CN108693504A - Phased-array laser transmitter unit and control method, laser radar - Google Patents
Phased-array laser transmitter unit and control method, laser radar Download PDFInfo
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- CN108693504A CN108693504A CN201710433352.XA CN201710433352A CN108693504A CN 108693504 A CN108693504 A CN 108693504A CN 201710433352 A CN201710433352 A CN 201710433352A CN 108693504 A CN108693504 A CN 108693504A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of laser radar and its phased-array laser transmitter units.Since the multi-path laser emitted through multiple light emitting antennas is relevant, therefore multi-path laser can obtain antenna pattern in far field by interference, to form strongest main beam in specific direction.Further, the wavelength of laser beam can be changed in adjustable laser light source, to make the phase of multi-path laser also accordingly change, and then obtains different antenna patterns in far field.The wavelength of laser beam is changed by preset rules, then can obtain various radiation direction patterns in far field, therefore laser radar just can realize comprehensive monitoring without mechanical gyro unit, to be conducive to reduce volume.Moreover, the rate of laser radar scanning is determined by the frequency of phase change, and the frequency of phase change is related with the frequency that laser beam wavelength changes, and is not limited by mechanical gyro unit rotating speed.Therefore, the sweep speed of laser radar is faster.In addition, the present invention also provides a kind of phased-array laser emission control methods.
Description
Technical field
The present invention relates to technical field of laser detection, more particularly to a kind of phased-array laser transmitter unit and control method,
Laser radar.
Background technology
Laser radar is a kind of sensor with lidar light detection and ranging, principle and common sound radar and sonar class
Seemingly.Go out laser pulse to objective emission with emitter, is measured by reception device and return to delay and the intensity of pulse to survey
Measure the distance and reflectivity of target.
For the monitoring for realizing comprehensive, radar need to carry out the scanning in 360 degree of spaces.Traditional radar is generally driven using machinery
Dynamic pattern, i.e. mechanical device drive the transmitter unit all-direction rotation of radar, to realize 360 degree of scannings.But it is such
Radar uses bulky mechanical device so that sweep speed is slow.Moreover, mechanical rotation device is difficult to continue just after failure
It is often used.
Similar with traditional ordinary radar, laser radar currently on the market also uses the mode of mechanical rotation to carry out 360
The spacescan of degree.This has resulted in laser radar as conventional radar, and product is big with volume, scanning is slow, at high price
The shortcomings that with being difficult to continue normal use after mechanical device failure, to be unfavorable for large-scale use in consumer electronics field.
Invention content
Based on this, it is necessary to the problem big for existing laser radar volume, scanning is slow, provide it is a kind of can reduce volume and
Improve the phased-array laser transmitter unit and control method, laser radar of sweep speed.
A kind of phased-array laser transmitter unit, including:
Adjustable laser light source presses the laser beam of preset rules variation for generation wavelength;
Laser beam splitter component, including light incident side and multiple light exit sides, the light incident side and the adjustable laser
Light source is connected to, and the laser beam is emitted from the multiple light exit side respectively after the light incident side incidence, more to obtain
Road laser;And
It is multiple for emitting the light emitting antennas of the multi-path laser respectively, the multiple light emitting antenna respectively with it is described
Light exit side coordinates, to form laser optical path that is multiple parallel with one another and being transmitted for the multi-path laser;
Wherein, the length of optical waveguide between the light incident side and each laser optical path end is different, so that through
Phase difference is generated between the multi-path laser of the multiple light emitting antenna transmitting.
The laser beam splitter component is the photo-coupler with multiple output ends or light beam splitting in one of the embodiments,
Device.
The photo-coupler is edge couplers or grating coupler, the beam splitter in one of the embodiments,
For directional coupler or multimode interference.
The multiple light emitting antenna is distributed in one-dimensional array in one of the embodiments,.
Light between the light incident side and the laser optical path end of arbitrary neighborhood two in one of the embodiments,
The length difference of waveguide is identical.
The multiple light emitting antenna is in two-dimensional array in one of the embodiments,.
The light emitting antenna is grating coupler in one of the embodiments,.
A kind of laser radar, including:
Phased-array laser transmitter unit as described in any one of above preferred embodiment;
Echo receiving unit interferes the main beam to be formed to reflect institute through subject matter for receiving the multi-path laser in far field
The echo-signal of generation;And
With the phased-array laser transmitter unit and the processor of Echo receiving unit communication connection.
