CN117203551A

CN117203551A - Laser radar, laser radar measurement method, electronic device, and readable storage medium

Info

Publication number: CN117203551A
Application number: CN202280027053.5A
Authority: CN
Inventors: 胡小波; 沈俭; 白芳
Original assignee: LeiShen Intelligent System Co Ltd
Current assignee: LeiShen Intelligent System Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-12-08

Abstract

A laser radar, a laser radar measuring method, electronic equipment and a readable storage medium belong to the technical field of laser radars. The laser radar (10) includes: the laser device comprises a laser emitting module (11) for collimating and emitting multiple paths of laser emitting beams and multiple paths of local oscillation laser beams with the same quantity, a scanning device (12) for reflecting the multiple paths of laser emitting beams into a detection area, wherein the multiple paths of laser emitting beams reach the surface of a target and emit back multiple paths of reflected laser beams, a laser receiving module (13) for receiving the multiple paths of reflected laser beams reflected by the scanning device, focusing the multiple paths of reflected laser beams, and then performing beat frequency processing on the multiple paths of reflected laser beams and the corresponding local oscillation laser beams respectively to obtain mixed signals, wherein the mixed signals comprise beat frequency signals and pulse signal components included by the laser emitting beams, and performing signal processing on the mixed signals to calculate the distance and speed of the target. In this way, the speed measurement efficiency can be improved.

Description

Laser radar, laser radar measurement method, electronic device, and readable storage medium

Technical Field

The application belongs to the technical field of laser radars, and particularly relates to a laser radar, a laser radar measurement method, electronic equipment and a readable storage medium.

Background

According to the emission waveform division of laser, the laser radar comprises a Time of flight (TOF) laser radar and a frequency modulation continuous wave (Frequency Modulated Continuous Wave, FMCW) laser radar, and the TOF laser radar and the FMCW laser radar can obtain point cloud data by detecting a target and then process the point cloud data to obtain the distance and the speed of the target.

However, only three-dimensional coordinates exist in the point cloud data of the TOF laser radar, the speed of the target can be calculated only by using multi-frame point cloud data, and the problems of long calculation period and low speed measurement efficiency exist. The point cloud data of the FMCW laser radar comprises three-dimensional coordinates and speed information, so that speed measurement and distance measurement can be simultaneously carried out, the speed measurement and distance measurement period of the FMCW laser radar is long, and the problem of low speed measurement efficiency exists.

Disclosure of Invention

In order to solve the technical problems, embodiments of the present application provide a laser radar, a laser radar measurement method, an electronic device, and a readable storage medium, which can improve speed measurement efficiency.

In a first aspect, an embodiment of the present application provides a laser radar, where the laser emission module includes at least one pulse seed source and at least one continuous wave laser, where the laser emission module is configured to collimate and emit multiple paths of laser emission beams and multiple paths of local oscillation laser beams with the same number, where each path of laser emission beam includes pulse signals and continuous wave signals with different wavelengths, and the multiple paths of local oscillation laser beams are obtained by coupling and frequency shifting continuous wave signals emitted by at least one continuous wave laser;

The scanning device is used for reflecting multiple paths of laser emission light beams into the detection area, and the multiple paths of laser emission light beams reach the target surface and emit back multiple paths of reflected laser light beams;

the laser receiving module is used for receiving the multiple paths of reflected laser beams reflected by the scanning device, performing focusing treatment on the multiple paths of reflected laser beams, performing beat frequency treatment on the multiple paths of reflected laser beams and the corresponding local oscillator laser beams respectively to obtain mixed signals, wherein the mixed signals comprise beat frequency signals and pulse signal components included by the laser emission beams, and performing signal processing on the mixed signals to calculate the distance and the speed of the target.

In a second aspect, an embodiment of the present application provides a laser radar measurement method, which is applied to the laser radar provided in the first aspect, and the method includes:

the laser emission module is used for collimating and emitting multiple paths of laser emission beams and multiple paths of local oscillation laser beams with the same quantity, each path of laser emission beam comprises pulse signals and continuous wave signals with different wavelengths, and the multiple paths of local oscillation laser beams are obtained by coupling and frequency shifting continuous wave signals emitted by at least one continuous wave laser;

The scanning device reflects multiple paths of laser emission light beams into the detection area, and the multiple paths of laser emission light beams reach the target surface and emit back multiple paths of reflected laser light beams;

the laser receiving module receives multiple paths of reflected laser beams reflected by the scanning device, performs beat frequency processing on the multiple paths of reflected laser beams and the corresponding local oscillator laser beams respectively after focusing processing, and obtains a mixed signal, wherein the mixed signal comprises a beat frequency signal and a reflected pulse signal, and performs signal processing on the mixed signal to calculate the distance and the speed of the target.

In a third aspect, an embodiment of the present application provides an electronic device, including the lidar provided in the first aspect.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when run on a processor, performs the laser measurement method provided in the second aspect.

As the laser radar, the laser radar measuring method, the electronic device and the readable storage medium provided by the application have the advantages that the laser emission light beams comprise pulse signals and continuous wave signals with different wavelengths, when the laser emission light beams are emitted out and meet the target feedback multipath reflected laser light beams, the reflected laser light beams also have continuous wave signals, and thus, the Doppler frequency shift generated on the target by the continuous wave signals in the reflected laser light beams is utilized to calculate the relative speed between the laser radar and the target. The laser radar provided by the embodiment can endow each point cloud with a corresponding speed value, so that the speed between the laser radar and a target is determined, and the laser radar measurement efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like elements are numbered alike in the various figures.

Fig. 1 shows one of schematic structural diagrams of a lidar according to an embodiment of the present application;

FIG. 2 shows a second schematic diagram of a laser radar according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a third embodiment of the present application;

fig. 4 shows a fourth schematic structural diagram of a lidar according to an embodiment of the present application;

fig. 5 shows a fifth structural diagram of a lidar according to an embodiment of the present application;

fig. 6 shows a sixth schematic structural diagram of a lidar according to an embodiment of the present application;

fig. 7 shows a seventh schematic structural diagram of a lidar according to an embodiment of the present application;

fig. 8 shows an eighth schematic structural diagram of a lidar according to an embodiment of the present application;

fig. 9 shows a ninth schematic structural diagram of a lidar according to an embodiment of the present application;

Fig. 10 shows a schematic diagram of a laser radar according to an embodiment of the present application;

FIG. 11 shows an eleventh schematic view of a laser radar according to an embodiment of the present application;

FIG. 12 shows a schematic diagram of a laser radar according to an embodiment of the present application;

FIG. 13 shows thirteenth of the structural schematic diagram of the lidar according to the embodiment of the present application;

FIG. 14 is a schematic diagram of a beat signal according to an embodiment of the present application;

FIG. 15 shows fourteen structural diagrams of a lidar according to an embodiment of the present application;

FIG. 16 shows fifteen structural diagrams of a lidar according to an embodiment of the present application;

FIG. 17 shows one of the schematic diagrams of a laser emission beam provided by an embodiment of the present application;

fig. 18 shows one of the schematic diagrams of the laser reflected beam and the local oscillation laser beam according to the embodiment of the present application.

Icon: 10-laser radar, 11-laser emission module, 12-scanning device, 13-laser receiving module.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.

The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.

Example 1

The embodiment of the application provides a laser radar. The laser radar can measure the distance between the target and the laser radar and the movement speed of the target, and the speed measurement efficiency is improved.

