CN109444849A - Phased-array laser radar - Google Patents
Phased-array laser radar Download PDFInfo
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- CN109444849A CN109444849A CN201811377449.4A CN201811377449A CN109444849A CN 109444849 A CN109444849 A CN 109444849A CN 201811377449 A CN201811377449 A CN 201811377449A CN 109444849 A CN109444849 A CN 109444849A
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- 230000003287 optical effect Effects 0.000 claims abstract description 17
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- 238000001514 detection method Methods 0.000 claims abstract description 10
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- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 10
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- 238000005259 measurement Methods 0.000 description 6
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- 241001203771 Eudonia echo Species 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of phased-array laser radars, including laser body, laser body includes laser and the phased array element of transmitting, laser is equipped at least one, emit phased array element equipped at least one, emit phased array element to connect with corresponding laser optical, emits phased array element for receiving laser light source and towards testee emission detection laser；And laser pick-off mechanism, laser pick-off mechanism include receiving phased array element and receiver, receive phased array element equipped at least one, receive phased array element for receiving the echo laser of testee reflection, receiver is for coupling echo laser.Emit phased array element towards testee emission detection laser, receive the echo laser that phased array element receives testee reflection, due to being not necessarily to traditional mechanical rotation device, thus greatly reduce the occupied space of laser radar, the reliability of entire phased-array laser radar is improved, and reduces production cost.
Description
Technical field
The present invention relates to the radar exploration technique fields in car steering, more particularly to a kind of phased-array laser radar.
Background technique
Laser radar is a kind of device that detection and ranging are carried out using laser.Its principle is similar with radar or sonar, it may be assumed that
Emit laser pulse to target object with emitter, delay and the intensity of return pulse are measured by reception device to measure mesh
Mark the distance and reflectivity of object.
Traditional laser radar generallys use mechanical rotation device and carries out 360 degree of circular scanning, and gathers multiple groups laser
Transreceiver, to cover multiple pitch angles simultaneously.This laser radar is needed using multiple groups laser transceiver, and is needed
Accurate light adjustment is quasi- (usually having been manually done), and cost is high, and mechanical rotation device is also easy to appear failure.
Summary of the invention
Based on this, it is necessary to provide a kind of phased-array laser radar.Low in cost, the reliability of the phased-array laser radar
Height, occupied space are few.
Its technical solution is as follows:
A kind of phased-array laser radar, including laser body, laser body include laser and emit phased
Array element, laser are equipped at least one, and laser is used to generate laser light source, emit phased array element and are equipped at least one,
Emit phased array element to connect with corresponding laser optical, emits phased array element for receiving the laser light of laser generation
Source and towards testee emission detection laser；And laser pick-off mechanism, laser pick-off mechanism include receive phased array element and with
The receiver that phased array element is correspondingly arranged is received, phased array element is received equipped at least one, receives phased array element and be used for
The echo laser of testee reflection is received, receiver is for coupling echo laser.
Technical solution is illustrated further below:
Emit the Laser emission axis of phased array element in one of the embodiments, and receives the laser of phased array element
It receives axis and receives one transmitting reception of phased array element formation in angle setting, the phased array element of a transmitting and one is preset
Right, transmitting is received to equipped at least one.
Transmitting is received to being equipped with one in one of the embodiments, and laser is equipped with one, and laser swashs to be tunable
Light device, emitting phased array element is One-dimension Phased Array；
Or transmitting is received to being equipped with one, laser is equipped with one, and emitting phased array element is two dimensional phased battle array.
Phased array element is received in one of the embodiments, equipped with one, and receiving phased array element is two dimensional phased battle array.
Phased array element is received in one of the embodiments, to be equipped with multiple and be arranged in spacing arrangement.
Laser is equipped with one in one of the embodiments, emits phased array element equipped with multiple, laser body
It further include beam splitter, beam splitter is set between laser and the phased array element of transmitting, and what beam splitter was used to issue in laser swashs
Light is split and keeps the laser after beam splitting corresponding with phased array element is emitted.
In one of the embodiments, laser be equipped with it is multiple, emit phased array element be equipped with it is multiple and with laser pair
It should be arranged.
