CN209911543U

CN209911543U - Laser radar

Info

Publication number: CN209911543U
Application number: CN201920344055.2U
Authority: CN
Inventors: 胡小波; 鲁曼; 沈俭; 刘颖
Original assignee: LeiShen Intelligent System Co Ltd
Current assignee: LeiShen Intelligent System Co Ltd
Priority date: 2019-03-18
Filing date: 2019-03-18
Publication date: 2020-01-07
Anticipated expiration: 2029-03-18

Abstract

The utility model discloses a laser radar. The laser radar includes: the device comprises a light emitting unit, a light receiving unit and a control processing unit; the light emission unit comprises a light source subunit, an optical phased array subunit and a reflection prism subunit, and the light source subunit, the optical phased array subunit and the reflection prism subunit are respectively and electrically connected with the control processing unit; the light source subunit emits an incident beam; the optical phased array subunit deflects the incident light beam in a first plane to form a one-dimensional light beam with a preset scanning angle on the first plane, and the one-dimensional light beam irradiates the reflecting surface of the reflecting prism mirror unit; the control processing unit controls the reflecting prism subunit to deflect the one-dimensional light beam irradiated on the reflecting surface in the second plane so as to realize the scanning of the one-dimensional light beam on the second plane and form the detection light beam. The embodiment of the utility model provides a technical scheme can reduce laser radar's whole volume, reduces mechanical wear to be favorable to improving laser radar's reliability.

Description

Laser radar

Technical Field

The embodiment of the utility model provides a relate to laser rangefinder technical field, especially relate to a laser radar.

Background

The laser radar is a radar system that emits a laser beam to detect a characteristic quantity such as a position and a velocity of a target object. The working principle of the laser radar is as follows: the method comprises the steps of transmitting a detection signal (laser beam) to a target object, comparing a received signal (target echo or echo signal) reflected from the target object with the transmitted signal, and carrying out appropriate processing to obtain relevant information of the target object, such as parameters of distance, direction, height, speed, posture, even shape and the like of the target object, so as to detect, track and identify the target object.

However, most of the three-dimensional scanning laser radars which have been mass-produced at present are multi-line mechanical rotating laser radars, and a macroscopic mechanical rotating part is arranged inside the laser radar to mechanically rotate the whole structure, so that the laser radar has serious mechanical wear, low reliability and large volume.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a laser radar can reduce laser radar's whole volume, reduces mechanical wear to be favorable to improving laser radar's reliability.

An embodiment of the utility model provides a laser radar, this laser radar includes: the device comprises a light emitting unit, a light receiving unit and a control processing unit;

the light emitting unit is used for emitting a probe beam, the light receiving unit is used for receiving an echo beam reflected by a target object, and the control processing unit is used for determining the related information of the target object according to the probe beam and the echo beam; the relevant information of the target object comprises at least one of distance, azimuth, altitude and speed;

the light emission unit comprises a light source subunit, an optical phased array subunit and a reflecting prism subunit which are sequentially arranged along the propagation direction of light, and the light source subunit, the optical phased array subunit and the reflecting prism subunit are respectively and electrically connected with the control processing unit;

the control processing unit controls the light source subunit to emit incident light beams;

the control processing unit controls the optical phased array subunit to deflect the incident light beam in a first plane so as to form a one-dimensional light beam with a preset scanning angle on the first plane, and the one-dimensional light beam irradiates the reflecting surface of the reflecting prism mirror unit;

the control processing unit controls the reflecting prism mirror unit to deflect the one-dimensional light beam irradiated on the reflecting surface in a second plane so as to realize scanning of the one-dimensional light beam on the second plane and form the detection light beam;

wherein the first plane intersects the second plane.

Further, the first plane is perpendicular to the second plane.

Further, the light emitting unit further comprises a collimating subunit, and the collimating subunit is located in the optical paths of the light source subunit and the optical phased array subunit;

the collimation subunit is configured to collimate the incident light beam emitted by the light source subunit, and irradiate the collimated incident light beam to the optical phased array subunit.

Further, the light source subunit includes a laser.

Further, the optical phased array subunit includes an optical waveguide array;

the control processing unit sequentially provides preset voltage for the optical waveguide array; and the optical waveguide array deflects the incident beam by a preset angle according to the sequentially received preset voltage.