Referring to fig. 1, the lidar 10 includes: the laser emitting module 11 includes at least one pulse seed source (not shown) and at least one continuous wave laser (not shown), the laser emitting module 10 is configured to collimate and emit multiple laser emitting beams and multiple local oscillation laser beams with the same number, each of the laser emitting beams includes pulse signals and continuous wave signals with different wavelengths, and the multiple local oscillation laser beams are obtained by coupling and frequency shifting continuous wave signals emitted by the at least one continuous wave laser;

Scanning means 12 for reflecting a plurality of said laser radiation beams into the detection area, the plurality of said laser radiation beams reaching the target surface to emit back a plurality of reflected laser beams;

the laser receiving module 13 is configured to receive the multiple paths of reflected laser beams reflected by the scanning device 12, perform beat frequency processing on the multiple paths of reflected laser beams after performing focusing processing on the multiple paths of reflected laser beams, and perform beat frequency processing on the multiple paths of reflected laser beams and the local oscillator laser beams corresponding to the multiple paths of reflected laser beams respectively, so as to obtain a mixed signal, where the mixed signal includes a beat frequency signal and a pulse signal component included in the laser emission beam, and perform signal processing on the mixed signal to calculate a distance and a speed of the target.

In this embodiment, the continuous wave laser comprises a narrow linewidth distributed feedback (Distributed Feedback Laser, DFB) laser.

In this embodiment, since the multiple laser emission beams include pulse signals and continuous wave signals with different wavelengths, when the multiple laser emission beams are emitted and meet the feedback of multiple reflected laser beams, the reflected laser beams also have continuous wave signals, so that the doppler shift generated on the target by the continuous wave signals in the reflected laser beams is used to calculate the relative speed between the laser radar and the target. The laser radar provided by the embodiment can endow each point cloud with a corresponding speed value, so that the speed between the laser radar and a target is determined, and the laser radar measurement efficiency is improved.

In this embodiment, since the narrow-linewidth DFB laser is used for emitting a continuous wave signal, the narrower the linewidth of the narrow-linewidth DFB laser is, the more accurate the frequency value of the beat signal obtained by mixing is, and the continuous wave laser can be any other type of narrow-linewidth laser, which is not limited herein.

Referring to fig. 2, the laser emitting module 11 further includes:

a continuous wave signal processing module 111, connected to at least one continuous wave laser (not shown), and configured to perform coupling processing on continuous wave signals emitted by at least one continuous wave laser (not shown) respectively, so as to obtain a first continuous wave signal and a second continuous wave signal corresponding to each continuous wave laser;

a first beam emission module 112, respectively connected to at least one pulse seed source (not shown) and the continuous wave signal processing module 111, and configured to perform corresponding signal processing on a pulse signal emitted from at least one pulse seed source (not shown) and a first continuous wave signal corresponding to at least one continuous wave laser (not shown), so as to generate and collimate and emit multiple laser emission beams;

and the second beam emitting module 113 is connected to the continuous wave signal processing module 111, and is configured to perform frequency shift and coupling processing on a second continuous wave signal corresponding to at least one continuous wave laser (not shown), so as to generate and collimate and emit multiple local oscillation laser beams.

Referring to fig. 3, the continuous wave signal processing module 111 includes:

a first isolator 1111 and a first coupling module 1112;

the input end of the first isolator 1111 is connected to at least one continuous wave laser 301, and is configured to perform isolation processing on initial signals sent by the at least one continuous wave laser 301, so as to obtain continuous wave signals emitted by the at least one continuous wave laser;

the output end of the first isolator 1111 is connected to the first coupling module 1112, and is configured to send a continuous wave signal emitted by at least one continuous wave laser to the first coupling module;

the first coupling module 1112 is further connected to the first beam emission module 112 and the second beam emission module 113, and is configured to perform coupling processing on continuous wave signals emitted by at least one continuous wave laser 301, so as to obtain a first continuous wave signal and a second continuous wave signal corresponding to each continuous wave laser 301, send the first continuous wave signal corresponding to each continuous wave laser 301 to the first beam emission module 112, and send the second continuous wave signal corresponding to each continuous wave laser 301 to the second beam emission module 113.

In this way, the first isolator 1111 may be used to isolate the interference signal in the initial signal sent by at least one continuous wave laser 301, so that only the continuous wave signal emitted by at least one continuous wave laser 301 is left, thereby improving the precision of the continuous wave signal and reducing the influence of the interference signal.

Further, the continuous wave signal processing module 111 in fig. 3 may omit the first isolator 1111, where the continuous wave signal processing module 111 includes a first coupling module 1112, and the first coupling module 1112 is connected to at least one of the continuous wave laser 301, the first beam emission module 112, and the second beam emission module 113, and is configured to couple and process continuous wave signals emitted by at least one of the continuous wave lasers 301, to obtain a first continuous wave signal and a second continuous wave signal corresponding to each of the continuous wave lasers, and send the first continuous wave signal corresponding to each of the continuous wave lasers 301 to the first beam emission module 112, and send the second continuous wave signal corresponding to each of the continuous wave lasers to the second beam emission module 113.

Thus, a first isolator is saved, and the cost is reduced.

Referring to fig. 4, the laser emitting module includes two pulse seed sources 401 and two continuous wave lasers 301 with different wavelengths, the first coupling module 1112 includes two first couplers, each of the first couplers is respectively connected to the corresponding continuous wave laser 301, the first beam emitting module 112 and the second beam emitting module 113, and is configured to couple the continuous wave signals emitted by the corresponding continuous wave laser 301 to obtain a first continuous wave signal and a second continuous wave signal, and send the first continuous wave signal to the first beam emitting module 112 and the second continuous wave signal to the second beam emitting module 113.

Referring to fig. 5, the laser emitting module includes two pulse seed sources 401 with different wavelengths and one continuous wave laser 301, the first coupling module 1112 includes three first couplers, one first coupler is connected to one continuous wave laser and the other two first couplers, and is configured to couple the continuous wave signals emitted from one continuous wave laser 301 to obtain a third continuous wave signal and a fourth continuous wave signal, send the third continuous wave signal to one of the other two first couplers, and send the fourth continuous wave signal to the other two first couplers;

One of the other two first couplers is connected to the first beam emission module 112, and is configured to couple the third continuous wave signal to obtain two first continuous wave signals, and send the two first continuous wave signals to the first beam emission module 112;

the other two of the two first couplers are connected to the second beam emission module 113, and are configured to couple the fourth continuous wave signal to obtain two second continuous wave signals, and send the two second continuous wave signals to the second beam emission module 113.

Referring to fig. 6, the laser emitting module includes a pulse seed source 401 and a continuous wave laser 301 with different wavelengths, the first coupling module 1112 includes a first coupler, and one of the first couplers is respectively connected to one of the continuous wave laser 301, the first beam emitting module 112 and the second beam emitting module 113, and is configured to couple a continuous wave signal emitted from one of the continuous wave lasers 301 to obtain a first continuous wave signal and a second continuous wave signal, and send the first continuous wave signal to the first beam emitting module 112 and send the second continuous wave signal to the second beam emitting module 113.

In this embodiment, the first coupler is of a polarization maintaining type.

It should be noted that, since the light source provided by the DFB laser with a narrow linewidth is linearly polarized laser, the first coupler in this embodiment adopts a polarization maintaining type, which can effectively reduce the loss of the device.