A kind of phased-array laser emission control method, including step:
Generation wavelength presses the laser beam of preset rules variation;
Make the laser beam it is multiple with the light path of different length optical waveguide in transmit, to be existed between each other
The multi-path laser of phase difference;
Emit the multi-path laser.
The multi-path laser emits along one-dimensional array direction in one of the embodiments, and described in two beam of arbitrary neighborhood
The phase difference of multi-path laser is identical.
Above-mentioned phased-array laser transmitter unit and control method, laser radar are sent out by laser beam splitter component and multiple light
Antenna cooperation is penetrated, multi-path laser can be sent out.And since the multi-path laser frequency emitted through multiple light emitting antennas is identical and exists
Fixed skew, therefore multi-path laser can obtain antenna pattern in far field by interference, it is most strong to be formed in particular directions
Main beam, realize scanning.Further, the wavelength of laser beam can be changed in adjustable laser light source, to make multi-path laser
Phase also accordingly change, and then different antenna patterns is obtained in far field, so that the direction of strongest main beam is real
Now dynamic adjusts.The wavelength of laser beam is changed by preset rules, then can obtain various antenna patterns in far field, and make key light
The direction of beam covers region to be scanned, to realize comprehensive scanning.Therefore, this phased-array laser radar is not necessarily to mechanical rotating part
Part just can realize comprehensive monitoring, to be conducive to reduce volume.Moreover, the rate of this phased-array laser radar scanning is by phase
The frequency of variation determines, and the frequency of phase change is related with the frequency that laser beam wavelength changes, can't be by machinery
The limitation of rotary part rotary speed.Therefore, the sweep speed of laser radar is also faster.
Description of the drawings
Fig. 1 is the module diagram of laser radar in one embodiment of the invention;
Fig. 2 is the structural schematic diagram of phased-array laser transmitter unit in one embodiment of the invention;
Fig. 3 is the flow diagram of phased-array laser emission control method in one embodiment of the invention;
Fig. 4 is the sequence diagram for generating laser beam.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.Keep the understanding to the disclosure more saturating on the contrary, purpose of providing these embodiments is
It is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Referring to Fig. 1, the laser radar 10 in one embodiment of the invention includes phased-array laser transmitter unit 100, returns
Wave receiving unit 101 and processor 102.
Phased-array laser transmitter unit 100 can generate echo letter for sending out multi-path laser, laser after subject matter reflects
Number.
Specifically, being that relevant (frequency is identical and with solid between the multichannel light that phased-array laser transmitter unit 100 is sent out
Phase bit is poor).Therefore, multi-path laser can form specific antenna pattern after far field is interfered.I.e. in a particular direction
A branch of strongest main beam can be formed, other weaker sub-beams are had in other direction of the launch.Main beam and sub-beams are simultaneously
It is not parallel, but there is corresponding angle.Laser radar 10 encounters target in use, the echo-signal acquired is the main beam
The signal obtained after object reflection.
Echo receiving unit 101 interferes the radiation main beam to be formed to be reflected through subject matter for receiving multi-path laser in far field
Generated echo-signal.Processor 102 carries out processing analysis to echo-signal, shape, distance etc. to obtain subject matter
Parameter.
A kind of phased-array laser transmitter unit 100 is also provided also referring to Fig. 2, in one embodiment of the invention, including
Adjustable laser light source 110, laser beam splitter component 120, light emitting antenna 130.
Adjustable laser light source 110 presses the laser beam of preset rules variation for generation wavelength.Specifically, adjustable swash
Radiant 110 can generate the laser beam of a variety of different wave lengths.Wherein, adjustable laser light source 110 can be multiple sends out
The combination of single wavelength laser, and by the switching of working condition between controller realization various lasers, to realize laser
The adjustment of Shu Bochang.In addition, adjustable laser light source 110 can be also multiple-wavelength laser, and oscillation frequency is controlled by controller
Rate is to realize the output of the laser beam of different wave length.
Specifically in the present embodiment, the preset rules of adjustable laser light source 110 can be:In section of multiple continuous times
It is interior, the laser beam of different wave length is generated respectively, and is recycled successively.Shown in Fig. 4 specific as follows:
0 to t1In period, the wavelength for the laser beam that adjustable laser light source 110 generates is λ1;In t1To t2When
Between in section, the wavelength of the laser beam generated is λ2;... is in tm-1To tmIn period, the laser beam of generation
Wavelength is λm.Moreover, by tmAfter time, adjustable laser light source 110 repeats the above process.
