CN108896978A - Integrated LIDAR based on nyquist pulse - Google Patents
Integrated LIDAR based on nyquist pulse Download PDFInfo
- Publication number
- CN108896978A CN108896978A CN201810680476.2A CN201810680476A CN108896978A CN 108896978 A CN108896978 A CN 108896978A CN 201810680476 A CN201810680476 A CN 201810680476A CN 108896978 A CN108896978 A CN 108896978A
- Authority
- CN
- China
- Prior art keywords
- pulse
- control system
- integrated
- nyquist
- phased array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of integrated LIDAR based on nyquist pulse, it is characterized in that, including nyquist pulse light source, circulator, the integrated optical phased array chip with Vertical Launch grating and control system.The present invention has structure of whole solid state, no mechanical moving element, high reliablity；Phased-array technique ensures the beam scanning rate of Microsecond grade, is able to achieve quick light beam scanning；When optical signal is emitted by the vertical raster integrated on phased array chip, launch angle is related to signal wavelength, and nyquist pulse has limited spectrum width, therefore when optical signal is emitted by vertical raster, the lesser angle of divergence can be obtained, the spatial resolution of laser radar is improved.
Description
Technical field
The present invention relates to laser radar, especially a kind of integrated LIDAR based on nyquist pulse.Specifically one
Kind utilizes the limited spectrum width of nyquist pulse, realizes the integrated LIDAR of the smaller light beams angle of divergence.
Background technique
Laser radar has important value in the fields such as ranging, unmanned.Ring can be provided using laser radar range
The range information of object in border, provides foundation for follow-up decision.When a kind of typical laser radar technique is based on pulse flight
Between scheme：By emitting a laser pulse, and laser pulse is measured from being emitted to through measured object reflection again to finally being connect
The passed through flight time is received, the distance of measured object can be calculated.
At present it has been reported that the laser radar based on flying time technology mainly use following several designs：
Method 1：Mechanical scanning mirror is combined using the light pulse of Gaussian.The light pulse of Gaussian is collimated to pass through machinery
Scanning mirror changes launch angle, realizes ranging and imaging to distant object.This scheme is most widely used at present scheme
One of, but due to use mechanical part, scanning speed is lower, and on vibration etc. influences it is more sensitive, long-time stability also compared with
Difference.
Method 2：Integrated phased array chip is combined using the light pulse of Gaussian.Integrated phased array core is coupled in light pulse
Piece, and emitted via the grating on chip.By changing the phase relation in phased array between each unit, may be implemented
The scanning of light beam, to realize the ranging and imaging to target.This scheme does not have Machinery Ministry due to Integrated Trait
Part has received widespread attention.Although but Gaussian light pulse can obtain very narrow pulsewidth, have very wide frequency spectrum, cause
Beam divergence angle after grating emits is larger, can not obtain good spatial resolution.
In short, above design perhaps scanning speed, stability or in terms of be restricted.
Therefore, it is necessary to the demands that a kind of device can take into account scanning speed, stability and beam divergence angle, realize reliable laser thunder
It reaches.
Summary of the invention
The technical problem to be solved by the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of based on Nyquist
The integrated LIDAR of pulse, the laser radar are the laser that can combine scanning speed, stability and beam divergence angle
Radar.
To solve the above-mentioned problems, technical solution of the invention is as follows：
A kind of integrated LIDAR based on nyquist pulse, it is characterized in that, including nyquist pulse light source, ring
Shape device, the integrated optical phased array chip with Vertical Launch grating and control system；
The output end of the nyquist pulse light source is connected with the input port of the circulator, the annular
The bidirectional port of device is connected with the optical input port of the integrated optical phased array chip, the output port of the circulator with
Second input port of the control system is connected, the reference signal output end of the nyquist pulse light source with it is described
Control system first input port be connected, the control terminal signal output end of the control system and the Integrated Light phase
The electricity input terminal for controlling battle array chip is connected, under the control of the control end signal of the control system, the Integrated Light phase
Input optical signal is divided into multichannel by the splitter of control battle array chip, changes the phase of every road light through electronically controlled phase shifter, keeps optical signal logical
The transmitting of Vertical Launch grating is crossed, forms different beam angles in far field, realizes scanning；Simultaneously measured object reflection light beam in
The part that transmitting light beam is total to optical path can be received by chip.
The nyquist pulse light source is a kind of device that can generate Nyquist laser pulse, Nyquist arteries and veins
The frequency spectrum with rectangle is rushed, time domain impulse waveform has the shape of sinc function (i.e. sin (x)/x).