Referring to fig. 7, the first light beam emitting module 112 includes a wavelength division multiplexing module 1122, an amplifying module 1121, a second coupling module 1123, and a first collimating module 1124;

the amplifying module 1121 is connected to at least one of the pulse seed source (not shown), the continuous wave signal processing module 111, and the wavelength division multiplexing module 1122, and is configured to amplify a pulse signal emitted from the at least one of the pulse seed source and at least one of the first continuous wave signals sent by the continuous wave signal processing module 111, and send at least one amplified pulse signal and at least one amplified first continuous wave signal to the wavelength division multiplexing module 1122;

the wavelength division multiplexing module 1122 is further connected to the second coupling module 1123, and is configured to perform wavelength division multiplexing on each amplified pulse signal and a corresponding one of the amplified first continuous wave signals to obtain at least one wavelength division multiplexing signal, and send at least one wavelength division multiplexing signal to the second coupling module 1123;

The second coupling module 1123 is connected to the first collimating module 1124, and configured to perform coupling processing on at least one of the wavelength division multiplexing signals to obtain multiple paths of laser emission beams, and send the multiple paths of laser emission beams to the first collimating module 1123;

the first collimating module 1123 is configured to collimate and emit multiple laser emission beams.

Referring to fig. 8, the first light beam emitting module 112 includes a wavelength division multiplexing module 1122, an amplifying module 1121, a second coupling module 1123, and a first collimating module 1124;

the wavelength division multiplexing module 1122 is connected to at least one of the pulse seed sources (not shown), the continuous wave signal processing module 111 and the amplifying module 1121, and is configured to perform wavelength division multiplexing on the pulse signal emitted from each of the pulse seed sources and the corresponding one of the first continuous wave signals sent by the continuous wave signal processing module 111, to obtain at least one wavelength division multiplexing signal, and send the at least one wavelength division multiplexing signal to the amplifying module 1121;

the amplifying module 1121 is further connected to the second coupling module 1123, and configured to amplify at least one of the wdm signals to obtain at least one amplified wdm signal, and send the at least one amplified wdm signal to the second coupling module 1123;

The second coupling module 1123 is connected to the first collimating module 1124, and configured to perform coupling processing on at least one amplified wdm signal to obtain multiple paths of laser emission beams, and send the multiple paths of laser emission beams to the first collimating module 1124;

Referring to fig. 9 and 10, the first light beam emitting module 112 further includes a second isolator 1125, an input end of the second isolator 1125 is connected to at least one of the pulse seed sources (not shown), and an output end of the second isolator 1125 is connected to the amplifying module 1121 or the wavelength division multiplexing module 1122;

the second isolator 1125 is configured to isolate the initial signal emitted from at least one pulse seed source, obtain a pulse signal emitted from at least one pulse seed source, and send the pulse signal emitted from at least one pulse seed source to the amplifying module 11211 or the wdm module 1122.

Referring again to fig. 4, the laser emitting module includes two pulse seed sources 401 and two continuous wave lasers 301 with different wavelengths, and the input end of the amplifying module 1121 is connected to at least one pulse seed source 401 and at least one continuous wave laser 301, the output end of the amplifying module 1121 is connected to the input end of the wavelength division multiplexing module 1122, the wavelength division multiplexing module 1122 includes two first wavelength division multiplexers, the amplifying module 1121 includes four optical fiber amplifying circuits, and the second coupling module 1123 includes two second couplers;

The input end of each first wavelength division multiplexer is connected with the output end of a corresponding pulse seed source 401 through a corresponding optical fiber amplifying circuit and is used for receiving one amplified pulse signal;

the input end of each first wavelength division multiplexer is further connected to the output end of the continuous wave signal processing module 111 via a corresponding one of the optical fiber amplifying circuits, and is configured to receive one of the amplified first continuous wave signals;

the output end of each first wavelength division multiplexer is connected with a corresponding second coupler and is used for performing wavelength division multiplexing processing on one amplified pulse signal and one amplified first continuous wave signal to obtain a wavelength division multiplexing signal, and transmitting one wavelength division multiplexing signal to the second coupler;

each of the second couplers is connected to the first collimating module 1124, and is configured to perform coupling processing on a corresponding one of the wavelength division multiplexing signals to obtain multiple paths of laser emission beams, and send the multiple paths of laser emission beams to the first collimating module 1124.

In fig. 4, two continuous wave lasers 301 output continuous wave signals with different wavelengths, and each first coupler performs coupling processing on the continuous wave signals sent by the continuous wave lasers 301 to obtain corresponding first continuous wave signals and second continuous wave signals, and the first continuous wave signals output by each first coupler are amplified by an independent optical fiber amplifying circuit. Each pulse seed source 401 outputs pulse signals of different wavelengths to a corresponding one of the optical fiber amplification circuits, which amplifies the pulse signals. Each first wavelength division multiplexer receives the amplified pulse signal sent by the corresponding one optical fiber amplifying circuit and the amplified first continuous wave signal sent by the corresponding other optical fiber amplifying circuit, performs wavelength division multiplexing processing to obtain a corresponding one wavelength division multiplexing signal, each second coupler receives the corresponding one wavelength division multiplexing signal, performs coupling processing on the one wavelength division multiplexing signal to obtain two laser emission beams, the two second couplers generate 4 paths of laser emission beams in total, and each laser emission beam comprises pulse signals and continuous wave signals with different wavelengths. There may be an optical fiber to send the 4 laser emission beams into the first collimating module, and the first collimating module collimates and emits the 4 laser emission beams.

Referring to fig. 11, the laser emitting module includes two pulse seed sources 40 and two continuous wave lasers 301 with different wavelengths, and the input end of the amplifying module 1121 is connected to the output end of the wavelength division multiplexing module 1122, the output end of the amplifying module 1121 is connected to the second coupling module 1123, the wavelength division multiplexing module 1122 includes two first wavelength division multiplexers, the amplifying module 1121 includes two optical fiber amplifying circuits, and the second coupling module 1123 includes two second couplers;

the input end of each first wavelength division multiplexer is connected with the output end of a corresponding pulse seed source 401, and is used for receiving a pulse signal emitted by the corresponding pulse seed source 401;

the input end of each first wavelength division multiplexer is further connected to the output end of the continuous wave signal processing module 111, and is configured to receive one of the first continuous wave signals sent by the corresponding continuous wave signal processing module 11;

the output end of each first wavelength division multiplexer is connected to the input end of a corresponding optical fiber amplifying circuit 1121, and is configured to perform wavelength division multiplexing on a pulse signal emitted from the pulse seed source 401 and one first continuous wave signal sent by the continuous wave signal processing module 111, to obtain a corresponding wavelength division multiplexing signal, and send the corresponding wavelength division multiplexing signal to the corresponding optical fiber amplifying circuit;

The output end of each optical fiber amplifying circuit is connected with a corresponding second coupler and is used for amplifying a corresponding wavelength division multiplexing signal and sending the amplified wavelength division multiplexing signal to the second coupler;

each of the second couplers is connected to the first collimating module 1124, and is configured to perform coupling processing on the amplified wdm signal to obtain multiple paths of laser emission beams, and send the multiple paths of laser emission beams to the first collimating module 1124.