Further, the control processing unit provides different preset voltages to the optical waveguide array within a preset scanning time, so that the optical waveguide array deflects the incident beam by different preset angles according to the different preset voltages to form the one-dimensional beam.

Further, the preset voltage is less than or equal to 10V, and the preset scanning angle is within a range of +/-10 degrees.

Further, the optical waveguide array is an AlGaAs optical waveguide array or a silicon-based optical waveguide array.

Furthermore, the light emitting unit also comprises a driving subunit, and the reflecting prism mirror unit is electrically connected with the control processing unit through the driving subunit;

the control processing unit is further used for controlling the driving subunit to provide a driving force to the reflecting prism subunit, so that the reflecting prism subunit rotates to deflect the one-dimensional light beam irradiated onto the reflecting surface in a second plane, and the one-dimensional light beam is scanned on the second plane to form the detection light beam.

Furthermore, the light receiving unit comprises a receiving lens subunit and an array detection subunit which are sequentially arranged along the propagation direction of the light, and the array detection subunit is electrically connected with the control processing unit;

the receiving mirror unit is used for receiving the echo light beam and focusing the echo light beam to the array detection subunit;

the array detection subunit is used for converting the received echo light beam into an electric signal and transmitting the electric signal to the control processing unit.

Further, the array detection subunit includes a photon detector.

Further, the control processing unit determines the relevant information of the target object by adopting at least one of a time-of-flight method, a phase method and a frequency-modulated continuous wave method.

The embodiment of the utility model provides a laser radar, which comprises a light emitting unit, a light receiving unit and a control processing unit; the light emitting unit is used for emitting a detection light beam, the light receiving unit is used for receiving an echo light beam reflected by a target object, and the control processing unit is used for determining related information of the target object according to the detection light beam and the echo light beam; the relevant information of the target object comprises at least one of distance, azimuth, altitude and speed; the light emission unit comprises a light source subunit, an optical phased array subunit and a reflection prism subunit which are sequentially arranged along the propagation direction of light, and the light source subunit, the optical phased array subunit and the reflection prism subunit are respectively and electrically connected with the control processing unit; the control processing unit controls the light source subunit to emit incident light beams; the control processing unit controls the optical phased array subunit to deflect the incident light beam in a first plane so as to form a one-dimensional light beam with a preset scanning angle on the first plane, and the one-dimensional light beam irradiates the reflecting surface of the reflecting prism mirror unit; the control processing unit controls the reflecting prism subunit to deflect the one-dimensional light beam irradiated on the reflecting surface in a second plane so as to realize the scanning of the one-dimensional light beam on the second plane and form a detection light beam; wherein the first plane intersects the second plane; the three-dimensional scanning can be realized, and meanwhile, the rotation of the whole machine is not needed, so that the mechanical abrasion is favorably reduced, and the reliability of the laser radar is favorably improved; and the overall volume of the laser radar can be reduced, and the integrated design is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another laser radar provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an optical waveguide array in a laser radar according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another laser radar provided by an embodiment of the present invention;

fig. 5 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of another laser radar according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention. Referring to fig. 1, the laser radar 10 includes: a light emitting unit 110, a light receiving unit 120, and a control processing unit 130; the light emitting unit 110 is configured to emit a probe beam, the light receiving unit 120 is configured to receive an echo beam reflected by the target object 20, and the control processing unit 130 is configured to determine information related to the target object 20 according to the probe beam and the echo beam; the relevant information of the target object 20 includes at least one of distance, orientation, altitude, and speed; the light emitting unit 110 includes a light source subunit 111, an optical phased array subunit 112, and a reflection prism subunit 113, which are sequentially arranged along the propagation direction of light, and the light source subunit 111, the optical phased array subunit 112, and the reflection prism subunit 113 are respectively electrically connected to the control processing unit 130; the control processing unit 130 controls the light source subunit 111 to emit an incident light beam; the control processing unit 130 controls the optical phased array subunit 112 to deflect the incident light beam in the first plane to form a one-dimensional light beam with a preset scanning angle on the first plane, and the one-dimensional light beam is irradiated onto the reflecting surface of the reflecting prism subunit 113; the control processing unit 130 controls the reflecting prism subunit 113 to deflect the one-dimensional light beam irradiated on the reflecting surface in the second plane so as to realize the scanning of the one-dimensional light beam on the second plane and form a detection light beam; wherein the first plane intersects the second plane.

