifies the scanning angle to a larger extent.
The specific technical scheme is as follows:
In one aspect, the present invention relates to an amplifying device for a laser radar scan angle, comprising; a laser emitter for emitting a beam of light; the light incidence end of the collimator faces the light emergence end of the laser transmitter and is used for collimating the light beam; the reflecting surface of the scanning piece faces the light emitting end of the collimator and can rotate relative to the light emitting end of the collimator so as to adjust the scanning angle of the scanning piece; the beam shrinking system comprises an optical beam shrinking unit, the scanning piece is arranged at an entrance pupil of the optical beam shrinking unit, a light incident end of the optical beam shrinking unit faces the reflecting surface, when the reflecting surface rotates by a first preset angle relative to the collimator, a light beam reflected by the reflecting surface rotates by a second preset angle, and a light beam emitted by an emitting end of the optical beam shrinking unit rotates by a third preset angle, wherein the third preset angle is larger than the second preset angle.
When the amplification device of the laser radar scanning angle is used, the scanning piece is arranged at the entrance pupil of the optical beam shrinking unit, so that the light beam only deflects at the entrance pupil position without position change, and when the scanning piece rotates a first preset angle, the light beam position at the exit pupil is unchanged because the exit pupil is an image of the entrance pupil, and only the angle of the light beam is changed, so that the size of a laser radar window can be smaller, and integration is facilitated; when the laser radar scanning angle amplifying device is used, the light beam emitted by the laser emitter is collimated, the light beam is emitted to the scanning piece in a certain width, the reflection surface of the scanning piece reflects the light speed, the reflected light beam is emitted to the light incidence end of the optical beam shrinking unit, when the scanning piece rotates by a first preset angle, the light beam reflected by the reflection surface rotates by a second preset angle, the light beam emitted by the emitting end of the optical beam shrinking unit rotates by a third preset angle, and the third preset angle is larger than the second preset angle.
The technical scheme is further described as follows:
In one embodiment, the amplifying device for the laser radar scanning angle further includes an auxiliary amplifying unit, the auxiliary amplifying unit is disposed at an exit pupil of the optical beam shrinking unit, a light entrance end of the auxiliary amplifying unit faces a light exit end of the optical beam shrinking unit, when the reflecting surface rotates relative to the collimator by the first preset angle, an exit angle of a light beam reflected by the reflecting surface rotates by the second preset angle, a light beam exiting through the exit end of the optical beam shrinking unit rotates by the third preset angle, and a light beam exiting through the exit end of the auxiliary amplifying unit rotates by a fourth preset angle, wherein the fourth preset angle is larger than the third preset angle.
In one embodiment, the auxiliary amplifying unit includes a liquid crystal polarization grating, the liquid crystal polarization grating is disposed at an exit pupil of the optical beam shrinking unit, and a light incident end of the liquid crystal polarization grating faces a light emitting end of the optical beam shrinking unit.
In one embodiment, the number of the liquid crystal polarization gratings is at least two, and all the liquid crystal polarization gratings are arranged at intervals along the same direction.
In one embodiment, the liquid crystal polarization grating comprises a first liquid crystal polarization grating for deflecting the light beam along a first direction and a second liquid crystal polarization grating for deflecting the light beam along a second direction, wherein the first liquid crystal polarization grating and the second liquid crystal polarization grating are arranged at intervals, the light incident end of the first liquid crystal polarization grating faces the light emergent end of the optical beam shrinking unit, and the light emergent end of the first liquid crystal polarization grating faces the light incident end of the second liquid crystal polarization grating.
In one embodiment, the liquid crystal polarization grating includes a connection for connection to an external power source.
In one embodiment, the auxiliary amplifying unit includes a volume bragg grating, the volume bragg grating is disposed at an exit pupil of the optical beam shrinking unit, and a light incident end of the volume bragg grating faces a light emitting end of the optical beam shrinking unit.
In one embodiment, the auxiliary amplifying unit comprises a plano-concave cylindrical lens, the plano-concave cylindrical lens comprises a concave surface, the cross section of the concave surface is a circular arc cross section, the center of the circular arc cross section is arranged at the exit pupil of the optical beam shrinking unit, and the concave surface faces the light exit end of the optical beam shrinking unit.