Referring again to fig. 5, the laser emitting module includes two pulse seed sources 401 with different wavelengths and a continuous wave laser 301, the wavelength division multiplexing module 1122 includes a first acousto-optic frequency shifter and two first wavelength division multiplexers, the amplifying module 1121 includes two optical fiber amplifying circuits, and the second coupling module 1123 includes two second couplers;

the input end and the output end of the acousto-optic frequency shifter are respectively connected with the output end of the continuous wave signal processing module 111 and the input end of the corresponding wavelength division multiplexer, and are used for receiving a first continuous wave signal sent by the continuous wave signal processing module 111, performing frequency shifting on the first continuous wave signal to obtain a frequency-shifted first continuous wave signal, and sending the frequency-shifted first continuous wave signal to the corresponding wavelength division multiplexer;

The input end of the corresponding wavelength division multiplexer is connected with one pulse seed source 401, the corresponding wavelength division multiplexing output end is connected with one corresponding optical fiber amplifying circuit, and the input end of the corresponding wavelength division multiplexer is used for performing wavelength division multiplexing processing on a pulse signal emitted by one pulse seed source 401 and a first continuous wave signal after frequency shift to obtain a corresponding wavelength division multiplexing signal, and the corresponding wavelength division multiplexing signal is sent to the corresponding optical fiber amplifying circuit;

the optical fiber amplifying circuit is also connected with a corresponding second coupler and is used for amplifying one of the wavelength division multiplexing signals and sending one amplified wavelength division multiplexing signal to the corresponding second coupler;

the corresponding second coupler is further connected to the first collimating module 1124, and is configured to perform coupling processing on the corresponding amplified wdm signal to obtain two paths of first laser emission beams, and send multiple paths of first laser emission beams to the first collimating module 1124;

the input end of the corresponding other wavelength division multiplexer is respectively connected with the other pulse seed source 401 and the continuous wave signal processing module 111, the output end of the corresponding other wavelength division multiplexer is connected with the other optical fiber amplifying circuit, and is used for performing wavelength division multiplexing processing on the pulse signal emitted by the other pulse seed source 401 and the first continuous wave signal sent by the continuous wave signal processing module 111 to obtain the corresponding other wavelength division multiplexing signal, and sending the corresponding other wavelength division multiplexing signal to the corresponding other optical fiber amplifying circuit;

The corresponding other optical fiber amplifying circuit is also connected with the corresponding other second coupler and is used for amplifying the corresponding other wavelength division multiplexing signal and sending the amplified wavelength division multiplexing signal to the corresponding other second coupler;

the corresponding other second coupler is connected with the first alignment module 1124, and is configured to perform coupling processing on the corresponding other amplified wdm signal to obtain multiple paths of second laser emission beams, and send the multiple paths of second laser emission beams to the first alignment module 1124;

the first collimating module 1124 is configured to stagger each path of the first laser emission beam and each path of the second laser emission beam to obtain a plurality of paths of staggered laser emission beams, collimate and emit the plurality of paths of staggered laser emission beams, and set emission angles of adjacent laser emission beams of the plurality of paths of staggered laser emission beams as preset angles.

The amplification block 1121 in fig. 5 eliminates two fiber amplification circuits compared to the amplification block 1121 in fig. 4, and by controlling the input energy ratio of the two signals, it can be ensured that both signals obtain sufficient energy output. Thus, two optical amplifiers can be saved, and the cost and the power consumption are reduced.

Referring to fig. 17, the first alignment module staggers the shifted (f+120 MHz) laser emission beam and the non-shifted (f) laser emission beam to form a predetermined angle for emitting (the predetermined angle is 1-3 degrees). In addition, correspondingly, the second collimation module staggers the frequency shifted local oscillation laser beams and the frequency non-shifted local oscillation laser beams.

If the detector is an APD array, the optical system ensures that a frequency-shifted emission laser beam and a frequency-non-shifted local oscillation laser beam are aligned to the same avalanche photodiode at the receiving side, and a frequency-non-shifted emission laser beam and a frequency-shifted local oscillation laser beam are aligned to the same avalanche photodiode. The staggered signals can effectively avoid interference between adjacent light beams.

Referring to fig. 5, the frequency of the second continuous wave signal is f, the moving frequency of the second acoustic optical modulator is 120MHz, and the doppler shift caused by the target relative velocity is Δf. The laser radar sets the speed measuring range to be-100 km/h, and the Doppler frequency shift generated by the laser with the wavelength of 1550nm is +/-37MHz. Then af is between +/-37MHz. A bandpass filter may be provided at the receiver with a passband frequency of 83 MHz-157 MHz (120 MHz +/-37 MHz), and signals outside this passband will be filtered out during signal processing.

Referring to fig. 18, as shown in fig. 18, the product of mixing i and (4) is the sum and difference of two frequency components, and the detector and its amplifying circuit will not respond because the sum of two frequencies is too high, and only the difference of two frequencies can be output.

i- (4) =f+120 mhz+Δf-f=120 mhz+Δf, the frequency difference is positive, and the frequency difference is valid;

(4) -i = f-f-120MHz- Δf= -120MHz- Δf, the frequency difference being negative, the frequency difference being invalid;

since Δf is between +/-37MHz, only 120MHz+Δf is the positive frequency component as shown above, and can be detected effectively.

If the i signal is connected in series to the adjacent APD channel and mixed with the local oscillator (3), the mixed products are respectively:

i- (3) =f+120 MHz + [ delta ] f-f-120MHz = [ delta ] f, the frequency difference can be filtered;

(3) -i=f+120 MHz-f-120MHz- Δf= - Δf; the frequency difference may be filtered out.

The Δf or Δf may be filtered using a high pass filter, such as a band pass filter having a cut-off frequency of 80MHz, and the signal of Δf or Δf may be filtered using an analog filter or a digital filter.

ii and (3) are:

ii- (3) =f+ [ delta ] f-f-120MHz = [ delta ] f-120MHz, the frequency difference is negative, the frequency difference is not valid;

(3) -ii = f +120MHz-f- Δf = 120MHz- Δf; the frequency difference is positive and the frequency difference is valid.

The band-pass filter can ensure that the effective signal passing through 120 MHz+Deltaf or 120 MHz-Deltaf can not influence the normal mixing operation.

Referring again to fig. 6, the laser emitting module includes a pulse seed source 401 and a continuous wave laser 301 with different wavelengths, the wavelength division multiplexing module 1122 includes a first wavelength division multiplexer, the amplifying module 1121 includes a fiber amplifying circuit, and the second coupling module 1123 includes two second couplers;

the input end of one first wavelength division multiplexer is respectively connected with the pulse seed source 301 and the output end of the continuous wave signal processing module 111, and the output end of one first wavelength division multiplexer is connected with one optical fiber amplifying circuit and is used for performing wavelength division multiplexing processing on the pulse signal emitted by one pulse seed source 301 and one first continuous wave signal sent by the continuous wave signal processing module 111 to obtain a corresponding wavelength division multiplexing signal and sending the corresponding wavelength division multiplexing signal to one optical fiber amplifying circuit;

The optical fiber amplifying circuit is also connected with the two second couplers respectively and is used for amplifying a corresponding wavelength division multiplexing signal and sending the corresponding amplified wavelength division multiplexing signal to each second coupler respectively;

and each second coupler is used for coupling a corresponding amplified wavelength division multiplexing signal to obtain multiple paths of laser emission beams.

In this embodiment, the optical fiber amplifying circuit includes at least one stage of polarization maintaining optical fiber amplifier, and the first wavelength division multiplexer and the second coupler are polarization maintaining optical fiber amplifiers.

Because the light source provided by the narrow linewidth DFB laser is linear polarized laser, the first wavelength division multiplexer and the second coupler in the embodiment adopt polarization maintaining, and the device loss can be effectively reduced.

Referring to fig. 12 again, the second light beam emitting module 113 includes:

the acousto-optic frequency shift module 1131 is connected with the continuous wave signal processing module 111, and is configured to perform frequency shift processing on at least one second continuous wave signal sent by the continuous wave signal processing module 111, so as to obtain at least one corresponding frequency-shifted second continuous wave signal;

the third coupling module 1132 is connected with the acousto-optic frequency shift module 1131, and is configured to receive at least one frequency shifted second continuous wave signal sent by the acousto-optic frequency shift module 1131, and respectively perform coupling processing on each frequency shifted second continuous wave signal to obtain multiple local oscillation laser beams;

The second collimating module 1133 is connected to the third coupling module 1132, and is configured to receive multiple local oscillation laser beams sent by the third coupling module 1132, and collimate and transmit the multiple local oscillation laser beams.