The reference signal of the nyquist pulse light source is input to the first input port of control system, for providing
The reference time of laser ranging, the return light pulse that the output port of the circulator receives integrated optical phased array chip
It is input to control system, the control system can be calculated by comparing the arrival time of reference time and return light pulse
The flight time of light pulse out, to calculate the distance of measured object.
Pass through spatial light or fiber coupling between the nyquist pulse light source and circulator.
It is connected between the nyquist pulse light source and control system by cable or optical fiber.
It is coupled between the circulator and integrated optical phased array chip by lens fiber, integrates optical phased array chip
Optical input port, which has, draws cone waveguide so that spot size matches with the spot size of lens fiber.
It is connected between the circulator and control system by optical fiber.
Pass through cable connection between the integrated optical phased array chip and control system.
Compared with prior art, the invention has the advantages that：
The present invention has structure of whole solid state, no mechanical moving element, high reliablity；Optical signal is by integrating phased array chip
On vertical raster transmitting when, launch angle is related to signal wavelength, and nyquist pulse is with limited spectrum width, therefore light
When signal is emitted by vertical raster, the lesser angle of divergence can be obtained, the spatial resolution of laser radar is improved.
Detailed description of the invention
Fig. 1 is the schematic diagram of the integrated LIDAR the present invention is based on nyquist pulse.
In figure：1- nyquist pulse light source, 2- circulator, 3- integrate phased array chip, 4- control system.
Fig. 2 is the typical structure schematic diagram (top view) of an integrated optical phased array chip
In figure：31- draws cone waveguide, 32- common waveguide, 33- splitter, 34- common waveguide, 35- electronically controlled phase shifter, 36-
Grating, 37- electronically controlled phase shifter lead
Fig. 3 (a) is the beam angle of grating transmitting and the relation schematic diagram of wavelength of optical signal, and Fig. 3 (b) is when 1 skin of pulsewidth
When the second, Gaussian pulse frequency spectrum corresponding with nyquist pulse
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, but protection model of the invention should not be limited with this
It encloses.
Referring to Fig. 1, Fig. 1 is the schematic diagram of the integrated LIDAR the present invention is based on nyquist pulse.As shown,
The present invention is based on the integrated LIDARs of nyquist pulse, it is characterized in that, including nyquist pulse light source 1, circulator
2, integrated optical phased array chip 3 and control system 4 with Vertical Launch grating；
The output end of the nyquist pulse light source is connected with the input port of the circulator 2, the ring
The bidirectional port of shape device 2 is connected with the optical input port of the integrated optical phased array chip 3, the output of the circulator 2
Port is connected with the second input port of the control system 4, the reference signal output of the nyquist pulse light source 1
End be connected with the first input port of the control system 4, the control terminal signal output end of the control system 4 with it is described
Integrated optical phased array chip 3 electricity input terminal be connected, the control system 4 control end signal control under, institute
Input optical signal is divided into multichannel by the chip for the integrated optical phased array chip 3 stated, and changes the phase of every road light, keeps optical signal logical
The transmitting of Vertical Launch grating 36 is crossed, forms different beam angles in far field, realizes scanning；In the light beam of measured object reflection simultaneously
The part for being total to optical path with transmitting light beam can be received by chip.
The nyquist pulse light source 1 is a kind of device that can generate Nyquist laser pulse, Nyquist
Pulse has the frequency spectrum of rectangle, and time domain impulse waveform has the shape of sinc function (i.e. sin (x)/x).
The reference signal of the nyquist pulse light source 1 is input to the first input port of control system, for mentioning
For the reference time of laser ranging, return light that the output port of the circulator 2 receives integrated optical phased array chip 3
Pulse input is to control system 4, and the control system 4 is by comparing reference time and the arrival time for returning to light pulse, i.e.,
The distance of measured object can be calculated.
Pass through spatial light or fiber coupling between the nyquist pulse light source and circulator.
It is connected between the nyquist pulse light source and control system by cable or optical fiber.
It is coupled between the circulator and integrated optical phased array chip by lens fiber, integrates optical phased array chip
Optical input port, which has, draws cone waveguide so that spot size matches with the spot size of lens fiber.
It is connected between the circulator and control system by optical fiber.
Pass through cable connection between the integrated optical phased array chip and control system.
Control system 4 controls the phase shift in integrated phased array chip 3 between each optical path by control port, to realize
Control to transmitting beam angle.