In one embodiment, the optical beam condensing unit includes a first light condensing member and a second light condensing member, the first light condensing member and the second light condensing member are disposed at intervals, a distance value between the first light condensing member and the second light condensing member is equal to a sum of a focal length value of the first light condensing member and a focal length value of the second light condensing member, and the focal length value of the first light condensing member is greater than the focal length value of the second light condensing member.
In another aspect, the invention also relates to a laser radar system, which comprises a laser radar scanning angle amplifying device.
When the laser radar system is used, the scanning piece is arranged at the entrance pupil of the optical beam shrinking unit, so that the light beam only deflects at the position of the entrance pupil without position change, and when the scanning piece rotates by a first preset angle, the position of the light beam at the exit pupil is unchanged because the exit pupil is an image of the entrance pupil, and the size of a laser radar window can be smaller as long as the angle of the light beam is changed, so that the integration is convenient; when the laser radar scanning angle amplifying device is used, the light beam emitted by the laser emitter is collimated, the light beam is emitted to the scanning piece in a certain width, the reflection surface of the scanning piece reflects the light speed, the reflected light beam is emitted to the light incidence end of the optical beam shrinking unit, when the scanning piece rotates by a first preset angle, the light beam reflected by the reflection surface rotates by a second preset angle, the light beam emitted by the emitting end of the optical beam shrinking unit rotates by a third preset angle, and the third preset angle is larger than the second preset angle.
Drawings
FIG. 1 is an enlarged view of the laser radar scanning angle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an auxiliary amplifying unit according to an embodiment of the present invention;
FIG. 3 is a schematic view of a plano-concave cylindrical lens according to an embodiment of the present invention;
Fig. 4 is a schematic diagram of a bulk bragg grating structure according to an embodiment of the present invention.
Reference numerals illustrate:
100. The laser radar scanning angle amplifying device comprises a laser radar scanning angle amplifying device 110, a laser emitter 120, a collimator 130, a scanning piece 140, a beam shrinking unit 142, a first light gathering piece 144, a second light gathering piece 150, an auxiliary amplifying unit 152, a first liquid crystal polarization grating 154, a second liquid crystal polarization grating 160, a plano-concave cylindrical lens 162, a concave surface 170, a volume Bragg grating 200 and a light beam.
Detailed Description
The present invention will be further described in detail with reference to the drawings and the detailed description, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
It will be understood that when an element is referred to as being "mounted" on another element, it can be integrated or be detachably connected.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Further, it is also to be understood that, in the present embodiment, the positional relationship indicated by the terms "lower", "upper", "front", "rear", "left", "right", "inner", "outer", "top", "bottom", "one side", "another side", "one end", "the other end", and the like are based on the positional relationship shown in the drawings; the terms "first," "second," and the like are used to distinguish between different structural components. These terms are only used to facilitate the description of the invention and to simplify the description, and should not be construed as limiting the invention.
As shown in fig. 1, an amplifying device 100 for laser radar scanning angle in an embodiment includes a laser emitter 110, a collimator 120, a scanning element 130, and a beam shrinking system, where the laser emitter 110 is used to emit a light beam 200; the light incident end of the collimator 120 faces the light emitting end of the laser emitter 110, and is used for collimating the light beam 200; the reflecting surface of the scanning element 130 faces the light emitting end of the collimator 120, and the reflecting surface can rotate relative to the light emitting end of the collimator 120, so as to adjust the scanning angle of the scanning element 130; the beam shrinking system comprises an optical beam shrinking unit, the scanning piece 130 is arranged at an entrance pupil of the optical beam shrinking unit, a light incident end of the optical beam shrinking unit faces the reflecting surface, when the reflecting surface rotates by a first preset angle relative to the collimator 120, an emergence angle of a light beam reflected by the reflecting surface rotates by a second preset angle, and a light beam 200 emergent by an emergence end of the optical beam shrinking unit rotates by a third preset angle, wherein the third preset angle is larger than the second preset angle.