Referring to fig. 4 again, the laser emitting module includes two pulse seed sources 401 with different wavelengths and two continuous wave lasers 301, the acousto-optic frequency shifter module 1131 includes two second acoustic frequency shifters, each of the second acoustic frequency shifters is connected to the continuous wave signal processing module 111, and is configured to receive a second continuous wave signal sent by the continuous wave signal processing module 111, and perform frequency shift processing on the received second continuous wave signal to obtain a corresponding second continuous wave signal after frequency shift;

the third coupling module 1132 includes two third couplers, where each third coupler is connected to a corresponding one of the second optical frequency shifters and the second collimating module 1134, and is configured to receive a frequency shifted second continuous wave signal sent by a corresponding one of the second optical frequency shifters, perform coupling processing on the received frequency shifted second continuous wave signal, obtain multiple local oscillation laser beams, and send the multiple local oscillation laser beams to the second collimating module 1124.

In fig. 4, the second continuous wave signal generated by each first coupler is input to a corresponding second acoustic optical modulator, if the initial frequency of the second continuous wave signal is f, the second acoustic optical modulator performs frequency shifting on the second continuous wave signal to obtain a second continuous wave signal with a frequency of (f+f1), and the other second acoustic optical modulator performs frequency shifting on the second continuous wave signal to obtain a second continuous wave signal with a frequency of (f+f2), where the frequencies of f1 and f2 are 100MHz to 200MHz. And one third coupler is used for coupling the second continuous wave signal with the frequency of (f+f1) to obtain two paths of local oscillation laser beams, and the other third coupler is used for coupling the second continuous wave signal with the frequency of (f+f2) to obtain two paths of local oscillation laser beams, wherein the two third couplers are used for obtaining 4 paths of local oscillation laser beams. The 4 paths of local oscillation laser beams can be sent to the second collimation module through the optical fiber, and the second collimation module collimates and transmits the 4 paths of local oscillation laser beams.

Referring to fig. 5 again, the laser emitting module includes two pulse seed sources 401 with different wavelengths and a continuous wave laser 301, the acousto-optic frequency shifter module 1131 includes a second acoustic frequency shifter, and the second acoustic frequency shifter is connected to the continuous wave signal processing module 111 and is configured to perform frequency shift processing on at least one second continuous wave signal sent by the continuous wave signal processing module 111, so as to obtain at least one corresponding frequency-shifted second continuous wave signal;

The third coupling module 1132 includes two third couplers, where an input end of one third coupler is connected to the second optical frequency shifter, receives at least one frequency shifted second continuous wave signal sent by the second optical frequency shifter, and performs coupling processing on the at least one frequency shifted second continuous wave signal to obtain a corresponding multipath first local oscillation laser beam;

the input end of the other third coupler is connected with the continuous wave signal processing module 111, and is used for receiving a second continuous wave signal sent by the continuous wave signal processing module 111, and performing coupling processing on the received second continuous wave signal to obtain a corresponding multipath second local oscillation laser beam;

the second collimating module 1133 is respectively connected with the two third couplers, and is configured to stagger each path of first local oscillation laser beam and each path of second local oscillation laser beam to obtain a plurality of paths of local oscillation laser beams after staggering, collimate and transmit the plurality of paths of local oscillation laser beams after staggering, where an emission included angle of adjacent laser emission beams of the plurality of paths of local oscillation laser beams after staggering is a preset angle.

Referring to fig. 6 again, the laser emitting module includes a pulse seed source 401 and a continuous wave laser 301 with different wavelengths, the acousto-optic frequency shifter module 1131 includes a second acoustic frequency shifter, and an input end of the second acoustic frequency shifter is connected to the continuous wave signal processing module 111, and is configured to receive a second continuous wave signal sent by the continuous wave signal processing module 111, and perform frequency shift processing on the received second continuous wave signal to obtain a corresponding second continuous wave signal after frequency shift;

the third coupling module 1132 includes two third couplers, where each third coupler is connected to an output end of one of the second optical frequency shifters, and is configured to receive one of the second continuous wave signals after frequency shift sent by one of the second optical frequency shifters, and perform coupling processing on one of the second continuous wave signals after frequency shift to obtain multiple local oscillation laser beams.

In this embodiment, the third coupler is of a polarization maintaining type.

Because the light source provided by the narrow linewidth DFB laser is linear polarized laser, the third coupler in the embodiment adopts polarization maintaining, and the loss of the device can be effectively reduced.

Referring to fig. 13, the laser receiving module 13 includes:

the lens component 131 is configured to receive the multiple reflected laser beams reflected by the scanning device, and focus the multiple reflected laser beams;

the detector 132 is configured to perform beat frequency processing on the reflected continuous wave signal components of the reflected laser beams after the multipath focusing processing and the local oscillation laser beams corresponding to the reflected continuous wave signal components respectively, so as to obtain the mixed signal;

a processing circuit 133 for performing signal preprocessing on the mixed signal to calculate the distance and speed of the target.

In this embodiment, referring to fig. 4 and 13, the first collimating module 1124 emits multiple laser emission beams into the detection area through the scanning device, the lens assembly 131 receives multiple reflected laser beams, performs focusing processing, and emits the focused reflected laser beams to the detector 132. The second collimation module 1131 sends the multiple local oscillation laser beams to the detector 132, where one local oscillation laser beam corresponds to one reflected laser beam one by one.

The detector 132 performs beat frequency processing on the reflected continuous wave signal component of one local oscillation laser beam and one corresponding local oscillation laser beam respectively to obtain beat frequency signals and reflected continuous wave signal components of one local oscillation laser beam, and thus a mixed signal is obtained. The detector may be an Avalanche Photodiode (APD) array or a balanced detector, without limitation.

In this embodiment, the processing circuit includes:

the amplifying circuit is used for amplifying the mixed information to obtain an amplified mixed signal;

the sampling circuit is used for sampling the amplified mixed signal to obtain a sampling signal;

and the processing circuit is used for carrying out signal separation processing on the sampling signal to obtain the beat frequency signal component and the pulse signal component, and calculating the distance and the speed of the target according to the beat frequency signal and the pulse signal component.

When the laser emission beam encounters the target and returns to the reflected laser beam, and the reflected laser beam is converged on the detector by the lens assembly, the pulse signal component in the reflected laser beam is converted into an electric pulse by the detector, and the reflected continuous wave signal component with the frequency f is mixed with the local oscillation laser beam (with the frequency f+f1) and the local oscillation laser beam (with the frequency f+f2) on the surface of the detector, so as to obtain a coherent beat signal. Since the optical frequency f is extremely high, only the frequency components of (f+f1) -f and (f+f2) -f can be amplified by the subsequent amplifying circuit. After the beat signal is amplified together with the pulse signal component, it is sampled by a sampling circuit, which may comprise a high-speed analog-to-digital converter ADC. The beat signal and the pulse signal components can be separated in the data domain by different frequency filters. Specifically, the pulse signal component and the beat signal have the following characteristics: the pulse signal is generally less than 200MHz in bandwidth, the main energy is concentrated in tens of megahertz, and the beat signal energy is concentrated above 100 MHz. The pulse width is only a few nanoseconds, the beat frequency of the continuous wave is uninterrupted, and the distance and the speed of the target can be calculated according to the characteristics of the beat frequency signal and the pulse signal component. The pulse signal component calculates the distance of the target using the TOF algorithm. The beat signal calculates the relative velocity according to the doppler shift formula. This allows each output point cloud to carry speed information.

In this embodiment, the Doppler formula is as follows:

wherein v represents the speed of the target, lambda represents the wavelength, f ₀ Representing the carrier frequency, f _d Representing the frequency shift determined from the beat signal.