Illustratively, the light emitting unit 110 is a laser emitting unit, the light receiving unit 120 is a laser receiving unit, and the probe beam, the echo beam, the incident beam, and the one-dimensional beam are all laser beams.

A one-dimensional beam is understood to be the entirety of all differently deflected beams formed by the various angles of deflection of the incident beam in the first plane, which can be scanned in the first plane.

Wherein, the laser radar 10 utilizes the optical phased array subunit 112 to realize the beam scanning in the first plane, and combines the beam scanning in the second plane realized by the reflection prism subunit 113; it is also understood that the lidar 10 utilizes the optical phased array subunit 112 to achieve beam scanning in one dimension in conjunction with the mirror prism subunit 113 to achieve beam scanning in another dimension.

Wherein the optical phased array subunit 112 implements beam deflection based on optical phased array technology. The optical phased array technology is derived from the microwave phased array technology, and the optical phased array subunit 112 realizes deflection based on an electro-optical effect or a thermo-optical effect to realize light beam scanning. Illustratively, taking the electro-optical effect as an example, the core component of the optical phased array subunit 112 is a plurality of phase modulation units made of an electro-optical material, and by controlling the voltage applied to the phase modulation units, each phase modulation unit generates a corresponding phase delay, so as to control the optical field distribution at the exit end of each phase modulation unit, thereby implementing the deflection of the incident light beam.

Illustratively, on a time scale, by applying a different series of voltages to the phase modulation unit, deflection of the incident light beam at a different series of angles can be achieved, so that the control processing unit 130 can be used to control the optical phased array subunit 112 to achieve scanning of the incident light beam in the first plane.

The laser radar 10 adopts an optical phased array technology, and realizes the scanning of an incident beam in a first plane under the conditions of non-mechanical rotation and non-mechanical vibration, so that the mechanical abrasion can be reduced, the improvement of the scanning speed and the angular resolution of the beam is facilitated, and the improvement of the reliability of the laser radar 10 is facilitated. Meanwhile, the optical phased array subunit 112 does not need to be mechanically driven, and therefore does not need to be provided with a power driving part, so that the overall size of the laser radar 10 is reduced, the laser radar is easier to integrate and design, and the requirements of modern measurement technologies are met.

Optionally, the first plane is perpendicular to the second plane.

Illustratively, the first plane is a vertical plane and the second plane is a horizontal plane.

It should be noted that, the included angle between the first plane and the second plane may also be set according to the actual detection requirement of the laser radar 10, and the embodiment of the present invention does not limit this.

Optionally, the light source subunit 111 comprises a laser.

Compared with a multi-line mechanical rotating laser radar, the laser radar 10 can realize higher angular resolution, and meanwhile, the power consumption of the whole machine is lower; and the overall structure of the laser radar 10 is simple, which is beneficial to reducing the overall design and manufacturing cost of the laser radar 10.

Illustratively, the laser may be a laser diode, a fiber laser, a gas laser, a solid state laser, or other types of lasers known to those skilled in the art; the laser can be a single-wavelength output laser or a multi-wavelength output laser; the laser output by the laser can be polarized light or unpolarized light; the laser output mode of the laser can be continuous output or pulse output; above, all can set up according to laser radar 10's actual demand, the embodiment of the utility model provides a do not limit to this.

It should be noted that the number of lasers in the light source subunit 111 can also be set according to the actual requirement of the laser radar 10, and may be 2 or more, which is not limited in the embodiment of the present invention.

Optionally, fig. 2 is a schematic structural diagram of another laser radar provided in the embodiment of the present invention. Referring to fig. 2, the light emitting unit 110 further includes a collimating subunit 114, and the collimating subunit 114 is located in the optical paths of the light source subunit 111 and the optical phased array subunit 112; the collimating subunit 114 is configured to collimate the incident light beam emitted by the light source subunit 111, and irradiate the collimated incident light beam to the optical phased array subunit 112.

