CN109752702A - A kind of laser radar - Google Patents
A kind of laser radar Download PDFInfo
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- CN109752702A CN109752702A CN201910204831.3A CN201910204831A CN109752702A CN 109752702 A CN109752702 A CN 109752702A CN 201910204831 A CN201910204831 A CN 201910204831A CN 109752702 A CN109752702 A CN 109752702A
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Abstract
The invention discloses a kind of laser radars.The laser radar includes: light transmitting unit, light receiver unit and control processing unit；Light transmitting unit includes light source subelement, optical phased array subelement and reflecting prism subelement, and light source subelement, optical phased array subelement and reflecting prism subelement are electrically connected with control processing unit respectively；Light source subelement issues incident beam；Optical phased array subelement is by incident beam in the first plane intrinsic deflection, and to form one-dimensional light beam on the first plane with a default scanning angle, one-dimensional light beam is exposed on the reflecting surface of reflecting prism subelement；Processing unit control reflecting prism subelement is controlled by the one-dimensional light beam exposed on reflecting surface in the second plane intrinsic deflection, to realize that one-dimensional light beam scans in the second plane, forms detection light beam.Technical solution provided in an embodiment of the present invention can reduce the overall volume of laser radar, reduce mechanical wear, to be conducive to improve the reliability of laser radar.
Description
Technical field
The present embodiments relate to laser ranging technique field more particularly to a kind of laser radars.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target object, speed.Laser
The working principle of radar is: to target object emission detection signal (laser beam), then reflecting the slave target object received
Signal (target echo or echo-signal) back is compared with transmitting signal, can be obtained object as proper treatment
The relevant information of body, such as target object distance, orientation, height, speed, posture, even shape parameter, thus to target object
It detected, tracked and is identified.
But realized that the 3-D scanning laser radar of volume production is mostly multi-thread mechanical type rotating laser radar at present, this swashs
Optical radar is internally provided with the mechanical gyro unit of macroscopic view to carry out mechanical rotation to total, therefore the laser radar exists
More serious mechanical wear, and reliability is lower, volume is larger.
Summary of the invention
The embodiment of the present invention provides a kind of laser radar, can reduce the overall volume of laser radar, reduces mechanical wear, from
And be conducive to improve the reliability of laser radar.
The embodiment of the present invention proposes a kind of laser radar, which includes: light transmitting unit, light receiver unit
With control processing unit；
For the light transmitting unit for issuing detection light beam, the light receiver unit is anti-by target object for receiving
It is emitted back towards the echo beam come, the control processing unit is used to determine the mesh according to the detection light beam and the echo beam
Mark the relevant information of object；The relevant information of the target object includes at least one of distance, orientation, height and speed；
Wherein, the light transmitting unit includes that the light source subelement, the optics that are arranged successively along the direction of propagation of light are phased
A period of time unit and reflecting prism subelement, the light source subelement, the optical phased array subelement and reflecting prism
Unit is electrically connected with the control processing unit respectively；
The control processing unit controls the light source subelement and issues incident beam；
The control processing unit controls the optical phased array subelement, and the incident beam is inclined in the first plane
Turn, to be formed in the one-dimensional light beam in first plane with a default scanning angle, the one-dimensional light beam exposes to described
On the reflecting surface of reflecting prism subelement；
The control processing unit control the reflecting prism subelement will expose to it is described one-dimensional on the reflecting surface
Light beam forms the detection light beam in the second plane intrinsic deflection to realize that the one-dimensional light beam scans in second plane；
Wherein, first plane intersects with second plane.
Further, first plane is vertical with second plane.
Further, the light transmitting unit further includes collimation subelement, and the collimation subelement is located at the light source
In the optical path of subelement and the optical phased array subelement；
The incident beam that the collimation subelement is used to issue on the light source subelement collimates, and will be after collimation
The incident beam exposes to the optical phased array subelement.
Further, the light source subelement includes a laser.