From the above formula, the following formula can be obtained;

wherein v represents the speed of the target, lambda represents the wavelength, f _d Representing the frequency shift determined from the beat signal.

In one embodiment, the processing circuit is configured to calculate the speed information of the target according to the following formula;

Referring to fig. 14, when the relative speed between the target and the radar is zero, the beat frequency shift of the reflected continuous wave signal component and the local oscillation laser beam is equal to the frequency offset value (f 1 or f 2). When the relative speed of the target and the radar is not zero, the beat frequency generated according to the Doppler frequency shift formula has f _d Frequency offset of (1), i.e. beat frequency f1+f _d Or f2+f _d . If the beat frequency value is larger than the frequency shift value, the target is close to the laser radar; if the beat frequency value is less than the frequency shift value, the target is far from the laser radar. Therefore, the moving direction of the target relative to the laser radar can be determined according to the magnitude relation between the beat frequency value and the frequency moving value, and the accuracy of the speed is improved.

Referring to fig. 15, the scanning device includes a first mirror 121, the lens assembly 131 includes a receiving lens 1311 and a second mirror 1312, and the first mirror and the second mirror are disposed on two opposite sides of the receiving lens;

the first reflecting mirror 121 is configured to reflect the multiple laser emission beams into the detection area;

the receiving lens 1311 is configured to focus multiple paths of the reflected laser beams to obtain multiple paths of focused reflected laser beams, and transmit the focused reflected laser beams to the detector 132;

the second mirror 1312 is configured to emit multiple local oscillation laser beams to the detector 132.

In fig. 15, the first collimating module 1124 sends multiple laser emission beams to the first reflecting mirror 121, the first reflecting mirror 121 reflects the multiple laser emission beams to the detection area, the laser emission beams encounter the target and return to multiple reflected laser beams, the receiving lens 1311 has a larger area, and can fully receive the reflected laser beams for focusing. The second collimating module 1133 sends the multiple local oscillation laser beams to the second mirror 1312, and the second mirror 1312 vertically reflects the multiple local oscillation laser beams to the detector 132. The detector 132 receives the focused reflected laser beam and the multiple local oscillation laser beams and then performs beat processing.

Referring to fig. 16, the scanning device includes a polarization splitting prism 122, the lens assembly 131 includes a receiving lens 1311 and a prism 1313, and the polarization splitting prism 122 and the prism 1313 are disposed on two sides of the receiving lens 1311;

the polarization beam splitter prism 122 is configured to reflect the multiple laser emission beams into the detection area;

the prism 1313 is configured to emit multiple local oscillation laser beams to the detector 132.

Illustratively, in fig. 16, the first collimating module 1124 sends multiple laser emission beams to the polarization beam splitter 122, the polarization beam splitter 122 reflects the multiple laser emission beams to the detection area, the laser emission beams encounter the target and return to multiple reflected laser beams, and the receiving lens 1311 receives the reflected laser beams sufficiently and focuses the reflected laser beams. The second collimating module 1133 sends multiple local oscillator laser beams to the prism 1313, and the prism 1313 reflects the multiple local oscillator laser beams vertically to the detector 132. The detector 132 receives the focused reflected laser beam and the multiple local oscillation laser beams and then performs beat processing. Wherein the first collimating module 1124 may comprise a first collimator and the second collimating module 1133 may comprise a second collimator.

Example 2

The embodiment of the application provides a laser radar measurement method. The method is applied to the laser radar provided in the embodiment 1, and can measure the movement speed of the target and the laser radar, so that the measurement efficiency is improved.

The laser radar measurement method of the embodiment of the application comprises the following steps:

The method provided in this embodiment is applied to the lidar provided in embodiment 1, and can implement the corresponding functional steps provided in embodiment 1 to achieve the corresponding effects, so that repetition is avoided, and detailed description is omitted here.

Example 3

The embodiment of the application provides electronic equipment, which comprises the laser radar provided in the embodiment 1.

The electronic device provided in this embodiment includes the lidar provided in embodiment 1, so that the corresponding functional steps provided in embodiment 1 may be implemented to achieve the corresponding effects, and in order to avoid repetition, a detailed description is omitted here.

Example 4

An embodiment of the present application provides a computer-readable storage medium storing a computer program that, when run on a processor, performs the laser measurement method provided in embodiment 2.

The computer readable storage medium provided in this embodiment can practice the laser measurement method provided in embodiment 2 to achieve the corresponding effect, and is not described herein for avoiding repetition.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal comprising the element.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims

1. A lidar, comprising:

the laser emission module comprises at least one pulse seed source and at least one continuous wave laser, and is used for collimated emission of multiple paths of laser emission beams and multiple paths of local oscillation laser beams with the same quantity, each path of laser emission beams comprises pulse signals and continuous wave signals with different wavelengths, and the multiple paths of local oscillation laser beams are obtained by coupling and frequency shifting continuous wave signals emitted by the at least one continuous wave laser;

2. The lidar of claim 1, wherein the continuous wave laser comprises a narrow linewidth DFB laser.

3. The lidar of claim 1, wherein the laser emitting module further comprises:

the continuous wave signal processing module is connected with at least one continuous wave laser and is used for respectively coupling and processing continuous wave signals emitted by the at least one continuous wave laser to obtain a first continuous wave signal and a second continuous wave signal corresponding to each continuous wave laser;

the first beam emission module is respectively connected with at least one pulse seed source and the continuous wave signal processing module and is used for carrying out corresponding signal processing on pulse signals emitted by the at least one pulse seed source and first continuous wave signals corresponding to the at least one continuous wave laser, and generating and collimating and emitting multiple laser emission beams;

The second beam emission module is connected with the continuous wave signal processing module and is used for carrying out frequency shift and coupling processing on a second continuous wave signal corresponding to at least one continuous wave laser, and generating and collimating emission of multiple local oscillation laser beams.

4. The lidar of claim 3, wherein the continuous wave signal processing module comprises:

a first isolator and a first coupling module;

the input end of the first isolator is connected with at least one continuous wave laser and is used for respectively isolating initial signals sent by the at least one continuous wave laser to obtain continuous wave signals emitted by the at least one continuous wave laser;

the output end of the first isolator is connected with the first coupling module and is used for sending continuous wave signals emitted by at least one continuous wave laser to the first coupling module;

the first coupling module is further connected with the first beam emission module and the second beam emission module, and is used for respectively coupling the continuous wave signals emitted by at least one continuous wave laser to obtain a first continuous wave signal and a second continuous wave signal corresponding to each continuous wave laser, sending the first continuous wave signal corresponding to each continuous wave laser to the first beam emission module, and sending the second continuous wave signal corresponding to each continuous wave laser to the second beam emission module; or,

The continuous wave signal processing module includes:

the first coupling module is connected with at least one continuous wave laser, the first light beam emission module and the second light beam emission module and is used for respectively coupling and processing continuous wave signals emitted by at least one continuous wave laser to obtain a first continuous wave signal and a second continuous wave signal corresponding to each continuous wave laser, sending the first continuous wave signal corresponding to each continuous wave laser to the first light beam emission module and sending the second continuous wave signal corresponding to each continuous wave laser to the second light beam emission module.

5. The lidar of claim 4, wherein when the laser emitting module includes two pulse seed sources and two continuous wave lasers with different wavelengths, the first coupling module includes two first couplers, each of the first couplers is respectively connected to the corresponding continuous wave laser, the first beam emitting module, and the second beam emitting module, and is configured to couple continuous wave signals emitted by the corresponding continuous wave laser to obtain a first continuous wave signal and a second continuous wave signal, and send the first continuous wave signal to the first beam emitting module and the second continuous wave signal to the second beam emitting module.