The installation elevation angle of at least two phased array elements of transmitting is not identical in one of the embodiments,.
The installation elevation angle for emitting phased array element in one of the embodiments, is identical, and laser body further includes inclined
Foldable assembly, deviation component include multiple for the optics deviation for emitting the laser progress deviation processing that phased array element issues
Part, optics deviation part and the phased array element of transmitting correspond.
Receiver is photodetector in one of the embodiments,.
Above-mentioned phased-array laser radar emits phased array element towards testee emission detection laser, receives phased array list
Member receives the echo laser of testee reflection, due to being not necessarily to traditional mechanical rotation device, thus greatly reduces laser thunder
The occupied space reached improves the reliability of entire phased-array laser radar, and reduces production cost.
Detailed description of the invention
Fig. 1 is the general frame figure of phased-array laser radar in embodiment；
Fig. 2 is the first embodiment overall structure figure of laser body；
Fig. 3 is Fig. 2 embodiment lateral adjustments and vertical adjustment schematic diagram；
Fig. 4 is the second embodiment overall structure figure of laser body；
Fig. 5 is the 3rd embodiment overall structure figure of laser body；
Fig. 6 is the first embodiment overall structure figure of laser pick-off mechanism；
Fig. 7 is the second embodiment overall structure figure of laser pick-off mechanism；
Fig. 8 is the 3rd embodiment overall structure figure of laser pick-off mechanism；
Fig. 9 is the longitudinal arrangement first embodiment figure of single One-dimension Phased Array；
Figure 10 is the longitudinal arrangement second embodiment figure of single One-dimension Phased Array；
Figure 11 is the longitudinal arrangement 3rd embodiment figure of single One-dimension Phased Array；
Figure 12 is the longitudinal arrangement first embodiment figure of multiple One-dimension Phased Arrays；
Figure 13 is the longitudinal arrangement second embodiment figure of multiple One-dimension Phased Arrays；
Figure 14 is the longitudinal arrangement 3rd embodiment figure of multiple One-dimension Phased Arrays.
Attached drawing mark explanation:
100, laser, 200, the phased array element of transmitting, 210, optics deviation part, the 211, first deviation part, 212, second
Deviation part, 300, the phased array element of reception, 400, receiver, 510, One-dimension Phased Array, 520, two dimensional phased battle array, 600, measured object
Body, 700, transmitting reception pair.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing:
It should be noted that it can be directly in another element when alleged element is with another element " fixation " in text
Above or there may also be elements placed in the middle.When an element is considered as with another element " connection ", it be can be directly
It is connected to another element in succession or may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element
When "upper", intermediary element is not present.Term as used herein "vertical", "horizontal", "left" and "right" and similar table
It states for illustrative purposes only, is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
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
Any and all combinations of relevant listed item.
Embodiment as shown in figs. 1 to 14 provides a kind of phased-array laser radar, including laser body, swashs
Light-transmitting means includes laser 100 and emits phased array element 200, and laser 100 is equipped at least one, and laser 100 is used
In generating laser light source, emits phased array element 200 equipped at least one, emit phased array element 200 and corresponding laser
The connection of 100 optics emits phased array element 200 for receiving the laser light source of the generation of laser 100 and towards testee 600
Emission detection laser；And laser pick-off mechanism, laser pick-off mechanism include receive phased array element 300 and with receive phased array list
The receiver 400 that member 300 is correspondingly arranged receives phased array element 300 equipped at least one, receives phased array element 300 and be used for
The echo laser that testee 600 reflects is received, receiver 400 is for coupling echo laser.
Emit phased array element 200 towards 600 emission detection laser of testee, it is tested to receive the phased reception of array element 300
The echo laser that object 600 reflects thus greatly reduces the occupancy of laser radar due to being not necessarily to traditional mechanical rotation device
Space improves the reliability of entire phased-array laser radar, and reduces production cost.
Traditional laser radar carries out 360 ° of circular scannings using mechanical rotation device, and gathers the reception of multiple groups Laser emission
Machine, with simultaneously cover multiple pitch angles, to realize Multidirectional sweeping.However, this laser radar cost is high, rotation essence
Degree is difficult to control, and is easy to be out of order, laser pick-off efficiency also relative mistake.