When the laser radar scanning angle amplifying device 100 is used, the scanning piece 130 is arranged at the entrance pupil of the optical beam shrinking unit, so that the beam 200 is only deflected at the entrance pupil position without position change, and when the scanning piece rotates by a first preset angle, the position of the beam 200 at the exit pupil is unchanged because the exit pupil is an image of the entrance pupil, and only the angle of the beam 200 is changed, so that the size of a laser radar window can be smaller, and integration is facilitated; further, when in use, the collimator 120 collimates the light beam 200 emitted by the laser emitter 110, so that the light beam 200 is emitted to the scanning element 130 with a certain width, the reflection surface of the scanning element 130 reflects the light speed, the reflected light beam 200 is emitted to the light incidence end of the optical beam shrinking unit, when the scanning element rotates by a first preset angle, the light beam 200 reflected by the reflection surface rotates by a second preset angle, the light beam 200 emitted by the emitting end of the optical beam shrinking unit rotates by a third preset angle, and the third preset angle is larger than the second preset angle, thus, the scanning angle of the scanning element 130 is amplified, and the amplifying device 100 of the laser radar scanning angle amplifies the scanning angle in an optical beam shrinking mode of the optical beam shrinking unit. Specifically, the collimator 120 is a collimator lens or other collimating unit, and in this embodiment, the collimator 120 is a collimator lens.
On the basis of the above embodiment, the laser radar scanning angle amplifying device 100 further includes an auxiliary amplifying unit 150.
As shown in fig. 2, the auxiliary amplifying unit 150 is disposed at an exit pupil of the optical beam shrinking unit, a light entrance end of the auxiliary amplifying unit 150 faces a light exit end of the optical beam shrinking unit, when the reflecting surface rotates by a first preset angle relative to the collimator 120, an exit angle of a light beam reflected by the reflecting surface rotates by a second preset angle, a light beam 200 exiting through the exit end of the optical beam shrinking unit rotates by a third preset angle, and a light beam 200 exiting through the exit end of the auxiliary amplifying unit 150 rotates by a fourth preset angle, wherein the fourth preset angle is greater than the third preset angle. In this way, the light beam 200 is only deflected at the position of the entrance pupil without position change, when the scanning member rotates by the first preset angle, because the exit pupil is an image of the entrance pupil, the position of the light beam 200 at the exit pupil is unchanged, and the auxiliary amplifying unit 150 is arranged at the exit pupil, and the size of the secondary auxiliary amplifying unit 150 can be smaller, so that integration is facilitated; further, the scan angle is further enlarged by the auxiliary enlarging unit 150, and the scan range of the scan plane is increased. On the basis of this embodiment, the auxiliary amplifying unit 150 includes a liquid crystal polarization grating disposed at the exit pupil of the optical beam reduction unit, with the light incident end of the liquid crystal polarization grating facing the light exit end of the optical beam reduction unit. Thus, since the liquid crystal polarization grating generates an angle by modulating the phase of circularly polarized light, when a beam of light passes through the liquid crystal polarization grating, the beam 200 of outgoing light is different from the beam 200 of incoming light by one PB phase, thereby realizing the change of the scanning angle.
On the basis of any of the above embodiments, the number of the liquid crystal polarization gratings is at least two, and all the liquid crystal polarization gratings are arranged at intervals along the same direction. Thus, the multi-stage magnification of the scanning angle of the scanning member is realized.
On the basis of any of the above embodiments, the liquid crystal polarization grating includes a first liquid crystal polarization grating 152 for deflecting the light beam 200 in the first direction, and a second liquid crystal polarization grating 154 for deflecting the light beam 200 in the second direction, the first liquid crystal polarization grating 152 and the second liquid crystal polarization grating 154 are disposed at intervals, a light incident end of the first liquid crystal polarization grating 152 faces a light emitting end of the optical beam shrinking unit, and a light emitting end of the first liquid crystal polarization grating 152 faces a light incident end of the second liquid crystal polarization grating 154. Thus, in use, by setting the internal structure of the liquid crystal polarization grating, the first liquid crystal polarization grating 152 is set as a liquid crystal polarization grating capable of deflecting the light beam 200 in the vertical direction, and the second liquid crystal polarization grating 154 is set as a liquid crystal polarization grating capable of deflecting the light beam 200 in the horizontal direction, so that when the light beam 200 passes through the first liquid crystal polarization grating 152 and the second liquid crystal polarization grating 154, the light beam 200 can deflect in the horizontal and vertical directions at the same time, and further, the scanning range of the amplifying device 100 of the laser radar scanning angle is increased while the scanning angle is increased. In this embodiment, the number of the first liquid crystal polarization gratings 152 is three, the three first liquid crystal polarization gratings 152 are arranged at intervals, the number of the second liquid crystal polarization gratings 154 is three, and the three second liquid crystal polarization gratings 154 are arranged at intervals, so that three-level angle amplification in the vertical direction can be achieved when the light beam 200 passes through the three first liquid crystal polarization gratings 152, and then three-level angle amplification in the horizontal direction can be achieved when the light beam passes through the three second liquid crystal polarization gratings 154. Of course, the number of the first liquid crystal polarization gratings 152 may be more than three, and the number of the second liquid crystal polarization gratings 154 may be more than three, so long as all the first liquid crystal polarization gratings 152 are arranged at intervals, all the second liquid crystal polarization gratings 154 are arranged at intervals, and the light emitting end of the endmost first liquid crystal polarization grating 152 faces the endmost second liquid crystal polarization grating 154.