Further, the optical phased array subelement includes optical waveguide array；
The control processing unit successively provides predeterminated voltage to the optical waveguide array；The optical waveguide array according to according to
The incident beam is deflected predetermined angle by secondary received predeterminated voltage.
Further, the control processing unit provides different institutes to the optical waveguide array within default sweep time
State predeterminated voltage so that optical waveguide array the incident beam is deflected according to the different predeterminated voltages it is different described pre-
If angle, the one-dimensional light beam is formed.
Further, the predeterminated voltage is less than or equal to 10V, and the default scanning angle is within the scope of ± 10 °.
Further, the optical waveguide array is AlGaAs optical waveguide array or silicon substrate optical waveguide array.
Further, the light transmitting unit further includes driving subelement, and the reflecting prism subelement passes through described
Driving subelement is electrically connected with the control processing unit；
The control processing unit is also used to control the driving subelement and provides driving to the reflecting prism subelement
Power, so that reflecting prism subelement rotation will be will expose to the one-dimensional light beam on the reflecting surface in the second plane
Deflection, to realize that the one-dimensional light beam scans in second plane, forms the detection light beam.
Further, the light receiver unit include the receiving lens subelement that is arranged successively along the direction of propagation of light and
Array detection subelement, the array detection subelement are electrically connected with the control processing unit；
The echo beam is focused to the array for receiving the echo beam by the receiving lens subelement
Detect subelement；
The array detection subelement is used to the received echo beam being converted to electric signal, and by the electric signal
It is transmitted to the control processing unit.
Further, the array detection subelement includes photon detector.
Further, the control processing unit uses in time flight method, phase method and CW with frequency modulation method at least
A kind of relevant information determining the target object.
The embodiment of the invention provides a kind of laser radar, which includes light transmitting unit, light receiver list
Member and control processing unit；Light transmitting unit is for issuing detection light beam, and light receiver unit is for receiving by target object
Reflected echo beam, control processing unit are used to determine the related letter of target object to echo beam according to detection light beam
Breath；The relevant information of target object includes at least one of distance, orientation, height and speed；Emitted by setting light single
Member includes the light source subelement, optical phased array subelement and reflecting prism subelement being arranged successively along the direction of propagation of light, light
Source subelement, optical phased array subelement and reflecting prism subelement are electrically connected with control processing unit respectively；Control processing is single
Member control light source subelement issues incident beam；Processing unit control optical phased array subelement is controlled by incident beam first
Plane intrinsic deflection, to form one-dimensional light beam on the first plane with a default scanning angle, one-dimensional light beam exposes to reflection
On the reflecting surface of prism subelement；The one-dimensional light beam that control processing unit control reflecting prism subelement will expose on reflecting surface
In the second plane intrinsic deflection, to realize that one-dimensional light beam scans in the second plane, detection light beam is formed；Wherein, the first plane with
Second level-crossing；3-D scanning can be achieved, meanwhile, it is rotated without complete machine, advantageously reduces mechanical wear, be conducive to improve and swash
The reliability of optical radar；And the overall volume of laser radar can be reduced, be conducive to Integration Design.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of laser radar provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of optical waveguide array in a kind of laser radar provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is a kind of structural schematic diagram of laser radar provided in an embodiment of the present invention.Referring to Fig.1, the laser radar 10
It include: light transmitting unit 110, light receiver unit 120 and control processing unit 130；Light transmitting unit 110 is for issuing
Light beam is detected, light receiver unit 120 controls processing unit for receiving by the reflected echo beam of target object 20
130 for determining the relevant information of target object 20 according to detection light beam and echo beam；The relevant information packet of target object 20
Include at least one of distance, orientation, height and speed；Wherein, light transmitting unit 110 include along the direction of propagation of light successively
Light source subelement 111, optical phased array subelement 112 and the reflecting prism subelement 113 of arrangement, light source subelement 111, optics
Phased array subelement 112 and reflecting prism subelement 113 are electrically connected with control processing unit 130 respectively；Control processing unit 130
It controls light source subelement 111 and issues incident beam；It controls processing unit 130 and controls optical phased array subelement 112 for incident light
Beam is in the first plane intrinsic deflection, and to form one-dimensional light beam on the first plane with a default scanning angle, one-dimensional light beam shines
It is incident upon on the reflecting surface of reflecting prism subelement 113；Control processing unit 130 controls reflecting prism subelement 113 and will expose to
One-dimensional light beam on reflecting surface is in the second plane intrinsic deflection, to realize that one-dimensional light beam scans in the second plane, forms detection light
Beam；Wherein, the first plane intersects with the second plane.