In the present embodiment, laser 100 is equipped at least one, emits phased array element 200 equipped at least one, makes laser
Device 100 and the phased array element 200 of transmitting can carry out matching setting and be used cooperatively that multidimensional can be carried out according to the actual needs
Scanning；It receives phased array element 300 and at least one is set, enable to receive phased array element 300 and carry out according to actual needs
Needs are received with setting, to meet the different of echo laser.Since no setting is required for laser body and laser pick-off mechanism
Mechanical rotation device, so that whole laser radar system is low in cost, 400 pairs of reception phased array units 300 of receiver are received
To echo laser carry out coupling processing and handle to obtain measurement result based on preset requirement, Measurement reliability is high；In addition, hair
It penetrates phased array element 200 and also greatly reduces laser radar with receiving phased array element 300 and compare tradition machinery rotating device
Occupied space.
Phased array element (emit phased array element 200 as the aforementioned and receive phased array element 300) refers to optical phased array,
That is Optical Phased Array, abbreviation OPA.Phased-array laser radar provided in this embodiment uses phased array element (i.e.
OPA traditional mechanical rotation device) is substituted.Optical phased array forms matrix, the radiation of all antennas by many identical antennas
Wave forms a branch of radar wave by interference in far field.The phase of each antenna of electronic system real-time control, to control far field
Radar wave direction.Electronic system changes the phase of certain antennas, so that it may change the direction of radar wave (i.e. exploring laser light), thus
Realize dynamic scan.Such electron scanning does not need mechanical rotation device, and sweep speed is fast, and even if has a small amount of antenna
Failure will not influence the actual use of optical phased array.
Only need single element that the scanning in a space multistory angle can be completed using optical phased array；It uses simultaneously
Automatically, the manufacture of photonic integrated circuits, packaging technology are such without the laser radar of mechanical rotation device on a large scale
Complicated time-consuming installation calibrating process, so as to reduce cost.Meanwhile the phased-array laser radar in the present embodiment is without height
The mechanical part of speed rotation, Measurement reliability can be further improved compared to conventional laser radar.
Phased array element belongs to mono-directional optical device, forms laser radar using phased array element, then needs phased array
Unit is emitted to the radar echo signal (i.e. echo laser) that the exploring laser light of all directions in space is reflected and is collected simultaneously
Detection.
The echo laser that testee 600 is reflected back is received using reception phased array element 300 in the present embodiment,
And converted, calculated by receiver 400 to the echo laser progress coupling processing received and according to preset requirement etc.
To required measurement result.
It should be understood that
Emit optics between phased array element 200 and laser 100 to connect, optics connection here, which refers to, guarantees luminous energy in light
There is the company of low fading transmission between waveguide or between optical waveguide and optical passive component or between optical waveguide and optical source device
The setting connect；
Receiver 400 is used for echo laser progress coupling processing etc. that phased array unit 300 receives is received, therefore,
It can be optics connection between receiver 400 and the phased array element 300 of reception as needed, and as needed, art technology
Such as photodetector of receiver 400 that can satisfy requirement can be selected in personnel, and which is not described herein again.
Embodiment as shown in Figure 6 and Figure 7 emits the Laser emission axis of phased array element 200 and receives phased array list
The laser pick-off axis of member 300 is in default angle setting, and the phased array element 200 of a transmitting and one receive phased array element
300, which form a transmitting, receives to 700, and transmitting, which is received, is equipped at least one to 700.
Phased array element 300 is received for receiving the echo laser that testee 600 is reflected back, when receiving, in order to mention
Receiver Precision of the height to echo laser, it will usually make the laser pick-off axis for receiving phased array element 300 and transmitting phased array list
The Laser emission axis of member 200 is in default angle setting, to play better reception technique effect.
Laser is in transmission process, since optical path is reversible, and the width of light beam of the echo laser after the scattering of testee 600
Also much larger than the light beam of exploring laser light, therefore, makes the laser pick-off axis for receiving phased array element 300 and emit phased array element
200 Laser emission axis is in that default angle setting namely transmitting terminal are not parallel (it can be appreciated that different from the axis of receiving end
Axis), make two axle clamp angles keep within a preset range, to be received to ensure at least a part of echo laser still phased
Array element 300 receives.