6. The lidar of claim 4, wherein when the laser emitting module comprises two pulsed seed sources of different wavelengths and one continuous wave laser, the first coupling module comprises three first couplers,

one first coupler is respectively connected with one continuous wave laser and the other two first couplers, and is used for coupling and processing continuous wave signals emitted by one continuous wave laser to obtain a third continuous wave signal and a fourth continuous wave signal, sending the third continuous wave signal to one of the other two first couplers, and sending the fourth continuous wave signal to the other two first couplers;

one of the other two first couplers is connected with the first light beam emission module and is used for coupling the third continuous wave signal to obtain two first continuous wave signals and sending the two first continuous wave signals to the first light beam emission module;

and the other two first couplers are connected with the second beam emission module and are used for coupling the fourth continuous wave signal to obtain two second continuous wave signals and sending the two second continuous wave signals to the second beam emission module.

7. The lidar of claim 4, wherein when the laser emitting module comprises a pulsed seed source and a continuous wave laser of different wavelengths, the first coupling module comprises a first coupler,

the first coupler is respectively connected with the continuous wave laser, the first light beam emission module and the second light beam emission module, and is used for coupling and processing continuous wave signals emitted by the continuous wave laser to obtain a first continuous wave signal and a second continuous wave signal, and sending the first continuous wave signal to the first light beam emission module and the second continuous wave signal to the second light beam emission module.

8. The lidar according to any of claims 5 to 7, wherein the first coupler is of a polarization maintaining type.

9. The lidar of claim 3, wherein the first beam-emitting module comprises a wavelength division multiplexing module, an amplification module, a second coupling module, and a first alignment module;

the amplifying module is respectively connected with at least one pulse seed source, the continuous wave signal processing module and the wavelength division multiplexing module and is used for amplifying at least one pulse signal emitted by the pulse seed source and at least one first continuous wave signal sent by the continuous wave signal processing module and sending at least one amplified pulse signal and at least one amplified first continuous wave signal to the wavelength division multiplexing module;

The wavelength division multiplexing module is further connected with the second coupling module and is used for performing wavelength division multiplexing processing on each amplified pulse signal and a corresponding amplified first continuous wave signal to obtain at least one wavelength division multiplexing signal, and sending the at least one wavelength division multiplexing signal to the second coupling module; or,

the wavelength division multiplexing module is respectively connected with at least one pulse seed source, the continuous wave signal processing module and the amplifying module, and is used for performing wavelength division multiplexing processing on the pulse signal emitted by each pulse seed source and the corresponding first continuous wave signal sent by the continuous wave signal processing module to obtain at least one wavelength division multiplexing signal, and sending the at least one wavelength division multiplexing signal to the amplifying module;

the amplifying module is further connected with the second coupling module and is used for amplifying at least one of the wavelength division multiplexing signals to obtain at least one amplified wavelength division multiplexing signal, and transmitting the at least one amplified wavelength division multiplexing signal to the second coupling module;

the second coupling module is connected with the first collimation module and is used for coupling at least one of the wavelength division multiplexing signals or at least one amplified wavelength division multiplexing signal to obtain multiple paths of laser emission light beams and sending the multiple paths of laser emission light beams to the first collimation module;

The first collimating module is used for collimating and transmitting multiple laser emission beams.

10. The lidar of claim 9, wherein the first beam emitting module further comprises a second isolator, an input of the second isolator being connected to at least one of the pulse seed sources, an output of the second isolator being connected to the amplification module or the wavelength division multiplexing module;

the second isolator is configured to perform isolation processing on an initial signal emitted by at least one pulse seed source, obtain a pulse signal emitted by at least one pulse seed source, and send the pulse signal emitted by at least one pulse seed source to the amplifying module or the wavelength division multiplexing module.

11. The lidar according to claim 9, wherein when the laser emitting module comprises two pulse seed sources and two continuous wave lasers of different wavelengths and the input of the amplifying module is connected to at least one pulse seed source and at least one continuous wave laser, the output of the amplifying module is connected to the input of the wavelength division multiplexing module, the wavelength division multiplexing module comprises two first wavelength division multiplexers, the amplifying module comprises four optical fiber amplifying circuits, and the second coupling module comprises two second couplers;

The input end of each first wavelength division multiplexer is connected with the output end of a corresponding pulse seed source through a corresponding optical fiber amplifying circuit and is used for receiving one amplified pulse signal;

the input end of each first wavelength division multiplexer is also connected with the output end of the continuous wave signal processing module through a corresponding optical fiber amplifying circuit and is used for receiving one amplified first continuous wave signal;

each second coupler is connected with the first collimating module and is used for coupling a corresponding wavelength division multiplexing signal to obtain multiple paths of laser emission light beams, and the multiple paths of laser emission light beams are sent to the first collimating module.

12. The lidar of claim 9, wherein when the laser emitting module comprises two pulse seed sources and two continuous wave lasers of different wavelengths, and the input of the amplifying module is connected to the output of the wavelength division multiplexing module, the output of the amplifying module is connected to the second coupling module, the wavelength division multiplexing module comprises two first wavelength division multiplexers, the amplifying module comprises two fiber amplifying circuits, and the second coupling module comprises two second couplers;

The input end of each first wavelength division multiplexer is connected with the output end of a corresponding pulse seed source and is used for receiving a pulse signal emitted by the corresponding pulse seed source;

the input end of each first wavelength division multiplexer is also connected with the output end of the continuous wave signal processing module and is used for receiving one first continuous wave signal sent by the corresponding continuous wave signal processing module;

the output end of each first wavelength division multiplexer is connected with the input end of a corresponding optical fiber amplifying circuit and is used for performing wavelength division multiplexing processing on a pulse signal emitted by one pulse seed source and one first continuous wave signal sent by the continuous wave signal processing module to obtain a corresponding wavelength division multiplexing signal and sending the corresponding wavelength division multiplexing signal to the corresponding optical fiber amplifying circuit;

each second coupler is connected with the first collimating module and is used for coupling the corresponding amplified wavelength division multiplexing signals to obtain multiple paths of laser emission light beams, and the multiple paths of laser emission light beams are sent to the first collimating module.

13. The lidar of claim 9, wherein when the laser emitting module comprises two pulsed seed sources of different wavelengths and one continuous wave laser, the wavelength division multiplexing module comprises one first acousto-optic frequency shifter and two first wavelength division multiplexers, the amplifying module comprises two fiber-optic amplifying circuits, and the second coupling module comprises two second couplers;

the input end and the output end of the acousto-optic frequency shifter are respectively connected with the output end of the continuous wave signal processing module and the input end of the corresponding wavelength division multiplexer, and are used for receiving a first continuous wave signal sent by the continuous wave signal processing module, performing frequency shifting on the first continuous wave signal to obtain a frequency shifted first continuous wave signal, and sending the frequency shifted first continuous wave signal to the corresponding wavelength division multiplexer;

the input end of the corresponding wavelength division multiplexer is connected with one pulse seed source, the corresponding wavelength division multiplexing output end is connected with one corresponding optical fiber amplifying circuit, and the wavelength division multiplexing output end is used for performing wavelength division multiplexing processing on a pulse signal emitted by one pulse seed source and a first continuous wave signal after frequency shift to obtain a corresponding wavelength division multiplexing signal and transmitting the corresponding wavelength division multiplexing signal to the corresponding optical fiber amplifying circuit;

the second coupler is also connected with the first collimating module and is used for coupling the amplified wavelength division multiplexing signal to obtain two paths of first laser emission beams and sending multiple paths of first laser emission beams to the first collimating module;

the input end of the corresponding other wavelength division multiplexer is respectively connected with the other pulse seed source and the continuous wave signal processing module, the output end of the corresponding other wavelength division multiplexer is connected with the other optical fiber amplifying circuit, and the input end of the corresponding other wavelength division multiplexer is used for performing wavelength division multiplexing processing on the pulse signal emitted by the other pulse seed source and the first continuous wave signal sent by the continuous wave signal processing module to obtain the corresponding other wavelength division multiplexing signal, and the corresponding other wavelength division multiplexing signal is sent to the corresponding other optical fiber amplifying circuit;

The corresponding other second coupler is connected with the first collimation module and is used for coupling the corresponding other amplified wavelength division multiplexing signal to obtain a plurality of second laser emission beams and sending the plurality of second laser emission beams to the first collimation module;

the first collimating module is used for staggering each path of the first laser emission light beams and each path of the second laser emission light beams to obtain a plurality of paths of staggered laser emission light beams, collimating and emitting the plurality of paths of staggered laser emission light beams, and the emission included angles of adjacent laser emission light beams of the plurality of paths of staggered laser emission light beams are preset angles.