Illustratively, light transmitting unit 110 is laser emission element, and light receiver unit 120 is laser pick-off unit,
Detecting light beam, echo beam, incident beam and one-dimensional light beam is laser beam.
Wherein, one-dimensional light beam can be regarded as incident beam all angles of the first plane intrinsic deflection formed it is all not
Light beam with deflection angle is whole, which can integrally scan in the first plane.
Wherein, which realizes that the light beam in the first plane scans using optical phased array subelement 112, in conjunction with
The light beam scanning in the second plane that reflecting prism subelement 113 is realized；It also is understood as the laser radar 10 and utilizes optics
Phased array subelement 112 realizes the light beam scanning an of dimension, realizes another dimension light beam in conjunction with reflecting prism subelement 113
Scanning.
Wherein, optical phased array subelement 112 is based on optical phased array technology and realizes light beam deflection.Optical phased array technology
Derived from phased array of microwaves technology, optical phased array subelement 112 is based on electrooptic effect or thermo-optic effect realizes deflection to realize light
Beam scanning.Illustratively, by taking electrooptic effect as an example, the core component of optical phased array subelement 112 is made of electrooptical material
Multiple phase modulation units generate each phase modulation unit by controlling the voltage that is loaded into phase modulation unit
Corresponding phase delay realizes the deflection of incident beam to control the optical field distribution of each phase modulation unit exit end.
Illustratively, in time scale, by loading different a series of voltage to phase modulation unit, it can be achieved that entering
Irradiating light beam controls the control optical phased array subelement of processing unit 130 in a series of deflection of different angles so as to utilize
112 to realize that incident beam scans in the first plane.
The laser radar 10 uses optical phased array technology, in the case where on-mechanical rotation and on-mechanical are vibrated,
It realizes that incident beam scans in the first plane, so as to reduce mechanical wear, is conducive to improve beam scanning rate and angle
Resolution ratio, and be conducive to improve the reliability of laser radar 10.Simultaneously as optical phased array subelement 112 is without machinery
Driving, there is no need to which power driving part is arranged, thus be conducive to reduce the overall volume of laser radar 10, such laser thunder
Up to Integration Design is easier to, the demand of modern measure technology is more adapted to.
Optionally, the first plane is vertical with the second plane.
Illustratively, the first plane is perpendicular, and the second plane is horizontal plane.
It should be noted that the angle of the first plane and the second plane can also be according to the actual detection need of laser radar 10
Setting is asked, the embodiment of the present invention is not construed as limiting this.
Optionally, light source subelement 111 includes a laser.
So set, compared with multi-thread mechanical type rotating laser radar the laser radar 10 can realize it is higher angle-resolved
Rate, while Overall Power Consumption is lower；And the overall structure of laser radar 10 is simple, advantageously reduces the whole design of laser radar 10
And cost of manufacture.
Illustratively, laser can be laser diode, optical fiber laser, gas laser, solid state laser or ability
Other kinds of laser known to field technique personnel；Laser can be Single wavelength output laser, can also export for multi-wavelength
Laser；The laser of laser output can be polarised light, be also possible to non-polarized light；The laser way of output of laser can
Continuously to export, can also be exported for pulse；More than, it can be arranged according to the actual demand of laser radar 10, the embodiment of the present invention
This is not construed as limiting.
It should be noted that the number of the laser in light source subelement 111 can also be according to the practical need of laser radar 10
Setting is asked, can be 2 or more, the embodiment of the present invention is not construed as limiting this.