In addition, preset time interval also may be present between two adjacent periods.
Laser beam splitter component 120 includes light incident side and multiple light exit sides, light incident side and adjustable laser light source 110
Connection.Laser beam is emitted from multiple light exit sides respectively after light incident side incidence, to obtain multi-path laser.Work as laser radar
10 work when, the laser beam that adjustable laser light source 110 is sent out enters laser beam splitter component 120 from light incident side, finally from
Light exit side is emitted, and obtains the identical laser signal of multi beam power (i.e. " multi-path laser ").
Light emitting antenna 130 is multiple, for emitting multi-path laser respectively.Wherein, multiple light emitting antennas 130 are distinguished
Coordinate with multiple light exit sides, to form laser optical path that is multiple parallel with one another and being transmitted for multi-path laser.Specifically, light is emitted
End can be connected to light emitting antenna 130 by optical waveguide, to realize that light beam transmits therebetween.Wherein, optical waveguide can be
Silicon, optical fiber etc..Therefore, the multi-path laser signal sent out through light exit side can enter light emitting antenna 130, and further by more
A light emitting antenna 130 is emitted in space.
Due to being parallel with one another between multiple laser optical paths, thus it is relatively independent between each laser optical path.Even if wherein
One laser optical path (optical waveguide of light emitting antenna 130 or connection light emitting antenna 130) is broken down, and will not swash to remaining
Light light path has an impact.Therefore, the function of phased-array laser transmitter unit 100 still can be normally real when there is local fault
It is existing, to improve the reliability of laser radar 10.
Wherein, the length of optical waveguide between light incident side and each laser optical path end is different, so as to be sent out through multiple light
Penetrate antenna 130 transmitting multi-path laser between generate phase difference.
Specifically, the length of optical waveguide between incidence end and each laser optical path end is different, refer to multi-path laser from
After adjustable laser light source 110 is sent out, enter after the optic path (length of passed through optical waveguide) of different length corresponding
Light emitting antenna 130.
The phase that laser signal is propagated in optical waveguide is by its effective refractive index (effective in optical waveguide
Refractive index) it determines, and the laser signal of phase co-wavelength effective refractive index in the optical waveguide of different length is different.
Therefore, it will produce phase difference between the multi-path laser that multiple light emitting antennas 130 are sent out.Due within the same period, passing through
Between the multi-path laser that multiple light emitting antennas 130 emit there are phase difference and frequency it is identical, therefore multi-path laser is coherent light, can
Specific antenna pattern is obtained by interference in far field.Antenna pattern can shape occurs due to the phase of multi-path laser difference
Change, but can form a branch of strongest main beam in one direction, other weaker times are had in other direction of the launch
Light beam.When laser radar 10 scans, used is the main beam.
Further, laser signal in the optical waveguide of equal length effective refractive index also with the frequency of light wave (i.e. wavelength)
It is related.Therefore, it when adjustable laser light source 110 changes the wavelength of laser beam, is sent out from multiple light emitting antennas 130 more
The phase of road laser can occur to change accordingly, to obtain different antenna patterns in far field.That is, passing through setting
It is more can to realize that multiple light emitting antennas 130 are sent out to change the wavelength of the laser beam of input for adjustable laser light source 110
The phase adjusted of road laser, to instead of phase regulator so that the structure of phased-array laser transmitter unit 100 is simpler.
The wavelength of laser beam is changed by preset rules, then various antenna patterns can be obtained successively in far field, to make
Dynamic change is realized in the direction of main beam, finally realizes comprehensive scanning.Therefore, laser radar 10 is not necessarily to mechanical gyro unit
Just comprehensive monitoring can be realized, to be conducive to reduce volume.Moreover, frequency of the rate of the scanning of laser radar 10 by phase change
Rate determines, and the frequency of phase change is related with the frequency that laser beam wavelength changes, can't be by mechanical gyro unit
The limitation of rotary speed.Therefore, the sweep speed of laser radar 10 is also faster.