14. The lidar of claim 9, wherein when the laser emitting module comprises a pulsed seed source and a continuous wave laser of different wavelengths, the wavelength division multiplexing module comprises a first wavelength division multiplexer, the amplifying module comprises a fiber optic amplifying circuit, and the second coupling module comprises two second couplers;

the input end of the first wavelength division multiplexer is respectively connected with the pulse seed source and the output end of the continuous wave signal processing module, the output end of the first wavelength division multiplexer is connected with the optical fiber amplifying circuit and is used for carrying out wavelength division multiplexing processing on the pulse signal emitted by the pulse seed source and the first continuous wave signal sent by the continuous wave signal processing module to obtain a corresponding wavelength division multiplexing signal and sending the corresponding wavelength division multiplexing signal to the optical fiber amplifying circuit;

15. The lidar of any of claims 11-14, the fiber amplification circuit comprising at least one stage of polarization-maintaining fiber amplifier, the first wavelength division multiplexer and the second coupler being polarization-maintaining.

16. The lidar of claim 3, wherein the second beam emitting module comprises:

the acousto-optic frequency shift module is connected with the continuous wave signal processing module and is used for carrying out frequency shift processing on at least one second continuous wave signal sent by the continuous wave signal processing module to obtain at least one corresponding frequency shifted second continuous wave signal;

the third coupling module is connected with the acousto-optic frequency shift module and is used for receiving at least one frequency shifted second continuous wave signal sent by the acousto-optic frequency shift module, and respectively carrying out coupling processing on each frequency shifted second continuous wave signal to obtain multiple local oscillation laser beams;

The second collimating module is connected with the third coupling module and is used for receiving the plurality of local oscillation laser beams sent by the third coupling module and collimating and transmitting the plurality of local oscillation laser beams.

17. The lidar of claim 16, wherein when the laser emitting module comprises two pulsed seed sources and two continuous wave lasers of different wavelengths,

the acousto-optic frequency shift module comprises two second acoustic frequency shifters, each second acoustic frequency shifter is connected with the continuous wave signal processing module and is used for receiving a second continuous wave signal sent by the continuous wave signal processing module, and frequency shift processing is carried out on the received second continuous wave signal to obtain a corresponding second continuous wave signal after frequency shift;

the third coupling module comprises two third couplers, each third coupler is connected with a corresponding second optical frequency shifter and the second collimation module, and is used for receiving a frequency-shifted second continuous wave signal sent by the corresponding second optical frequency shifter, carrying out coupling processing on the received frequency-shifted second continuous wave signal to obtain multiple local oscillation laser beams, and sending the multiple local oscillation laser beams to the second collimation module.

18. The lidar of claim 16, wherein when the laser emitting module comprises two pulse seed sources with different wavelengths and a continuous wave laser, the acousto-optic frequency shifter module comprises a second acoustic frequency shifter, and the second acoustic frequency shifter is connected to the continuous wave signal processing module and is configured to perform frequency shift processing on at least one second continuous wave signal sent by the continuous wave signal processing module, so as to obtain at least one corresponding second continuous wave signal after frequency shift;

the third coupling module comprises two third couplers, the input end of one third coupler is connected with the second optical frequency shifter, at least one frequency shifted second continuous wave signal sent by the second optical frequency shifter is received, and at least one frequency shifted second continuous wave signal is coupled to obtain corresponding multipath first local oscillation laser beams;

the input end of the other third coupler is connected with the continuous wave signal processing module and is used for receiving a second continuous wave signal sent by the continuous wave signal processing module, and coupling the received second continuous wave signal to obtain a corresponding multipath second local oscillation laser beam;

The second collimation module is respectively connected with the two third couplers and is used for staggering each path of first local oscillation laser beams and each path of second local oscillation laser beams to obtain a plurality of paths of local oscillation laser beams after staggering, and collimating and transmitting the plurality of paths of local oscillation laser beams after staggering, wherein the transmitting included angles of adjacent laser transmitting beams of the plurality of paths of local oscillation laser beams after staggering are preset angles.

19. The lidar of claim 16, wherein when the laser emitting module comprises a pulsed seed source and a continuous wave laser of different wavelengths,

the acousto-optic frequency shift module comprises a second acoustic frequency shifter, wherein the input end of the second acoustic frequency shifter is connected with the continuous wave signal processing module and is used for receiving one second continuous wave signal sent by the continuous wave signal processing module, and frequency shift processing is carried out on the received one second continuous wave signal to obtain a corresponding second continuous wave signal after frequency shift;

the third coupling module comprises two third couplers, each third coupler is respectively connected with the output end of one second acoustic frequency shifter, and is used for receiving one frequency-shifted second continuous wave signal sent by one second acoustic frequency shifter, and carrying out coupling processing on the one frequency-shifted second continuous wave signal to obtain multiple local oscillation laser beams.

20. The lidar according to any of claims 17 to 19, wherein the third coupler is of a polarization maintaining type.

21. The lidar of claim 1, wherein the laser receiving module comprises:

the lens component is used for receiving the multiple paths of reflected laser beams reflected by the scanning device and focusing the multiple paths of reflected laser beams;

the detector is used for performing beat frequency processing on the reflected continuous wave signal components of the reflected laser beams after the multipath focusing processing and one path of local oscillation laser beams corresponding to each reflected continuous wave signal component to obtain the mixed signal;

and the processing circuit is used for carrying out signal preprocessing on the mixed signal so as to calculate the distance and the speed of the target.

22. The lidar of claim 21, wherein the processing circuit comprises:

the amplifying circuit is used for amplifying the mixed information line to obtain an amplified mixed signal;

23. The lidar of claim 21, wherein if the scanning device comprises a first mirror, the lens assembly comprises a receiving lens and a second mirror, the first mirror and the second mirror being disposed opposite sides of the receiving lens;

the first reflecting mirror is used for reflecting multiple paths of laser emission beams into the detection area;

the receiving lens is used for carrying out focusing treatment on a plurality of paths of reflected laser beams to obtain a plurality of paths of focused reflected laser beams, and transmitting the focused reflected laser beams to the detector;

and the second reflecting mirror is used for transmitting multiple local oscillation laser beams to the detector.

24. The lidar of claim 21, wherein if the scanning device comprises a polarizing prism, the lens assembly comprises a receiving lens and a prism, the polarizing prism and the prism being disposed on opposite sides of the receiving lens;

the polarization beam splitter prism is used for reflecting the multi-path laser emission light beams into the detection area;

And the prism is used for transmitting multiple local oscillation laser beams to the detector.

25. A method of lidar measurement, applied to the lidar of any of claims 1 to 24, the method comprising:

26. An electronic device comprising the lidar of any of claims 1-24.

27. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the laser measurement method of claim 25.