Optionally, Fig. 2 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention.Referring to Fig. 2, light
Transmitting unit 110 further includes collimation subelement 114, and collimation subelement 114 is located at light source subelement 111 and optical phased array is single
In the optical path of member 112；The incident beam that collimation subelement 114 is used to issue on light source subelement 111 collimates, and will be after collimation
Incident beam exposes to optical phased array subelement 112.
Wherein, the light beam that light source subelement 111 issues is the light beam of diverging, collimates subelement 114 to by light source subelement
The light beam of 111 divergings issued is collimated, and the plane of incidence of optical phased array subelement 112 is irradiated to after formation collimated light beam,
To can avoid the loss of energy, be conducive to the signal strength for improving the detection light beam issued by light reflector element 110.
Illustratively, collimation subelement 114 may include cylindrical mirror, collimation lens and skilled person will appreciate that its
His optical element.
It should be noted that when light source subelement 111 is internally integrated beam collimation function, then it is single without separately setting collimation
Member.
Optionally, optical phased array subelement 112 includes optical waveguide array；Processing unit 130 is controlled successively to optical waveguide
Array provides predeterminated voltage；Incident beam is deflected predetermined angle according to successively received predeterminated voltage by optical waveguide array.
Wherein, predetermined angle can be regarded as optical waveguide array under a certain predeterminated voltage for one jiao of incident beam deflection
Degree can make incident beam deflect a series of predetermined angles by giving optical waveguide array to load a series of voltage, to be formed in the
There is the one-dimensional scanning light beam of default scanning angle range in one plane.
Wherein, since the beam scanning rate of optical waveguide array is very fast, scan frequency can achieve MHz magnitude, therefore
The laser radar 10 can realize higher angular resolution；Meanwhile the driving voltage of optical waveguide array is lower, advantageously reduces sharp
The overall power of optical radar 10.
Illustratively, Fig. 3 is the structural schematic diagram of optical waveguide array in a kind of laser radar provided in an embodiment of the present invention.
Referring to Fig. 3, which includes the electrode layer 410 and optical waveguide for being formed on underlay substrate 400 and being alternately superposed
Layer 420；Wherein, electrode layer 410 is alternatively referred to as covering 410, and light waveguide-layer 420 is alternatively referred to as sandwich layer 420；Wherein, a light wave
Conducting shell 420 and the corresponding phase modulation unit of an electrode layer 410.It controls processing unit 130 and applies preset potential to electrode
Layer 410, then generate corresponding potential difference (i.e. voltage) in each ducting layer 420, is imitated by the electric light of crystal in light waveguide-layer 420
The effect answered, each phase modulation unit generate corresponding phase delay, and then change incident beam 30 and go out in optical waveguide array
The phase distribution in face is penetrated, to realize in the first plane (for example, the vertical plane that first direction X and second direction Y are determined
It is interior) light beam deflection.
It should be noted that the plane that is determined of second direction Y and third direction Z is horizontal plane, first direction X and the
The plane that two direction Y are determined is the plane of incidence of the incident beam 30 on optical waveguide array, illustratively with the void of overstriking in Fig. 3
Wire frame shows the size that incident beam 30 is incident to the hot spot of optical waveguide array.Illustratively, the size of incident beam 30 exists
Micron (μm) grade.
It should be noted that the optical waveguide array that shows merely exemplary in Fig. 3 includes four layers of electrode layer 410 and three layers of light
Ducting layer 420, but do not constitute the restriction to optical waveguide array provided in an embodiment of the present invention.In other embodiments, may be used
According to the actual demand of laser radar 10, the number of plies of electrode layer 410 and light waveguide-layer 420 in optical waveguide array, the present invention are set
Embodiment is not construed as limiting this.
Optionally, control processing unit 130 provides different predeterminated voltages to optical waveguide array within default sweep time,
So that incident beam is deflected different predetermined angles according to different predeterminated voltages by optical waveguide array, one-dimensional light beam is formed.
That is, loading different combinations of voltages on optical waveguide array by controlling processing unit 130, light beam may be implemented
Scanning in vertical plane.