Embodiment as shown in FIG. 6, the phased array element 200 of a transmitting and a phased array element 300 of reception cooperate shape
It receives at a transmitting to 700, transmitting is received to 700 equipped with multiple.
At this point, emit phased array element 200 be equipped with it is multiple, receive phased array element 300 be equipped with it is multiple, thus make emit phase
Formation echo laser after the exploring laser light that control array element 200 is launched is reflected by testee 600, and multiple reception phased array lists
Member 300 can receive the echo laser, further to obtain measurement result by 400 coupling processing of receiver.
Embodiment as shown in Figure 7, transmitting, which is received, is equipped with one to 700, and laser 100 is equipped with one, and laser 100 is
Tunable laser 100, emitting phased array element 200 is One-dimension Phased Array 510.
At this point, laser 100 be equipped with one and be tunable laser 100, emit phased array element 200 equipped with one,
And be One-dimension Phased Array 510, phased array element 300 is received equipped with one.
Tunable laser 100, which refers to, generates light source using the laser 100 of tunable wave length, when the optical maser wavelength of output produces
When raw change, light beam is by emitting phased array element 200 and being emitted to different regulation of longitudinal angle, to realize that longitudinal light beam is inclined
Turn, realizes longitudinal scanning.
Emit phased array element 200 equipped with one and when being One-dimension Phased Array 510, longitudinal scanning mode has following several:
Embodiment as shown in Figure 9, the laser 100 are tunable laser 100, the tunable laser 100 cooperation
The transmitting antenna for emitting phased array element 200 (i.e. One-dimension Phased Array 510) realizes that the longitudinal direction of wavelength modulation is swept as Dispersive Devices
It retouches；
Embodiment as shown in Figure 10, which is similarly tunable laser 100, in One-dimension Phased Array 510
Outside uses independent first deviation part 211 (such as grating or prism) as Dispersive Devices to realize that the longitudinal direction of wavelength modulation is swept
It retouches；
Embodiment as shown in figure 11 realizes longitudinal direction using the second deviation part 212 (such as microelectromechanical-systems) of on-dispersive
Scanning.
In Fig. 9 and Figure 10, the modulator approach of the laser 100 of tunable wave length can be using semiconductor laser 100
The MEMS resonant intonation system of temperature modulation or current-modulation, solid state laser 100 or external cavity semiconductor laser 100, when
So, other existing optical maser wavelength tuning methods can also be used.Two dimension angular is carried out (i.e. using single One-dimension Phased Array 510
It is horizontal and vertical) spacescan when, depending on the relative velocity of wavelength modulation and phase-modulation, wavelength modulation is longitudinal when very fast
Scanning can be used as fast axle；Longitudinal scanning is as slow axis when phase-modulation is very fast；In addition, if the speed of the two is substantially suitable,
It then can relatively easily realize the random spot scan of two dimension angular spatially.
It is, of course, also possible to be:
Embodiment as shown in Figure 5, transmitting, which is received, is equipped with one to 700, and laser 100 is equipped with one, emits phased array
Unit 200 is two dimensional phased battle array 520.
At this point, laser 100 is equipped with one, emitting phased array element 200 is two dimensional phased battle array 520, receives phased array list
Member 300 is equipped with one.
Two dimensional phased battle array 520 refers to the phased array device that transversal scanning and longitudinal scanning can be realized without other devices
Part directly cooperates with laser 100, and the laser source that laser 100 issues will be directly coupled into two dimensional phased battle array 520, simultaneously
Exploring laser light is emitted towards testee 600.
It should be understood that
Emit phased array element 200 by diffraction scan synthesis light beam, realizes that the time is upper non-sequential, spatially discrete
Light beam scanning；
One-dimension Phased Array 510 (1D-OPA) refers to the phased matrix array device of one group of line style transmitting antenna, has on edge
The ability of linear antenna direction modulation light beam launch angle；
Two dimensional phased battle array 520 (2D-OPA) refers to the phased array array with multiple transmitting antennas being distributed on two-dimensional surface
Device has the ability of upper modulation beam emissions angle in any direction.