Preset rules determine by advance calculating, the wavelength change one for the laser beam that adjustable laser light source 110 is sent out
After a period, the antenna pattern that multi-path laser that multiple light emitting antennas 130 are sent out obtains in far field, corresponding main beam
Direction can cover entire range to be scanned.Specifically in the present embodiment, the content of preset rules is included in 0 to t1,t1Extremely
t2.......tm-1To tmThe specific duration of period and corresponding wavelength X1,λ2.......λmNumerical value.Wherein, laser light
The wavelength change period of beam then determines the scan frequency of laser radar 10.
In the present embodiment, multiple light emitting antennas 130 are distributed in one-dimensional array.Therefore, multiple light emitting antennas 130 can
Form the optical phased array of one-dimensional manipulation.The optical phased array of one-dimensional manipulation is simple in structure, can meet the general scanning demand of accuracy.
Moreover, operand of the processor 102 during Data Analysis Services is smaller.
Further, in the present embodiment, the optical waveguide between two laser optical path ends of light incident side and arbitrary neighborhood
Length difference it is identical.
When identical due to wavelength, the phase of laser signal is related to the length of optical waveguide.That is, in above-mentioned one-dimensional behaviour
In the optical phased array structure of control, what laser signal that previous light emitting antenna 30 is sent out was sent out with the latter light emitting antenna 30
The phase difference all same of laser signal.As shown in Fig. 2, whereinWithWithWithPhase difference it is identical.
Therefore, the antenna pattern variation that multi-path laser obtains in far field is more regular, to further facilitate subsequent data processing.
In another embodiment, multiple light emitting antennas 130 are in two-dimensional array.
Specifically, multiple light emitting antennas 130 can form the two-dimensional surface of emission.Two-dimensional multi-path laser is interfered in far field
Afterwards, the main beam sectional area smaller obtained, therefore the echo-signal of smaller szie subject matter generation can be fed back.Therefore, laser radar
10 scanning accuracy higher.
In the present embodiment, laser beam splitter component 120 has the photo-coupler or beam splitter of multiple output ends.Wherein,
The incidence end of photo-coupler is as light incident side, and output end is as light exit side.
Specifically, the quantity of multi-path laser is consistent with the quantity of optocoupler output.Photo-coupler can prevent laser light
Excessive loss when beam incidence to avoid the transmission power of phased-array laser transmitter unit 100 from reducing, and then ensures laser radar
100 scanning effect.
Multiple beam splitters constitute laser beam splitter component 120.Wherein, multiple beam splitters are divided into multiple levels, next
The incidence end of the beam splitter of a level is connect with the exit end of the beam splitter of a upper level.Beam splitter can be one
Divide the other kinds of beam splitters such as two beam splitters or one point four.
Further, in the present embodiment, photo-coupler is edge couplers (edge coupler) or grating coupler
(grating coupler).Beam splitter is directional coupler or multimode interference.
In the present embodiment, light emitting antenna 130 is grating coupler.It should be pointed out that in other embodiments, light
Transmitting antenna 130 can also be the metals emitting structurals such as copper, aluminium.
Wherein, it can be integrated on chip as the photo-coupler of laser beam splitter component 120, light emitting antenna 130, thus into
One step reduces the volume of phased-array laser transmitter unit 100 and laser radar 10.Specifically, coupler and light emitting antenna 130
It can be by being implemented on chip based on " silicon integreted phontonics light path technology " compatible with CMOS technology.
Above-mentioned laser radar 10 and its phased-array laser transmitter unit 100 are sent out by laser beam splitter component 120 and multiple light
The cooperation of antenna 130 is penetrated, multi-path laser can be sent out.And since the multi-path laser frequency emitted through multiple light emitting antennas 130 is identical
And there are phase differences, therefore multi-path laser can obtain antenna pattern in far field by interference, to be formed in particular directions most
Strong main beam realizes scanning.Further, the wavelength of laser beam can be changed in adjustable laser light source 110, to make multichannel
The phase of laser also accordingly changes, and then obtains different antenna patterns in far field, so that the side of strongest main beam
It is dynamically adjusted to realizing.The wavelength of laser beam is changed by preset rules, then can obtain various antenna patterns in far field, and make
The direction of main beam covers region to be scanned, to realize comprehensive scanning.Therefore, laser radar 10 is not necessarily to mechanical gyro unit
Just comprehensive monitoring can be realized, to be conducive to reduce volume.Moreover, frequency of the rate of the scanning of laser radar 10 by phase change
Rate determines, and the frequency of phase change is related with the frequency that laser beam wavelength changes, can't be by mechanical gyro unit
The limitation of rotary speed.Therefore, the sweep speed of laser radar 10 is also faster.