The light beam emitted from the light source subunit 111 is a divergent light beam, and the collimation subunit 114 collimates the divergent light beam emitted from the light source subunit 111 to form a parallel light beam which is then irradiated to the incident surface of the optical phased array subunit 112, so that energy loss can be avoided, and the signal intensity of the detection light beam emitted from the light reflection unit 110 can be improved.

Illustratively, the collimating sub-unit 114 may include a cylindrical mirror, a collimating lens, and other optical elements known to those skilled in the art.

It should be noted that, when the light source subunit 111 integrates the light beam collimating function therein, it is not necessary to provide a collimating subunit.

Optionally, optical phased-array subunit 112 includes an optical waveguide array; the control processing unit 130 sequentially provides preset voltages to the optical waveguide array; the optical waveguide array deflects the incident beam by a preset angle according to the sequentially received preset voltage.

The preset angle can be understood as an angle at which the optical waveguide array deflects the incident beam under a certain preset voltage, and the incident beam can be deflected by a series of preset angles by applying a series of voltages to the optical waveguide array, so that a one-dimensional scanning beam with a preset scanning angle range on the first plane is formed.

Because the scanning speed of the light beams of the optical waveguide array is high and the scanning frequency can reach the MHz magnitude, the laser radar 10 can realize high angular resolution; meanwhile, the driving voltage of the optical waveguide array is low, which is beneficial to reducing the overall power consumption of the laser radar 10.

Fig. 3 is a schematic structural diagram of an optical waveguide array in a laser radar according to an embodiment of the present invention. Referring to fig. 3, the optical waveguide array includes an electrode layer 410 and an optical waveguide layer 420 formed on a substrate 400 and alternately stacked; wherein, the electrode layer 410 can also be called as cladding layer 410, and the optical waveguide layer 420 can also be called as core layer 420; one optical waveguide layer 420 and one electrode layer 410 correspond to one phase modulation unit. The control processing unit 130 applies a predetermined potential to the electrode layer 410, and generates a corresponding potential difference (i.e. voltage) in each waveguide layer 420, and each phase modulation unit generates a corresponding phase delay through the electro-optical effect of the crystals in the optical waveguide layer 420, so as to change the phase distribution of the incident light beam 30 on the exit surface of the optical waveguide array, thereby realizing the light beam deflection in a first plane (e.g. a vertical plane defined by the first direction X and the second direction Y).

It should be noted that a plane defined by the second direction Y and the third direction Z is a horizontal plane, a plane defined by the first direction X and the second direction Y is an incident plane of the incident beam 30 on the optical waveguide array, and the size of the spot of the incident beam 30 incident on the optical waveguide array is exemplarily shown by a bold dashed box in fig. 3. Illustratively, the size of the incident beam 30 is on the order of micrometers (μm).

It should be noted that fig. 3 only shows the optical waveguide array including four electrode layers 410 and three optical waveguide layers 420 by way of example, but does not constitute a limitation to the optical waveguide array provided by the embodiments of the present invention. In other embodiments, the number of layers of the electrode layer 410 and the optical waveguide layer 420 in the optical waveguide array may be set according to actual requirements of the laser radar 10, which is not limited by the embodiment of the present invention.

Optionally, the control processing unit 130 provides different preset voltages to the optical waveguide array within a preset scanning time, so that the optical waveguide array deflects the incident beam by different preset angles according to the different preset voltages to form a one-dimensional light beam.

That is, by controlling the processing unit 130 to apply different combinations of voltages to the optical waveguide array, scanning of the optical beam in the vertical plane can be achieved.

It should be noted that the preset voltage corresponds to a voltage difference applied to each optical waveguide layer 420. Because the restriction of the environmental condition and the technological parameter of the actual manufacture process of optical waveguide array, the physical properties (mainly refer to the electro-optic effect) of every layer of optical waveguide layer 420 is not identical, therefore should predetermine the voltage and the actual physical properties setting of optical waveguide layer 420 according to the theory, the embodiment of the utility model provides a do not limit to its specific numerical value.

Optionally, the preset voltage is less than or equal to 10V, and the preset scanning angle is within a range of ± 10 °.

In this way, scanning within an angle variation range of 20 ° in the first plane is advantageously achieved at a lower driving voltage.

Optionally, the optical waveguide array is an AlGaAs optical waveguide array or a silicon-based optical waveguide array.