Certainly, as needed, it is understood that are as follows: One-dimension Phased Array 510 refers in one direction in spacing arrangement (as laterally
Arrangement or longitudinal arrangement) multiple phased array elements, two dimensional phased battle array 520 refers in one plane arranges according to preset requirement
Multiple phased array elements.At this point, phased array element is that two dimensional phased battle array 520 is interpreted as: phased array element has multiple and one
By preset requirement arrangement setting in a plane, use phased array element for two dimensional phased battle array 520 simply to illustrate that and writing here
The convenience write, repeats no more.
In addition, transmitting receives when being equipped with one to 700, emits phased array element 200 equipped with one, receive phased array element
300 are equipped with one, are intended merely to the convenience write and illustrated, in practical operation, can also be the phased array element of transmitting
200 corresponding multiple phased array elements 300 of reception, to play better echo laser pick-off effect.
Embodiment as shown in Figure 8 receives phased array element 300 equipped with one, and receiving phased array element 300 is two-dimensional phase
Control battle array 520.
As shown in figure 8, since two dimensional phased battle array 520 has the ability of the echo laser of any direction in collection space, because
This, receive phased array element 300 be two dimensional phased battle array 520 when, emitting phased array element 200 can be configured with arbitrary form,
It repeats no more.
In one embodiment, phased array element 300 is received to be equipped with multiple and be arranged in spacing arrangement.
Due to receiving the size limitation of phased 300 receiving antenna of array element, the multiple reception phased arrays of setting can be taken
Better reception technique effect is realized in effect of the mode of unit 300 to work asynchronously, to increase receiving aperture.It receives phased
The arrangement mode of array element 300 can be specifically arranged as needed, and which is not described herein again.
Embodiment as shown in Figure 2, laser 100 are equipped with one, emit phased array element 200 and are equipped with multiple, laser hair
Penetrating mechanism further includes beam splitter, and beam splitter is set between laser 100 and the phased array element 200 of transmitting, and beam splitter will be for that will swash
The laser that light device 100 issues is split and keeps the laser after beam splitting corresponding with phased array element 200 is emitted.
As shown in Fig. 2, laser 100 be equipped with one, emit phased array element 200 be equipped with it is multiple, emit phased array element
Optics connects between 200 and laser 100, and this optics connection can be the connection based on optical fiber, is also possible to based on freely
The connection of spatial optical elements；By beam splitter, the laser that laser 100 issues is split and by the laser after beam splitting
It is coupled into the corresponding phased array element 200 of transmitting, emits phased array element 200 for laser (i.e. exploring laser light) court after beam splitting
Testee 600 emits.
Certainly, beam splitter here can also realize which is not described herein again by way of branch.
Further, as with the embodiments shown in figures 2 and 3, emit phased array element 200 to be arranged in spacing and in a row set
It sets, emitting phased array element 200 is One-dimension Phased Array 510.It is in a row to emit the phased arrangement of array element 200 shape, due to emitting phase
Control array element 200 is One-dimension Phased Array 510, and One-dimension Phased Array 510 is scanned in one-dimensional direction, and the transmitting of a row is phased
The scanning of another dimension of the array element 200 to realization on arragement direction, to realize Multidirectional sweeping.
As shown in Figures 2 and 3, defining One-dimension Phased Array 510 and deflecting direction by the light beam that phase-modulation is realized is transverse direction,
It is longitudinal for then setting in a row if the longitudinal arrangement direction in Fig. 2；Therefore, by multiple One-dimension Phased Arrays 510 of longitudinal arrangement,
And horizontal and vertical scanning can be realized by phase adjusted.
In one embodiment, laser 100 is equipped with multiple, is emitted phased array element 200 and is equipped with multiple and and laser
100 are correspondingly arranged.
Laser 100 be equipped with it is multiple, emit phased array element 200 be correspondingly arranged with the quantity of laser 100 and it is corresponding into
The connection of row optics, the phased array element 200 of the corresponding transmitting of a laser 100, the laser light source that multiple lasers 100 issue
It is coupled into the corresponding phased array element 200 of transmitting respectively.