Referring to Fig. 3, also providing a kind of phased-array laser emission control method, including step in one embodiment of the invention
S210~S230.
Step S210, generation wavelength press the laser beam of preset rules variation.
Specifically in the present embodiment, preset rules can be:In section of multiple continuous times, different wave length is generated respectively
Laser beam, and recycle successively.Shown in Fig. 4 specific as follows:
0 to t1In period, the wavelength of the laser beam of generation is λ1;In t1To t2In period, the laser of generation
The wavelength of light beam is λ2;... is in tm-1To tmIn period, the wavelength of the laser beam generated is λm.Moreover, by tm
After time, repeat the above process.
In addition, preset time interval also may be present between two adjacent periods.
Step S220, make laser beam it is multiple with the light path of different length optical waveguide in transmit, with obtain it is mutual it
Between there are the multi-path lasers of phase difference.
Step S230 emits multi-path laser.
Specifically, multiple light paths can be made of beam splitter, coupler, optical waveguide, laser beam after multiple light paths,
Obtain the identical laser signal of multi beam power (i.e. " multi-path laser ").
Wherein, due to waveguide lengths difference in multiple light paths, and the phase that laser signal is propagated in optical waveguide is by it
Effective refractive index (effective refractive index) in optical waveguide determines, and the laser signal of phase co-wavelength exists
Effective refractive index is different in the optical waveguide of different length.Therefore, it will produce phase difference between multi-path laser.Due in the same time
Section in, between multi-path laser there are phase difference and frequency it is identical, therefore multi-path laser can far field by interference obtain radiation side
Xiang Tu realizes scanning.
Further, laser signal in the optical waveguide of equal length effective refractive index also with the frequency of light wave (i.e. wavelength)
It is related.Therefore, when the wavelength shift of laser beam, the phase of the multi-path laser sent out can occur to change accordingly, to remote
Field obtains different antenna patterns.That is, the wavelength of the laser beam by changing input, can realize multi-path laser
Phase adjusted, to instead of phase regulator so that the structure of laser radar and phased-array laser transmitter unit is simpler.
The wavelength of laser beam is changed by preset rules, then can obtain various antenna patterns successively in far field, to real
Existing comprehensive scanning.Therefore, mechanical gyro unit is not necessarily to just using the laser radar of above-mentioned phased-array laser emission control method
Comprehensive monitoring can be realized, to be conducive to reduce volume.Moreover, the rate of laser radar scanning is determined by the frequency of phase change
It is fixed, and the frequency of phase change is related with the frequency that laser beam wavelength changes, and can't be rotated by mechanical gyro unit
The limitation of speed.Therefore, the sweep speed of laser radar is also faster.
Preset rules are determined that after the wavelength change a cycle of the laser beam of generation, what is sent out is more by advance calculating
The antenna pattern that road laser obtains in far field can cover entire range to be scanned.Specifically in the present embodiment, rule are preset
Content then is included in 0 to t1,t1To t2.......tm-1To tmThe specific duration of period and corresponding wavelength X1,
λ2.......λmNumerical value.Wherein, the wavelength change period of laser beam then determines the scan frequency of laser radar.
In the present embodiment, multi-path laser emits along one-dimensional array direction, and the phase of two beam multi-path laser of arbitrary neighborhood
Difference is identical.
Therefore, multi-path laser is emitted with the optical phased array of one-dimensional manipulation, and the optical phased array of one-dimensional manipulation can meet accuracy
General scanning demand.Moreover, operand during Data Analysis Services can be reduced.
Further, since the phase difference of adjacent two beams multi-path laser is identical.Therefore, the spoke that multi-path laser obtains in far field
It is more regular to penetrate directional diagram, to further facilitate subsequent data processing.