It should be noted that the corresponding voltage difference being loaded on every layer of light waveguide-layer 420 of above-mentioned predeterminated voltage.Due to light
The physical property of the environmental condition of the actual fabrication process of waveguide array and the limitation of technological parameter, every layer of light waveguide-layer 420 is (main
Refer to electrooptic effect) it is not exactly the same, therefore the predeterminated voltage can be according to the reality of theoretical predeterminated voltage and light waveguide-layer 420
Physical property setting, the embodiment of the present invention are not construed as limiting its specific value.
Optionally, predeterminated voltage is less than or equal to 10V, presets scanning angle within the scope of ± 10 °.
In this way, being conducive under lower driving voltage, realization carries out within the scope of 20 ° of angle change in the first plane
Scanning.
Optionally, optical waveguide array is AlGaAs optical waveguide array or silicon substrate optical waveguide array.
Illustratively, AlGaAs crystal is good near infrared band translucency, required for the component by controlling Al can get
Refractive index optical waveguide array.The response time of the optical phased array subelement constituted using AlGaAs optical waveguide array is in ns
Grade.
Illustratively, Metalorganic Chemical Vapor Deposition (Metal-organic Chemical Vapor can be passed through
Deposition, MOCVD) production AlGaAs optical waveguide array, substrate material GaAs, core material AlGaAs.MOCVD
It is a kind of using metallo-organic compound as the chemical vapor deposition method of source substance.MOCVD is with III race, II race's element
Organic compound and V, the hydride of VI race's element etc. are used as crystal growth source material, in a manner of pyrolysis on substrate into
Promoting the circulation of qi phase epitaxy grows the thin layer list of various III-V main groups, II-VI subgroup compound semiconductor and their multivariate solid solution
Brilliant material.
It should be noted that also can be used skilled person will appreciate that other modes formed optical waveguide array, optics
Phased array subelement can also include skilled person will appreciate that other kinds of optical phased array, for example, lithium niobate crystal
Body phased array, LCD phased array or piezoelectric ceramics phased array, the embodiment of the present invention are not construed as limiting this.
Optionally, Fig. 4 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention.Referring to Fig. 4, reflection
Prism subelement 113 includes multi-surface reflection prism.
Illustratively, it is tetragonous to can be right angle pentaprism (shown in Fig. 4), right angle prism, right angle for multi-surface reflection prism
Mirror, six prism of right angle or other kinds of right angle multi-surface reflection prism, the not ipsilateral of multi-surface reflection prism can also be in bottom surface
Different angle, the embodiment of the present invention are not construed as limiting this.
Optionally, Fig. 5 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention.Referring to Fig. 5, light
Transmitting unit 110 further includes driving subelement 115, and reflecting prism subelement 113 is single by driving subelement 115 and control processing
Member 130 is electrically connected；Control processing unit 130 is also used to control driving subelement 115 and provides driving to reflecting prism subelement 113
Power, so that the rotation of reflecting prism subelement 113 will be will expose to the one-dimensional light beam on reflecting surface in the second plane intrinsic deflection, with reality
Existing one-dimensional light beam scans in the second plane, forms detection light beam.
Wherein, driving subelement 115 drives 113 continuous rotation of reflecting prism subelement, due to reflecting prism subelement 113
Angular velocity of rotation it is constant, be applied to pulse lidar when, the scanning angle interval advantageously allowed in the second plane is uniform.
So, it is only necessary to which rotary reflection prism subelement 113 carries out complete machine rotation without laser radar 10, favorably
In the driving power consumption of reduction laser radar 10, while the mechanical loss of laser radar 10 is advantageously reduced, to be conducive to extend
The service life of laser radar 10.
Optionally, Fig. 6 is the structural schematic diagram of another laser radar provided in an embodiment of the present invention.Referring to Fig. 4 and figure
6, light receiver unit 120 includes that the receiving lens subelement 121 being arranged successively along the direction of propagation of light and array detection are single
Member 122, array detection subelement 122 are electrically connected with control processing unit 130；Receiving lens subelement 121 is for receiving echo
Light beam, and echo beam is focused into array detection subelement 122；Array detection subelement 122 is used for received echo light
Beam is converted to electric signal, and electric signal transmission is extremely controlled processing unit 130.