The installation elevation angle of embodiment as shown in figure 12, at least two phased array elements 200 of transmitting is not identical.
By adjusting the installation elevation angle for emitting phased array element 200, the light beam for issuing each phased array element 200 of transmitting
A corresponding pitch angle, achievees the purpose that longitudinal scanning.
It should be understood that the installation elevation angle for emitting phased array element 200 refers to the default transmitting for emitting phased array element 200
Straight line where light beam and the angle for emitting phased array element 200 itself place interplanar.
As shown in figure 12, the transmitting antenna of each phased array element 200 (One-dimension Phased Array 510) of transmitting is opposite in the longitudinal direction
There are a default angle, which is determined its normal (dotted line in Figure 12) by emitting phased array element 200.Pass through machine
The mode of tool adjusts the installation elevation angle of all phased array elements 200 of transmitting, and in this elevation angle regulative mode, each transmitting is phased
Array element 200 is fabricated on an individual opto chip.
As shown for example in fig.13, the installation elevation angle for emitting phased array element 200 is identical, a part of transmitting phased array
Unit 200 is arranged towards first direction to be arranged, and the phased array element 200 of the transmitting of another part is arranged towards second direction to be arranged.
As shown for example in fig.13, the inside setting of phased array element 200 (One-dimension Phased Array 510) is emitted by changing
Changing its default angle, this change is typically only capable to adjust the elevation angle to the side of its normal (dotted line in Figure 13), and whole
A longitudinal other side needs to emit phased array element 200 and is inverted to realize, namely the phased array element 200 1 of transmitting
The normal arrangement in part, another part inverted arrangement (such as 180 ° of relative rotation arrangements), this setup allows multiple one-dimensional phases
510 Integrated manufacture of battle array is controlled on the same opto chip, embodiment shown in opposite Figure 12, structure is more compact, and cost is more
It is low.
Embodiment as shown in figure 14, the installation elevation angle for emitting phased array element 200 is identical, and laser body further includes
Deviation component, deviation component include multiple for the optics for emitting the laser progress deviation processing that phased array element 200 issues
Deviation part 210, optics deviation part 210 and the phased array element 200 of transmitting correspond.
The installation elevation angle of multiple phased array elements 200 (One-dimension Phased Array 510) of transmitting is identical, namely: transmitting phased array list
The initial installation elevation angle of member 200 is identical, after emitting phased array element 200 towards 600 emission detection laser of testee, sending
Laser beam carries out deviation by optics deviation part 210, to make light beam deviation to the different elevations angle, realizes in different directions
The purpose of (longitudinal direction) scanning.
Further, optics deviation part 210 can be transmissive piece, be also possible to reflecting element.By optics deviation part 210 into
The mode high reliablity of row deviation processing, and multiple One-dimension Phased Arrays 510 is allowed to be integrated on the same opto chip, it can
Meet the installation requirements of small size.
Longitudinal arrangement mode when the embodiment that Figure 12 to Figure 14 is provided is multiple One-dimension Phased Arrays 510210, certainly, this
Field technical staff can also be specifically arranged as needed, including but not limited to present embodiment, and which is not described herein again.
In addition, as needed, those skilled in the art receive phased array list to meet the reception needs to echo laser
Member 300 is also possible to:
Receive phased array element 300 be One-dimension Phased Array 510 and be equipped with it is multiple, it is multiple to receive phased array elements 300 in vertical
It is arranged to arrangement, the same optics deviation part 210 that is arranged is to echo laser progress deviation, so that echo laser be enable to be received phase
Control 300 real-time reception of array element arrives.
Certainly, as needed, receive phased array element 300 to be One-dimension Phased Array 510 and be provided only with one, at this time may be used
Optics deviation part 210 is arranged, to meet actual needs, repeat no more.
In one embodiment, receiver 400 is photodetector.Photodetector connects to phased array unit 300 is received
The echo laser that receives carry out coupling processing and further photoelectric conversion, to meet be further processed and obtain test result.
Have been provided with spatial resolving power in itself due to receiving phased array element 300, those skilled in the art according to
It needs, can choose photodetector as single point detector (not having spatial resolving power).Even if using multiple detectors
Or array type detector, the spatial distribution of the photosurface of detector also need not directly correspond to the light beam spatial sampling of laser radar.