Illustratively, AlGaAs crystals are transparent to near infrared wavelengths, and a desired refractive index of the optical waveguide array can be obtained by controlling the composition of Al. The response time of the optical phased array subunit formed by utilizing the AlGaAs optical waveguide array is in ns order.

Illustratively, AlGaAs optical waveguide arrays can be fabricated by Metal-organic Chemical Vapor Deposition (MOCVD), with the substrate material being GaAs and the core material being AlGaAs. MOCVD is a chemical vapor deposition process that utilizes metal organic compounds as source materials. MOCVD uses organic compounds of III group and II group elements and hydrides of V group and VI group elements as crystal growth source materials, and carries out vapor phase epitaxy on a substrate in a thermal decomposition reaction mode to grow thin layer single crystal materials of various III-V main group and II-VI sub group compound semiconductors and multi-element solid solutions thereof.

It should be noted that, other ways known to those skilled in the art may also be adopted to form the optical waveguide array, and the optical phased array subunit may also include other types of optical phased arrays known to those skilled in the art, for example, a lithium niobate crystal phased array, a liquid crystal phased array, or a piezoelectric ceramic phased array, which is not limited by the embodiment of the present invention.

Optionally, fig. 4 is a schematic structural diagram of another laser radar provided in the embodiment of the present invention. Referring to fig. 4, the reflective prism mirror unit 113 includes a multi-sided reflective prism.

Exemplarily, the polygon mirror can be a right-angle pentaprism (shown in fig. 4), a right-angle triple prism, a right-angle quadruple prism, a right-angle hexaprism or other types of right-angle polygon mirror, and different sides of the polygon mirror can be different angles with the bottom surface, which is not limited by the embodiment of the present invention.

Optionally, fig. 5 is a schematic structural diagram of another laser radar provided in the embodiment of the present invention. Referring to fig. 5, the light emitting unit 110 further includes a driving sub-unit 115, and the reflective prism unit 113 is electrically connected to the control processing unit 130 through the driving sub-unit 115; the control processing unit 130 is further configured to control the driving subunit 115 to provide a driving force to the reflecting prism subunit 113, so as to rotate the reflecting prism subunit 113 to deflect the one-dimensional light beam irradiated onto the reflecting surface in the second plane, so as to realize scanning of the one-dimensional light beam on the second plane, and form the probe light beam.

The driving subunit 115 drives the reflection prism mirror unit 113 to rotate continuously, and the rotation angular velocity of the reflection prism mirror unit 113 is not changed, so that when the pulse laser radar is applied, the scanning angle interval in the second plane is uniform.

Therefore, only the reflection prism subunit 113 needs to be rotated, the laser radar 10 does not need to rotate the whole machine, the driving power consumption of the laser radar 10 is reduced, the mechanical loss of the laser radar 10 is reduced, and the service life of the laser radar 10 is prolonged.

Optionally, fig. 6 is a schematic structural diagram of another laser radar provided in the embodiment of the present invention. Referring to fig. 4 and 6, the light receiving unit 120 includes a receiving lens subunit 121 and an array detection subunit 122 sequentially arranged along the propagation direction of light, the array detection subunit 122 being electrically connected to the control processing unit 130; the receiving mirror unit 121 is used for receiving the echo light beam and focusing the echo light beam to the array detection subunit 122; the array detection subunit 122 is configured to convert the received echo light beam into an electrical signal, and transmit the electrical signal to the control processing unit 130.

Wherein, the echo light beam is received by the receiving lens subunit 121 and focused to the array detection subunit 122, and the array detection subunit 122 converts the optical signal of the echo light beam into an electrical signal and transmits the electrical signal to the control processing unit 130; the control processing unit 130 amplifies the electrical signal to finally obtain information such as distance, direction, height, speed, etc. of the target object.

For example, the receiving lens subunit 121 may include a spherical lens group or an aspherical lens group, and the focusing of the echo beam to the array detection subunit 122 may be achieved.

Optionally, the array detection subunit 122 includes a photon detector.

Illustratively, the photon detector may be a plurality of Avalanche Photodiodes (APDs) arranged in an array, and the arrangement is such that the volume of the array detection subunit 122 is reduced.