In addition to any of the above embodiments, the liquid crystal polarization grating includes a connection portion for connection to an external power source. Therefore, after the liquid crystal polarization grating is powered on, the liquid crystal polarization grating can change incident light into a specific angle to be emitted, the angle modulation effect disappears after the power is turned off, positive and negative angles can be obtained according to different power-on, the modulation of the angle of the light beam 200 is realized, and the scanning angle is changed.
In other embodiments of the present invention, the auxiliary amplifying unit 150 includes a volume bragg grating 170.
As shown in fig. 4, the volume bragg grating 170 is disposed at the exit pupil of the optical beam reduction unit, and the light incident end of the volume bragg grating 170 faces the light emitting end of the optical beam reduction unit. Since the volume bragg grating 170 is a three-dimensional grating, ultraviolet rays are adopted to form interference in special glass, so that the refractive index of the glass is permanently changed, and the grating effect is generated after the light beam 200 passes through the grating, so that the exit angle is changed, and the amplification of the scanning angle is realized.
In other embodiments of the present invention, auxiliary magnification unit 150 includes a plano-concave cylindrical lens 160.
As shown in fig. 3, the plano-concave cylindrical lens 160 includes a concave surface 162, the cross section of the concave surface 162 is a circular arc cross section, the center of the circular arc cross section is disposed at the exit pupil of the optical beam shrinking unit, and the concave surface 162 faces the light emitting end of the optical beam shrinking unit. Since plano-concave cylindrical lens 160 uses the refraction principle to refract light beam 200 at a larger angle, this method is simple and low cost.
On the basis of any of the above embodiments, referring to fig. 1, the optical beam shrinking unit 140 includes a first light gathering member 142 and a second light gathering member 144, the first light gathering member 142 and the second light gathering member 144 are disposed at intervals, a distance value between the first light gathering member 142 and the second light gathering member 144 is equal to a sum of a focal length value of the first light gathering member 142 and a focal length value of the second light gathering member 144, and the focal length value of the first light gathering member 142 is greater than the focal length value of the second light gathering member 144. In this way, the first light-gathering member 142 and the second light-gathering member 144 form a 4F beam-shrinking system, the collimated parallel light beam 200 enters from the first light-gathering member 142, and still is parallel light from the second light-gathering member 144, the beam-shrinking ratio is the focal length ratio of the first light-gathering member 142 and the second light-gathering member 144, and the angle-enlarging ratio is the focal length ratio of the first light-gathering member 142 and the second light-gathering member 144. By means of optical design, a maximum of 10 times of scan angle magnification can be achieved in practice by means of beam shrinking. In this embodiment, the first condenser 142 is a first positive lens, and the second condenser 144 is a second positive lens.
In another aspect, the present invention also relates to a lidar system comprising a laser radar scanning angle amplifying device 100.