It should be understood that
The linear ToF detector of single-point, for directly perceiving the flight time of laser pulse, and the amplitude of each pulse
It is positively correlated with the light energy in pulse.This detector can be by avalanche photodide (APD, Avalanche Photo-
Diode) perhaps photodiode (PD Photo-Diode) or more pixel photon counter (MPPC, Multi-Pixel
Photon Counter) composition.
Single-point photon counter, this detector can be by single-photon avalanche diode SPAD (Single Photon
Avalanche Diode) either more pixel photon counters (MPPC) or photomultiplier tube (PMT, Photo-
Multiplier it) forms.
Coherence detector, this detector pass through the coherent light signal of heterodyne measurement a branch of reference light and signal light, can
To be superimposed reference light and signal light by the interferometer of free space or fibre optic interferometer, and coherent light letter is measured by PD
Number.
It receives phased array element 300 to play the role of collecting different directions echo laser in laser pick-off mechanism, receive
Phased array element 300 be capable of selectivity reception particular space direction laser, later according to echo-signal (echo-signal), simultaneously
Processing and ranging are carried out to echo-signal based on preset requirement, repeated no more.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and 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 protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of phased-array laser radar characterized by comprising
Laser body, the laser body include laser and emit phased array element, and the laser is equipped with extremely
One few, the laser is equipped at least one for generating laser light source, the phased array element of transmitting, and the transmitting is phased
Array element is connected with the corresponding laser optical, and the phased array element of transmitting is used to receive the institute that the laser generates
State laser light source and towards testee emission detection laser；And
Laser pick-off mechanism, the laser pick-off mechanism include receive phased array element and with described to receive phased array element corresponding
The receiver of setting, described to receive phased array element equipped at least one, the phased array element of reception is for receiving the quilt
The echo laser of object reflection is surveyed, the receiver is for coupling the echo laser.
2. phased-array laser radar according to claim 1, which is characterized in that the laser hair of the phased array element of transmitting
It penetrates axis and the laser pick-off axis for receiving phased array element is in default angle setting, a phased array element of transmitting
A transmitting reception pair is formed with a phased array element of reception, the transmitting is received to equipped at least one.
3. phased-array laser radar according to claim 2, which is characterized in that the transmitting is received to being equipped with one, institute
Laser is stated equipped with one, the laser is tunable laser, and the phased array element of transmitting is One-dimension Phased Array；
Or the transmitting is received to being equipped with one, the laser is equipped with one, and the phased array element of transmitting is two dimensional phased
Battle array.
4. phased-array laser radar according to claim 1, which is characterized in that described to receive phased array element equipped with one
It is a, it is described to receive phased array element as two dimensional phased battle array.
5. phased-array laser radar according to claim 1, which is characterized in that described to receive phased array element equipped with more
It is a and in spacing arrangement setting.
6. phased-array laser radar according to claim 4 or 5, which is characterized in that the laser is described equipped with one
Emit phased array element be equipped with it is multiple, the laser body further includes beam splitter, the beam splitter be set to the laser
Between the phased array element of the transmitting, the laser that the laser issues for being split and making point by the beam splitter
Laser after beam is corresponding with the phased array element of transmitting.
7. phased-array laser radar according to claim 4 or 5, which is characterized in that the laser be equipped with it is multiple, it is described
Emit phased array element to be equipped with multiple and be correspondingly arranged with the laser.
8. phased-array laser radar according to claim 6, which is characterized in that at least two phased array elements of transmitting
The installation elevation angle it is not identical.
9. phased-array laser radar according to claim 6, which is characterized in that the installation of the phased array element of transmitting is faced upward
Angle is identical, and the laser body further includes deviation component, and the deviation component includes multiple for phased to the transmitting
The laser that array element issues carries out the optics deviation part of deviation processing, the optics deviation part and the phased array element one of transmitting
One is corresponding.
10. phased-array laser radar according to claim 1-5, which is characterized in that the receiver is photoelectricity
Detector.
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| CN201811377449.4A CN109444849A (en) | 2018-11-19 | 2018-11-19 | Phased-array laser radar |
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