The array detection subunit 122 may also be a single large-area APD, a focal plane array detector, a single-point or array silicon photomultiplier (MPPC) detector, or other types of array detectors known to those skilled in the art, which is not limited by the embodiments of the present invention.

Alternatively, the control processing unit 130 determines the relevant information of the target object 20 by using at least one of a time-of-flight method, a phase method, and a frequency modulated continuous wave method.

Illustratively, the Time of Flight (TOF) method determines position information of the target object 20 by calculating a Time difference of laser pulses.

Illustratively, the phase method determines the distance of the target object 20 by calculating the phase difference between the probe beam and the echo beam.

Illustratively, Frequency Modulated Continuous Wave (FMCW) determines the distance of the target object 20 by calculating the Frequency difference between the probe beam and the echo beam.

It should be noted that the control processing unit 130 may also determine the related information of the target object 10 by other methods known to those skilled in the art, which is not limited by the embodiment of the present invention.

The embodiment of the utility model provides a laser radar 10 can adopt single laser light source, realizes the scanning of vertical direction through optics phased array technique, uses right angle multiaspect reflecting prism to realize the scanning of horizontal direction. After a laser in the laser radar 10 is lighted up, the emitted laser (i.e., an incident beam) enters the optical waveguide array through a collimating subunit (also called as a transmitting collimating system), and a series of voltage data is loaded to each phase modulation unit in the optical waveguide array through the control processing unit, so that beam deflection in the vertical direction is realized; the light beams are reflected out by the right-angle multi-surface reflecting prism, and multi-layer scanning can be realized by rotating the right-angle multi-surface reflecting prism. The detection light beam (also called as scanning light beam) is reflected by one or more target objects in space to form an echo light beam (also called as reflected light beam), the echo light beam is received by a receiving lens unit (also called as receiving lens group) and focused to an array detection subunit (also called as array detector), the array detection subunit converts optical signals into electric signals, the electric signals are processed by a control processing unit to obtain distance and direction information of the objects, and finally a three-dimensional point cloud picture is generated. The optical waveguide array is small in size, high in scanning precision, quick in response time and low in driving voltage, and can effectively improve the angular resolution and the scanning frequency compared with a multi-line mechanical rotating laser radar, a laser radar based on reflector rotation or torsion or a laser radar based on a prism scanning technology; the optical waveguide phased array has the characteristics of high responsivity, low driving voltage and the like, so that high-speed scanning can be realized under low power consumption. A single laser is used as a light source, so that the power consumption of the whole machine is reduced; the right-angle multi-surface reflecting prism only needs to be rotated, the complete machine does not need to be rotated, power consumption is reduced, rotation loss is reduced, and the reliability of the laser radar is improved.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A lidar, comprising: the device comprises a light emitting unit, a light receiving unit and a control processing unit;

wherein the first plane intersects the second plane.

2. The lidar of claim 1, wherein the first plane is perpendicular to the second plane.

3. The lidar of claim 1, wherein the light transmitting unit further comprises a collimating subunit located in the optical path of the light source subunit and the optical phased array subunit;

4. The lidar of claim 1, wherein the light source subunit comprises a laser.

5. The lidar of claim 1, wherein the optical phased array subunit comprises an optical waveguide array;

6. The lidar of claim 5, wherein the control processing unit provides different preset voltages to the optical waveguide array within a preset scanning time, so that the optical waveguide array deflects the incident beam by different preset angles according to the different preset voltages to form the one-dimensional beam.

7. Lidar according to claim 6, wherein the predetermined voltage is less than or equal to 10V and the predetermined scanning angle is within ± 10 °.

8. Lidar according to claim 5, wherein the optical waveguide array is an AlGaAs optical waveguide array or a silicon-based optical waveguide array.

9. The lidar of claim 1, wherein the light emitting unit further comprises a driving subunit, and the reflective prism unit is electrically connected with the control processing unit through the driving subunit;

10. The lidar of claim 1, wherein the light receiving unit comprises a receiving lens subunit and an array detection subunit which are arranged in sequence along the propagation direction of light, the array detection subunit being electrically connected to the control processing unit;

11. The lidar of claim 10, wherein the array detection subunit comprises a photon detector.

12. The lidar of claim 1, wherein the control processing unit determines the information about the target object using at least one of a time-of-flight method, a phase method, and a frequency modulated continuous wave method.