Fig. 2 is the typical structure schematic diagram (top view) of an integrated optical phased array chip.External optical signal is by drawing cone
Waveguide 31 is coupled into chip, enters splitter 33 by common waveguide 32, optical signal is divided into the road N, every road signal warp by splitter
After crossing common waveguide 34, into electronically controlled phase shifter 35, finally reaches grating 36 and be launched away.The optical signal received then along with
Grating 36, electronically controlled phase shifter 35, common waveguide 34, splitter 33, common waveguide 32 are successively passed through in the opposite path in above-mentioned path
With the circulator 2 for drawing cone waveguide 31 to be output to outside.Electronically controlled phase shifter lead 37 is connected with the control port of control system 4, real
The phase controlling of the road Xian Duige optical signal.Wherein, the direction of the launch of light beam in the z-direction, phase controlling realize light beam scanning side
To in the y-direction, launch angle variation relevant to wavelength is in the x-direction.
Fig. 3 (a) is the beam angle of grating transmitting and the relation schematic diagram of wavelength of optical signal.According to Grating Properties, grating
Launch angle θ and wavelength X in the x-direction has following relationship (bibliography：Hutchison,et al.,High-
resolution aliasing-free optical beam steering,Optica 3,887-890,2016)
Wherein, neffIt is the effective refractive index of grating, Λ is the period of grating.When optical signal has certain spectrum width, then can
Lead to emit light beam with certain angle of divergence Δ θ.
Fig. 3 (b) be Gaussian pulse and nyquist pulse all there is 1 picosecond pulsewidth when frequency spectrum.With maximum power-
10dB is as spectrum width, and the spectrum width 0.8THz of Gaussian pulse is and the spectrum width of nyquist pulse is 0.28THz.It works in 1550nm
Under wavelength, by taking silicon nitride waveguides as an example, neff=2.0, Λ=775nm, then Gaussian pulse angle of divergence as caused by spectrum width is Δ θ
=8.3mrad, nyquist pulse angle of divergence as caused by spectrum width are Δ θ=2.9mrad.As it can be seen that using nyquist pulse
The angle of divergence of light beam can be significantly improved.
In conclusion the present invention has structure of whole solid state, no mechanical moving element, high reliablity；Phased-array technique ensures
The beam scanning rate of Microsecond grade is able to achieve quick light beam scanning；Optical signal is by integrating the vertical light on phased array chip
When grid emit, launch angle is related to signal wavelength, and nyquist pulse has limited spectrum width, therefore optical signal is by hanging down
When direct light grid emit, it is suppressed that the diverging of the angle as caused by signal spectrum width can obtain the lesser angle of divergence, improve laser thunder
The spatial resolution reached.
Claims (8)
1. a kind of integrated LIDAR based on nyquist pulse, it is characterized in that, including nyquist pulse light source (1),
Circulator (2), the integrated optical phased array chip (3) with Vertical Launch grating and control system (4)；
The output end of the nyquist pulse light source (1) is connected with the input port of the circulator (2), the ring
The bidirectional port of shape device (2) is connected with the optical input port of the integrated optical phased array chip (3), the circulator (2)
Output port be connected with the second input port of the control system (4), the ginseng of the nyquist pulse light source (1)
It examines signal output end to be connected with the first input port of the control system (4), the control terminal letter of the control system (4)
Number output end is connected with the electricity input terminal of the integrated optical phased array chip (3), in the control of the control system (4)
Under the control of end signal, input optical signal is divided into multichannel by the splitter (33) of the integrated optical phased array chip (3), through electricity
The phase that phase shifter (35) change every road light is controlled, emits optical signal by Vertical Launch grating (36), forms difference in far field
Beam angle, realize scanning；The part for being total to optical path with transmitting light beam in the light beam of measured object reflection simultaneously can be received by chip.
2. the integrated LIDAR according to claim 1 based on nyquist pulse, it is characterized in that, the Nai Kui
This special light-pulse generator (1) is a kind of device that can generate Nyquist laser pulse, and nyquist pulse has the frequency of rectangle
Spectrum, time domain impulse waveform have the shape of sinc function (i.e. sin (x)/x).
3. the integrated LIDAR according to claim 1 based on nyquist pulse, it is characterized in that, the Nai Kui
The reference signal of this special light-pulse generator is input to the first input port of control system, when for providing the reference of laser ranging
Between, return light pulse input that the output port of the circulator receives integrated optical phased array chip to control system
(4), the control system (4) can calculate measured object by comparing the arrival time of reference time and return light pulse
Distance.