When the laser radar system is used, the scanning piece 130 is arranged at the entrance pupil of the optical beam shrinking unit, so that the light beam 200 only deflects at an angle at the entrance pupil position without position change, and when the scanning piece rotates by a first preset angle, the position of the light beam 200 at the exit pupil is unchanged because the exit pupil is an image of the entrance pupil, and only the angle of the light beam 200 is changed, so that the size of a laser radar window can be smaller, and integration is facilitated; further, when in use, the collimator 120 collimates the light beam 200 emitted by the laser emitter 110, so that the light beam 200 is emitted to the scanning element 130 with a certain width, the reflection surface of the scanning element 130 reflects the light speed, the reflected light beam 200 is emitted to the light incidence end of the optical beam shrinking unit, when the scanning element rotates by a first preset angle, the light beam 200 reflected by the reflection surface rotates by a second preset angle, the light beam 200 emitted by the emitting end of the optical beam shrinking unit rotates by a third preset angle, the third preset angle is larger than the second preset angle, and thus the scanning angle of the scanning element 130 is amplified, and the amplifying device 100 of the laser radar scanning angle amplifies the scanning angle in an optical beam shrinking mode of the optical beam shrinking unit.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An amplifying device for a laser radar scanning angle, comprising;
a laser emitter for emitting a beam of light;
The light incidence end of the collimator faces the light emergence end of the laser transmitter and is used for collimating the light beam;
The reflecting surface of the scanning piece faces the light emitting end of the collimator and can rotate relative to the light emitting end of the collimator so as to adjust the scanning angle of the scanning piece; and
The beam shrinking system comprises an optical beam shrinking unit, the scanning piece is arranged at an entrance pupil of the optical beam shrinking unit, a light incident end of the optical beam shrinking unit faces the reflecting surface, when the reflecting surface rotates by a first preset angle relative to the collimator, a light beam reflected by the reflecting surface rotates by a second preset angle, and a light beam emitted by an emitting end of the optical beam shrinking unit rotates by a third preset angle, wherein the third preset angle is larger than the second preset angle;
The optical beam shrinking unit comprises a first light gathering piece and a second light gathering piece, the first light gathering piece and the second light gathering piece are positive lenses, the first light gathering piece and the second light gathering piece are arranged at intervals, the distance value between the first light gathering piece and the second light gathering piece is equal to the sum of the focal length value of the first light gathering piece and the focal length value of the second light gathering piece, and the focal length value of the first light gathering piece is larger than the focal length value of the second light gathering piece.
2. The apparatus according to claim 1, further comprising an auxiliary amplifying unit disposed at an exit pupil of the optical beam reduction unit, a light entrance end of the auxiliary amplifying unit facing a light exit end of the optical beam reduction unit, an exit angle of a light beam reflected by the reflecting surface rotating by the second preset angle, a light beam exiting by the exit end of the optical beam reduction unit rotating by the third preset angle, and a light beam exiting by the exit end of the auxiliary amplifying unit rotating by a fourth preset angle when the reflecting surface rotates by the first preset angle with respect to the collimator, wherein the fourth preset angle is larger than the third preset angle.
3. The apparatus according to claim 2, wherein the auxiliary amplifying unit includes a liquid crystal polarization grating disposed at an exit pupil of the optical beam reduction unit, a light incident end of the liquid crystal polarization grating being directed toward a light exit end of the optical beam reduction unit.
4. The apparatus according to claim 3, wherein the number of the liquid crystal polarization gratings is at least two, and all the liquid crystal polarization gratings are arranged at intervals along the same direction.
5. The apparatus according to claim 4, wherein the liquid crystal polarization grating includes a first liquid crystal polarization grating for deflecting the light beam in a first direction, and a second liquid crystal polarization grating for deflecting the light beam in a second direction, the first liquid crystal polarization grating and the second liquid crystal polarization grating being disposed at a spacing, a light incident end of the first liquid crystal polarization grating being directed toward a light emitting end of the optical beam reduction unit, and a light emitting end of the first liquid crystal polarization grating being directed toward a light incident end of the second liquid crystal polarization grating.
6. The apparatus for amplifying a laser radar scan angle according to claim 5, wherein said liquid crystal polarization grating includes a connection portion for connection to an external power source.
7. The apparatus according to claim 2, wherein the auxiliary amplifying unit includes a volume bragg grating disposed at an exit pupil of the optical beam reduction unit, a light incident end of the volume bragg grating facing a light exit end of the optical beam reduction unit.
8. The magnification device of a laser radar scanning angle according to claim 2, wherein the auxiliary magnification unit includes a plano-concave cylindrical lens, the plano-concave cylindrical lens includes a concave surface, a cross section of the concave surface is a circular arc cross section, a center of the circular arc cross section is disposed at an exit pupil of the optical beam shrinking unit, and the concave surface faces a light exit end of the optical beam shrinking unit.
9. The apparatus for amplifying a scanning angle of a lidar according to claim 1, wherein the collimator is a collimator lens.
10. A lidar system comprising a lidar scanning angle amplification device according to any of claims 1 to 9.
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