Wherein, echo beam is received lens subelement 121 and receives and focus to array detection subelement 122, and array is visited
It surveys subelement 122 and the optical signal of echo beam is converted into electric signal, and be transmitted to control processing unit 130；Control processing is single
First 130 pairs of electric signals amplify processing, the information such as final distance, orientation, height, speed for obtaining target object.
Illustratively, receiving lens subelement 121 may include spherical surface microscope group or aspherical microscope group, it can be achieved that by echo beam
Focus to array detection subelement 122, composition of the embodiment of the present invention to the optical element in receiving lens subelement 121
It is not construed as limiting.
Optionally, array detection subelement 122 includes photon detector.
Illustratively, photon detector can be multiple avalanche photodides (Avalanche Photo of array arrangement
Diode, APD), so set, convenient for reducing the volume of array detection subelement 122.
Illustratively, array detection subelement 122 can also set for single large bin size APD, focal plane array detector, single-point
Set or array setting silicon photomultiplier (multi-pixel photon counter, MPPC) detector or art technology
Other kinds of detector array, the embodiment of the present invention known to personnel are not construed as limiting this.
Optionally, control processing unit 130 is using at least one of time flight method, phase method and CW with frequency modulation method
Determine the relevant information of target object 20.
Illustratively, time flight method (Time of Flight, TOF) is determined by calculating the time difference of laser pulse
The location information of target object 20.
Illustratively, phase method by calculate detection light beam and echo beam phase difference determine target object 20 away from
From.
Illustratively, CW with frequency modulation method (Frequency Modulated Continuous Wave, FMCW) passes through meter
Difference on the frequency of the detection light beam between echo beam is calculated to determine at a distance from target object 20.
It should be noted that control processing unit 130 also can be used skilled person will appreciate that other methods determine
The relevant information of target object 10, the embodiment of the present invention are not construed as limiting this.
Laser radar 10 provided in an embodiment of the present invention, can be used single laser light source, pass through optical phased array technology
The scanning of horizontal direction is realized in the scanning for realizing vertical direction using right angle multi-surface reflection prism.Laser in laser radar 10
After device is lit, laser (i.e. incident beam) collimated subelement (alternatively referred to as transmitting colimated light system) of outgoing enters light wave afterwards
Array is led, is each phase modulation unit load a series of voltage data in optical waveguide array by control processing unit, it is real
Existing vertical direction light beam deflection；Light beam is reflected away through right angle multi-surface reflection prism again, rib is reflected by rotation right angle multi-panel
Mirror can realize Multi Slice Mode.Detect the reflection of light beam (alternatively referred to as scanning light beam) through space one or more target object, shape
At echo beam (alternatively referred to as the reflected beams), receives and focus by receiving lens subelement (alternatively referred to as receiving lens group)
To array detection subelement (alternatively referred to as detector array), array detection subelement converts optical signals to electric signal, by controlling
Processing unit processed handles electric signal to obtain distance, the azimuth information of object, ultimately produces three-dimensional point cloud atlas.Wherein, light
Waveguide array is small in size, scanning accuracy is high, the response time is fast, driving voltage is low, with multi-thread mechanical type rotating laser radar and base
In the laser radar or laser radar based on prism scanning technique that reflecting mirror rotates or reverses compared to can effectively improve angle
Resolution ratio and scan frequency；Since optical waveguide phased array has the characteristics that responsiveness is high, driving voltage is low, therefore can be in low-power consumption
Lower realization high-velocity scanning.Using single laser as light source, Overall Power Consumption is advantageously reduced；Only need rotational right angle multi-panel anti-
Prism is penetrated, is rotated without complete machine, power consumption is advantageously reduced and reduces rotational loss, improves the reliability of laser radar.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of laser radar characterized by comprising light transmitting unit, light receiver unit and control processing unit；
The light transmitting unit is reflected back for receiving by target object for issuing detection light beam, the light receiver unit
The echo beam come, the control processing unit are used to determine the object according to the detection light beam and the echo beam
The relevant information of body；The relevant information of the target object includes at least one of distance, orientation, height and speed；
Wherein, the light transmitting unit includes the light source subelement being arranged successively along the direction of propagation of light, optical phased array
Unit and reflecting prism subelement, the light source subelement, the optical phased array subelement and the reflecting prism subelement
It is electrically connected respectively with the control processing unit；
The control processing unit controls the light source subelement and issues incident beam；
The control processing unit controls the optical phased array subelement for the incident beam in the first plane intrinsic deflection, with
It is formed in the one-dimensional light beam in first plane with a default scanning angle, the one-dimensional light beam exposes to the reflection rib
On the reflecting surface of mirror unit；
The control processing unit controls the one-dimensional light beam that the reflecting prism subelement will expose on the reflecting surface
The detection light beam is formed in the second plane intrinsic deflection to realize that the one-dimensional light beam scans in second plane；
Wherein, first plane intersects with second plane.