4. the integrated LIDAR according to claim 1 based on nyquist pulse, it is characterized in that, the Nai Kui
Pass through spatial light or fiber coupling between this special light-pulse generator and circulator.
5. the integrated LIDAR according to claim 1 based on nyquist pulse, it is characterized in that, the Nai Kui
It is connected between this special light-pulse generator and control system by cable or optical fiber.
6. the integrated LIDAR according to claim 1 based on nyquist pulse, it is characterized in that, the annular
It is coupled between device and integrated optical phased array chip by lens fiber, the optical input port for integrating optical phased array chip, which has, draws cone
Waveguide is so that spot size matches with the spot size of lens fiber.
7. the integrated LIDAR according to claim 1 based on nyquist pulse, it is characterized in that, the annular
It is connected between device and control system by optical fiber.
8. the integrated LIDAR according to any one of claims 1 to 7 based on nyquist pulse, it is characterized in that,
Pass through cable connection between the integrated optical phased array chip and control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680476.2A CN108896978B (en) | 2018-06-27 | 2018-06-27 | Nyquist pulse based integrated laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810680476.2A CN108896978B (en) | 2018-06-27 | 2018-06-27 | Nyquist pulse based integrated laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108896978A true CN108896978A (en) | 2018-11-27 |
| CN108896978B CN108896978B (en) | 2022-01-04 |
Family
ID=64346524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810680476.2A Active CN108896978B (en) | 2018-06-27 | 2018-06-27 | Nyquist pulse based integrated laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108896978B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112673273A (en) * | 2018-12-12 | 2021-04-16 | 株式会社大成科技 | Laser radar device |
| CN116106862A (en) * | 2023-04-10 | 2023-05-12 | 深圳市速腾聚创科技有限公司 | Optical chip, laser radar, automatic driving system and movable equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006080011A2 (en) * | 2005-01-25 | 2006-08-03 | Ramot At Tel Aviv University Ltd. | Using pulsed-wave ultrasonography for determining an aliasing-free radial velocity spectrum of matter moving in a region |
| CN101545976A (en) * | 2009-05-08 | 2009-09-30 | 中国科学院上海光学精密机械研究所 | Double-fold-line back projection imaging method for reflection chromatography laser radar |
| CN101813779A (en) * | 2010-03-11 | 2010-08-25 | 中国科学院上海技术物理研究所 | Scanning three-dimensional imaging laser radar based on linear array APD detector and method |
| CN102608619A (en) * | 2012-03-07 | 2012-07-25 | 北京航空航天大学 | Three-dimensional laser imaging method based on photon counting compressive sampling phased array |
| JP2012175417A (en) * | 2011-02-22 | 2012-09-10 | Tohoku Univ | Optical nyquist pulse transmission |
| CN103941235A (en) * | 2014-02-26 | 2014-07-23 | 上海交通大学 | Full-optical-control phased-array radar transmitter |
| US20160047891A1 (en) * | 2014-08-15 | 2016-02-18 | U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | HYPERFINE INTERPOLATED RANGE FINDING FOR CW LIDAR, RADAR, and SONAR USING REPEATING WAVEFORMS AND FOURIER TRANSFORM REORDERING |
| WO2017113094A1 (en) * | 2015-12-29 | 2017-07-06 | 浙江大学 | Radar system based on array waveguide grating router |
| CN106970393A (en) * | 2017-03-14 | 2017-07-21 | 南京航空航天大学 | A kind of face battle array laser radar three-D imaging method based on CDMA |
| CN107085318A (en) * | 2017-06-02 | 2017-08-22 | 中国计量大学 | A kind of device that optics nyquist pulse is produced based on bipolar electrode Mach zehnder modulators |
-
2018
- 2018-06-27 CN CN201810680476.2A patent/CN108896978B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006080011A2 (en) * | 2005-01-25 | 2006-08-03 | Ramot At Tel Aviv University Ltd. | Using pulsed-wave ultrasonography for determining an aliasing-free radial velocity spectrum of matter moving in a region |
| CN101545976A (en) * | 2009-05-08 | 2009-09-30 | 中国科学院上海光学精密机械研究所 | Double-fold-line back projection imaging method for reflection chromatography laser radar |
| CN101813779A (en) * | 2010-03-11 | 2010-08-25 | 中国科学院上海技术物理研究所 | Scanning three-dimensional imaging laser radar based on linear array APD detector and method |