Above-mentioned phased-array laser emission control method, sends out the different laser signal of multichannel phase, therefore multi-path laser
Antenna pattern is obtained by interference in far field, realizes scanning.Further, the wavelength for changing laser beam, to make multichannel
The phase of laser also accordingly changes, and then obtains different antenna patterns in far field.The wavelength of laser beam presses preset rules
Variation, then can obtain various antenna patterns, to realize comprehensive scanning in far field.Therefore, using above-mentioned phased-array laser
Emission control method laser radar just can realize comprehensive monitoring without mechanical gyro unit, to be conducive to reduce volume.And
And the rate of laser radar scanning is determined by the frequency of phase change, and the frequency of phase change becomes with laser beam wavelength
The frequency of change is related, can't be limited by mechanical gyro unit rotary speed.Therefore, the sweep speed of laser radar is also more
Soon.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of phased-array laser transmitter unit, which is characterized in that including:
Adjustable laser light source presses the laser beam of preset rules variation for generation wavelength;
Laser beam splitter component, including light incident side and multiple light exit sides, the light incident side and the adjustable laser light source
Connection, the laser beam are emitted from the multiple light exit side respectively after the light incident side incidence, are swashed with obtaining multichannel
Light;And
Multiple light emitting antennas for emitting the multi-path laser respectively, the multiple light emitting antenna go out with the light respectively
End cooperation is penetrated, to form laser optical path that is multiple parallel with one another and being transmitted for the multi-path laser;
Wherein, the length of optical waveguide between the light incident side and each laser optical path end is different, so that described in
Phase difference is generated between the multi-path laser of multiple light emitting antenna transmittings.
2. phased-array laser transmitter unit according to claim 1, which is characterized in that the laser beam splitter component is with more
The photo-coupler or beam splitter of a output end.
3. phased-array laser transmitter unit according to claim 2, which is characterized in that the photo-coupler is edge couplers
Or grating coupler, the beam splitter are directional coupler or multimode interference.
4. phased-array laser transmitter unit according to claim 1, which is characterized in that the multiple light emitting antenna is in one-dimensional
Array distribution.
5. phased-array laser transmitter unit according to claim 4, which is characterized in that the light incident side and arbitrary neighborhood two
The length difference of optical waveguide between a laser optical path end is identical.
6. phased-array laser transmitter unit according to claim 1, which is characterized in that the multiple light emitting antenna is in two dimension
Array arranges.
7. phased-array laser transmitter unit according to claim 1, which is characterized in that the light emitting antenna couples for grating
Device.
8. a kind of laser radar, which is characterized in that including:
Such as 1~7 any one of them phased-array laser transmitter unit of the claims;
Echo receiving unit interferes the radiation main beam to be formed to reflect institute through subject matter for receiving the multi-path laser in far field
The echo-signal of generation;And
With the phased-array laser transmitter unit and the processor of Echo receiving unit communication connection.
9. a kind of phased-array laser emission control method, which is characterized in that including step:
Generation wavelength presses the laser beam of preset rules variation;
Make the laser beam it is multiple with the light path of different length optical waveguide in transmit, there is phase between each other
The multi-path laser of difference;
Emit the multi-path laser.
10. phased-array laser emission control method according to claim 9, which is characterized in that the multi-path laser is along one-dimensional
Array direction emits, and the phase difference of multi-path laser described in two beam of arbitrary neighborhood is identical.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109444850A (en) * | 2018-11-19 | 2019-03-08 | 深圳市速腾聚创科技有限公司 | Phased-array laser radar |
| CN109444849A (en) * | 2018-11-19 | 2019-03-08 | 深圳市速腾聚创科技有限公司 | Phased-array laser radar |
| CN109444851A (en) * | 2018-11-19 | 2019-03-08 | 深圳市速腾聚创科技有限公司 | Laser body and phased-array laser radar |
| CN110456324A (en) * | 2019-07-11 | 2019-11-15 | 中国电子科技集团公司信息科学研究院 | Integrated phased-array laser radar system |
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| US12025741B2 (en) | 2019-05-05 | 2024-07-02 | Shanghai Jiao Tong University | Three-dimensional scanning LiDAR based on one-dimensional optical phased arrays |
| CN111948610A (en) * | 2019-05-15 | 2020-11-17 | 深圳越登智能技术有限公司 | Radar control method and equipment |
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| CN110720053A (en) * | 2019-07-19 | 2020-01-21 | 深圳市速腾聚创科技有限公司 | Phased array transmitting device, laser radar and automatic driving equipment |
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| US11994623B2 (en) | 2019-12-23 | 2024-05-28 | Direct Cursus Technology L.L.C | LiDAR methods and systems with controlled field of view based on optical fiber movement |
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