2. laser radar according to claim 1, which is characterized in that first plane is vertical with second plane.
3. laser radar according to claim 1, which is characterized in that the light transmitting unit further includes collimating sub- list
Member, the collimation subelement are located in the optical path of the light source subelement and the optical phased array subelement；
The incident beam collimation that the collimation subelement is used to issue on the light source subelement, and will be described in after collimation
Incident beam exposes to the optical phased array subelement.
4. laser radar according to claim 1, which is characterized in that the light source subelement includes a laser.
5. laser radar according to claim 1, which is characterized in that the optical phased array subelement includes optical waveguide battle array
Column；
The control processing unit successively provides predeterminated voltage to the optical waveguide array；The optical waveguide array is according to successively connecing
The incident beam is deflected predetermined angle by the predeterminated voltage of receipts.
6. laser radar according to claim 5, which is characterized in that the control processing unit is within default sweep time
The different predeterminated voltages is provided to the optical waveguide array, so that optical waveguide array will according to the different predeterminated voltages
The incident beam deflects the different predetermined angles, forms the one-dimensional light beam.
7. laser radar according to claim 6, which is characterized in that the predeterminated voltage is less than or equal to 10V, described pre-
If scanning angle is within the scope of ± 10 °.
8. laser radar according to claim 5, which is characterized in that the optical waveguide array is AlGaAs optical waveguide array
Or silicon substrate optical waveguide array.
9. laser radar according to claim 1, which is characterized in that the light transmitting unit further includes driving sub- list
Member, the reflecting prism subelement are electrically connected by the driving subelement with the control processing unit；
The control processing unit is also used to control the driving subelement and provides driving force to the reflecting prism subelement, with
Make reflecting prism subelement rotation so that the one-dimensional light beam on the reflecting surface will be exposed in the second plane intrinsic deflection,
To realize that the one-dimensional light beam scans in second plane, the detection light beam is formed.
10. laser radar according to claim 1, which is characterized in that the light receiver unit includes the propagation along light
The receiving lens subelement and array detection subelement that direction is arranged successively, the array detection subelement and the control are handled
Unit electrical connection；
The echo beam is focused to the array detection for receiving the echo beam by the receiving lens subelement
Subelement；
The array detection subelement is used to the received echo beam being converted to electric signal, and by the electric signal transmission
To the control processing unit.
11. laser radar according to claim 9, which is characterized in that the array detection subelement includes photon detection
Device.
12. laser radar according to claim 1, which is characterized in that the control processing unit using time flight method,
At least one of phase method and CW with frequency modulation method determine the relevant information of the target object.
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| CN201910204831.3A CN109752702A (en) | 2019-03-18 | 2019-03-18 | A kind of laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910204831.3A CN109752702A (en) | 2019-03-18 | 2019-03-18 | A kind of laser radar |
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