| JP2012175417A (en) * | 2011-02-22 | 2012-09-10 | Tohoku Univ | Optical nyquist pulse transmission |
| CN102608619A (en) * | 2012-03-07 | 2012-07-25 | 北京航空航天大学 | Three-dimensional laser imaging method based on photon counting compressive sampling phased array |
| CN103941235A (en) * | 2014-02-26 | 2014-07-23 | 上海交通大学 | Full-optical-control phased-array radar transmitter |
| US20160047891A1 (en) * | 2014-08-15 | 2016-02-18 | U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | HYPERFINE INTERPOLATED RANGE FINDING FOR CW LIDAR, RADAR, and SONAR USING REPEATING WAVEFORMS AND FOURIER TRANSFORM REORDERING |
| WO2017113094A1 (en) * | 2015-12-29 | 2017-07-06 | 浙江大学 | Radar system based on array waveguide grating router |
| CN106970393A (en) * | 2017-03-14 | 2017-07-21 | 南京航空航天大学 | A kind of face battle array laser radar three-D imaging method based on CDMA |
| CN107085318A (en) * | 2017-06-02 | 2017-08-22 | 中国计量大学 | A kind of device that optics nyquist pulse is produced based on bipolar electrode Mach zehnder modulators |
Non-Patent Citations (5)
| Title |
|---|
| JUAN CASTORENA 等: "Sampling of Time-Resolved Full-Waveform LIDAR Signals at Sub-Nyquist Rates", 《IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING》 * |
| SHUGUANG LI 等: "A new fiber length measuement method with high precision and large absolute length based on FDL", 《THE 19TH ANNUAL WIRELESS AND OPTICAL COMMUNICATIONS CONFERENCE (WOCC 2010)》 * |
| 王莉莉 等: "激光脉冲频谱分配方法的研究", 《激光杂志》 * |
| 田舒婷: "基于光梳的奈奎斯特脉冲信号生成技术研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
| 高峰 等: "EOM波长相关性对相位编码光模数转换系统的影响", 《第54-56页》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112673273A (en) * | 2018-12-12 | 2021-04-16 | 株式会社大成科技 | Laser radar device |
| CN112673273B (en) * | 2018-12-12 | 2024-03-12 | 株式会社大成科技 | Laser radar device |
| CN116106862A (en) * | 2023-04-10 | 2023-05-12 | 深圳市速腾聚创科技有限公司 | Optical chip, laser radar, automatic driving system and movable equipment |
| CN116106862B (en) * | 2023-04-10 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Optical chip, laser radar, automatic driving system and movable equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108896978B (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11579370B2 (en) | Large scale steerable coherent optical switched arrays | |
| CN109188397A (en) | Laser transmitting-receiving device and laser radar | |
| CN111722237B (en) | Laser radar detection device based on lens and integrated beam transceiver | |
| CN206114893U (en) | Solid state laser radar system | |
| US8757064B2 (en) | Optical proximity fuze | |
| KR20210092212A (en) | Scanning compensation of scanning lidar | |
| CN204758827U (en) | A combined type scanning system for laser radar | |
| CN110691983A (en) | LIDAR-based 3-D imaging with structured light and integrated illumination and detection | |
| CN106443634A (en) | Solid-state laser radar system | |
| CN110007312B (en) | Laser radar system and control method thereof | |
| CN206147096U (en) | Laser radar and vehicle | |
| US7221438B2 (en) | Coherent laser radar apparatus | |
| JP2021510814A (en) | Laser radar and its operation method | |
| CN112698307B (en) | Single photon imaging radar system | |
| CN109343025A (en) | A kind of emission system of laser radar, detection system and detection method | |
| CN108693505A (en) | Laser radar and its phased-array laser transmitter unit | |
| CN102435995A (en) | Laser 3D (three-dimensional) imaging system based on liquid crystal phased array and streak tube | |
| CN107817482A (en) | Laser radar optical system | |
| CN109856644A (en) | High detection efficient VCSEL array chaotic laser light radar installations for pilotless automobile | |
| CN109856645A (en) | Unmanned laser radar apparatus based on chaotic modulation VCSEL array | |
| CN108896978A (en) | Integrated LIDAR based on nyquist pulse | |
| CN110703267A (en) | Laser emission device, laser emission method and laser radar system | |
| CN109444851A (en) | Laser body and phased-array laser radar | |
| CN109444850A (en) | Phased-array laser radar | |
| CN211653130U (en) | Laser emission array, scanning device, laser radar, intelligent vehicle and unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |