CN111077529A - Laser radar and robot - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The application provides a laser radar and robot relates to location detection technical field. The laser radar comprises an optical module, a transmitting antenna, a receiving antenna and a signal processing module; the optical module comprises a light emission secondary module and a light receiving secondary module, the light emission secondary module and the transmitting antenna are sequentially and electrically connected, the receiving antenna, the light receiving secondary module and the signal processing module are sequentially and electrically connected, modulated pulse laser generated by the light emission secondary module is emitted to a target object as emergent light after passing through the transmitting antenna, the light receiving secondary module is used for receiving reflected light of the emergent light reflected back by the target object through the receiving antenna, and the signal processing module is used for determining distance and/or speed information of the target object based on the reflected light transmitted back by the light receiving secondary module. The existing components in the optical module are used for transmitting and receiving laser, and the advantages of miniaturization, low cost and high reliability of the optical module are exerted.
Description
Technical Field
The application relates to the technical field of positioning detection, in particular to a laser radar and a robot.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, so that the target is detected, tracked and identified.
The existing laser radar generally comprises a laser transmitter, an optical receiver, a rotary table, an information processing system and the like, wherein the laser converts electric pulses into optical pulses to be transmitted out, and the optical receiver restores the optical pulses reflected from a target into the electric pulses to perform signal processing. However, the laser transmitter and the optical receiver in the conventional laser radar often have the problems of large volume and high cost.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide a laser radar and a robot, so as to solve the problems of a laser radar in the prior art, such as a large volume and a high cost.
The embodiment of the application provides a laser radar which comprises an optical module, a transmitting antenna, a receiving antenna and a signal processing module; the optical module comprises a light emission secondary module and a light receiving secondary module, the light emission secondary module and the transmitting antenna are sequentially and electrically connected, the receiving antenna, the light receiving secondary module and the signal processing module are sequentially and electrically connected, modulated pulse laser generated by the light emission secondary module is emitted to a target object as emergent light after passing through the transmitting antenna, the light receiving secondary module is used for receiving reflected light of the emergent light reflected back by the target object through the receiving antenna, and the signal processing module is used for determining distance and/or speed information of the target object based on the reflected light transmitted back by the light receiving secondary module.
In the implementation mode, the optical transmitter and the optical receiver which are commonly used in the existing laser radar are replaced by the optical transmitter and the optical receiver which are contained in the optical module, and the laser transmitter and the optical receiver have the problems of large size and high cost.
Optionally, the laser radar further includes a modulation code generator connected to the tosa, where the modulation code generator is a GOLD code generator, the GOLD code generator is connected to a driving circuit of the tosa, and the driving circuit is configured to perform code division multiple access spread spectrum modulation on laser light generated by the laser device based on a GOLD sequence code generated by the GOLD code generator, so as to obtain the modulated pulsed laser light.
In the implementation mode, the GOLD code has good self-correlation and cross-correlation characteristics, can be used as a large number of address codes, and has a simple structure and easy implementation, so that the modulation efficiency can be improved by performing code division multiple access spread spectrum modulation through the GOLD code, and a larger laser bandwidth can be obtained.
Optionally, the GOLD code generator is composed of two linear feedback shift registers.
In the implementation mode, the linear feedback shift register has the characteristics of high speed, simple structure and small size, the working efficiency of the laser radar is further improved, and the size and the cost of the laser radar are reduced.
Optionally, the signal processing module includes a demodulation module and a main processor, the demodulation module is electrically connected to the rosa and the main processor, the demodulation module is configured to perform GOLD sequence code demodulation on the reflected light transmitted by the rosa to obtain a demodulated signal, and the main processor is configured to obtain distance and/or speed information of the target object based on the demodulated signal.
In the implementation mode, code modulation of different code lengths is realized based on spread spectrum modulation and demodulation, and the anti-interference capability of the laser radar can be improved by the laser after spread spectrum modulation.
Optionally, the signal processing module further includes a threshold detector, the threshold detector is electrically connected to the light receive sub-module and the demodulation module respectively, and the threshold detector is configured to start the demodulation module to demodulate the GOLD sequence code of the reflected light when the signal intensity of the demodulated signal is higher than a demodulation threshold.
In the implementation mode, the stray light interference resistance of the laser radar is improved through threshold detection.
Optionally, the signal processing module further includes a preprocessing module, the preprocessing module is electrically connected to the demodulation module and the main processor, respectively, and the preprocessing module is configured to perform filtering and noise reduction on the demodulated signal.
In the implementation mode, the demodulation signal is subjected to signal preprocessing through the preprocessing module, so that the signal accuracy is improved.
Optionally, the optical module is of an SFP or SFP + type, and has a transmission speed rate of 10 Gb/s.
In the implementation mode, based on the characteristics of the SFP or SFP + optical module, the overall size of the device is further reduced, and the overall power consumption of the device is reduced.
Optionally, the laser of the tosa of the optical module is a distributed feedback laser.
In the implementation mode, the distributed feedback laser has good monochromaticity, can achieve larger line width, has very high side mode suppression ratio, and improves the measurement accuracy of the laser radar.
Optionally, the laser has a center wavelength at a specified wavelength of 850 to 1550 nanometers.
In the implementation mode, the central wavelength is determined in the range from 850 nanometers to 1550 nanometers on the basis of the aspects of the propagation stability, the equipment cost, the detection performance and the like, and the flexibility of the laser radar is improved.
The embodiment of the application also provides a robot, and the robot comprises the laser radar.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present disclosure;
fig. 2 is a schematic connection diagram of a GOLD code generator according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a connection manner of a threshold detector according to an embodiment of the present application.
Icon: 10-laser radar; 11-an optical module; 111-a light emission submodule; 112-optical receive sub-module; 12-a transmitting antenna; 13-a receiving antenna; 14-a signal processing module; 15-GOLD code generator; 16-a threshold detector; 17-signal preprocessing module.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The research of the applicant shows that the laser radar generally comprises a laser transmitter, an optical receiver, a rotary table, an information processing system and the like, wherein the laser device converts electric pulses into optical pulses to be transmitted out, and the optical receiver restores the optical pulses reflected from a target into the electric pulses, so that the functions of distance measurement, positioning and the like are realized. A laser transmitter and an optical receiver in the existing laser radar are generally special emitters and receivers which are independently assembled, and the problems of complex structure, large volume and high cost exist.
In order to solve the above problem, an embodiment of the present application provides a laser radar 10, please refer to fig. 1, and fig. 1 is a schematic structural diagram of the laser radar provided in the embodiment of the present application.
The lidar 10 includes a light module 11, a transmitting antenna 12, a receiving antenna 13, and a signal processing module 14. The tosa 111 and the rosa 112 of the optical module 11 are both electrically connected to the signal processing module 14, the tosa 111 is electrically connected to the transmitting antenna 12, and the rosa 112 is electrically connected to the receiving antenna 13.
The Optical module 11 may be composed of an optoelectronic device, a functional circuit, an Optical interface, and the like, and the optoelectronic device includes a Transmitter Optical Subassembly (TOSA) 111 and a Receiver Optical Subassembly (ROSA) 112. Generally, the optical module is used for photoelectric conversion, and is mostly used for photoelectric conversion in a data transmission system, and the embodiment finds that the optical module has the characteristics of small volume, low cost and high reliability, and is used in the laser radar 10.
Alternatively, the optical module 11 may be an optical module in a package mode such as XENPAK, X2, XFP, SFP +, or the like, which has an integrated and miniaturized feature, and the SFP + optical module with a transmission rate of 10Gb/S may be selected based on the information transmission rate requirement of the laser radar 10. It should be understood that the above-mentioned optical module 11 may be selected based on other requirements of the laser radar 10, and is not limited to the optical module 11.
In addition, the optical module 11 in the present embodiment may adopt an optical module having a center wavelength of 850nm to 1550nm, for example, 850nm, 1310nm, and the like.
In the present embodiment, the tosa 111 mainly performs the function of converting electrical signals into optical signals. The laser (semiconductor light emitting diode or laser diode) as a light source is used as a core, and a semiconductor laser chip, a monitoring photodiode and other components are packaged in a compact packaging structure to form the TOSA.
Specifically, the tosa 111 functions to: the electric signal with certain code rate is processed by the internal driving chip to drive the semiconductor laser or the light emitting diode to emit modulated optical signals with corresponding speed, and the internal part of the semiconductor laser or the light emitting diode is provided with an optical power automatic control circuit to ensure that the power of the output optical signals is kept stable. The function of the rosa 112 is: the optical signal with a certain code rate is converted into an electric signal by the optical detection diode after being input into the module, and the electric signal with the corresponding code rate is output after passing through the preamplifier.
Alternatively, the Laser of the tosa 111 may be a Distributed feedback-Laser (DFB-LD), a Distributed bragg reflection-Laser (DBR-LD), a Quantum Well-Laser (QW-LD), or the like. In this embodiment, a distributed feedback laser is taken as an example, and the difference is that a bragg grating is built in, and the distributed feedback laser belongs to a semiconductor laser emitting from a side surface, has good monochromaticity, can achieve a larger line width, has a very high side mode suppression ratio, and improves the measurement accuracy of the laser radar 10.
In the process of pulse laser ranging, in the prior art, a pulse signal with a fixed period is generally used as a transmitting signal of a laser, and when high-power stray light interference exists in the surrounding environment, an echo signal and an interference signal which need to be received may not be judged, so that the measurement accuracy is greatly influenced. Therefore, in this embodiment, the pulse signal is modulated by using the code division multiple access modulation technique based on the GOLD code, so that the time interval of the laser radar 10 transmitting the pulse laser in each working period changes randomly, the influence of the interference signal is reduced, and the anti-interference performance of the laser radar 10 is improved.
In this embodiment, in order to realize high-efficiency modulation of the time interval of the laser pulse of the laser radar 10 and make it have a larger laser bandwidth, the GOLD Code generator 15 may be adopted as a modulation Code generator to generate GOLD sequence codes, so that the driving circuit of the tosa 111 performs Code Division Multiple Access (CDMA) spread spectrum modulation on the generated laser based on the GOLD sequence codes to obtain modulated pulse laser. In the laser radar 10, the output terminal of the GOLD code generator 15 is connected to the input terminal of the driving circuit of the tosa 111. Referring to fig. 2, fig. 2 is a schematic connection diagram of a GOLD code generator according to an embodiment of the present disclosure.
Spread spectrum modulation is a form of information transmission in which the signal occupies a frequency bandwidth much greater than the minimum bandwidth necessary for the information being transmitted. The spreading of the frequency band is accomplished by an independent code sequence, and is realized by a coding and modulation method, and the receiving end carries out related synchronous receiving, despreading and recovering the transmitted information data by using the same code, regardless of the transmitted information data.
The code division multiple access is multiple access communication realized by using code sequence correlation, and specifically, each transmitting end modulates a signal transmitted by the transmitting end with a different mutually orthogonal address code, and a receiving end selects a corresponding signal from a mixed signal by address identification (correlation detection) using orthogonality of a code pattern. The frequency spectrum utilization rate is high. The high-voltage power supply has the characteristics of strong anti-interference performance, strong confidentiality, small electromagnetic radiation, large capacity and the like.
Due to the adoption of the code division multiple access spread spectrum function, the embodiment can also adopt a 1550nm communication waveband, and realize the communication exchange function between the laser radars 10 by carrying information through coded electric signals.
Specifically, the communication function may be implemented as follows: the information to be transmitted is spread using a communication GOLD code sequence different from the measured GOLD code sequence, and then decoded at the receiving end of the communication using a random code corresponding to the communication GOLD code sequence to obtain the information.
The GOLD code is a pseudo-noise sequence code based on m sequence, which is obtained by modulo-2 addition of a pair of m sequences with the same optimal period and rate, and is suitable for being used as an address code due to the characteristics of good correlation characteristic, uniform power spectrum, prominent autocorrelation function peak value, strong confidentiality and the like.
Specifically, the m-sequence may be generated by a binary linear feedback shift register network, and the GOLD code may be formed by two m-sequence generators and a clock, and implemented based on a Field Programmable Gate Array (FPGA), so as to rapidly and accurately implement generation of the GOLD code.
Alternatively, the driving circuit of the present embodiment may be a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET) driving circuit, which may generate an electronic switch based on the GOLD code to drive the laser emission of the laser in the tosa 111.
Taking the example of a laser emitting laser light with 1550nm wavelength as an example, the GOLD code generator 15 is composed of two 210The stage linear shift registers are connected in parallel to form a GOLD sequence code with a period of 1024; and the FPGA is used for controlling the conduction of a driving circuit of the laser light source and carrying out coding modulation on the output laser.
In lidar applications, optical signals or optical energy are transmitted in space, and therefore optical antennas are necessary, which function to transmit and receive optical signals. The transmitting antenna 12 is required to compress the divergence angle of the laser beam within an allowable range and to increase the detection range as much as possible. The receiving antenna 13 receives as much of the light signal as possible and focuses the light energy onto the photosensitive surface of the detector.
Optionally, the transmitting antenna 12 and the receiving antenna 13 in this embodiment may adopt optical antennas manufactured based on the principles of fresnel lenses, prisms, metal nanoparticles, photonic crystal patches, optical phased array radars, and the like, and may be specifically determined according to the specific frequency requirement of the laser radar 10.
For the rosa 112, it is generally composed of a photo detector (APD diode or PIN diode) and a preamplifier, a limiting amplifier, etc. The main function of the photodetector is to convert an optical signal into an electrical signal by the photoelectric effect. The weak signal current generated by the photodetector is converted into a voltage signal of a sufficient magnitude by the preamplifier and then output, and the function of the limiting amplifier is to convert voltage signals of different magnitudes into digital signals having the same magnitude.
It should be understood that when the optical module 11 is of the SFP, SFP +, etc. type, the ROSA 111 and the ROSA 112 may be an LC-TOSA and an LC-ROSA, respectively.
After the optical receive sub-module 112 receives the optical signal and converts the optical signal into an electrical signal, due to the existence of stray light in the environment, the distance and speed information of the chirped continuous wave lidar target is mainly contained in the frequency of the echo, if the frequency domain information of the target cannot be accurately detected, the subsequent signal processing will be directly affected, and the problem of misjudgment of the environmental noise still exists. Therefore, the present embodiment further provides a threshold detector 16 between the rosa 112 and the signal processing module 14. Referring to fig. 3, fig. 3 is a schematic diagram illustrating a connection manner of a threshold detector according to an embodiment of the present disclosure.
The signal-to-noise ratio of the detector output signal drops sharply when the input signal-to-noise ratio of the receive optical subassembly 112 of lidar 10 is below a level, referred to as the detection threshold. The threshold detector 16 sets a detection threshold during signal detection and estimation, and then the signal received by the receiver is compared with the detection threshold, and if the detection threshold is larger than the detection threshold, there is a signal, and if the detection threshold is smaller than the detection threshold, there is no signal (only noise).
Specifically, the threshold detection circuit of the threshold detector 16 includes unit circuits such as detection, amplification, comparison, pulse width broadening, and processing, and mainly utilizes the principle of diode detector and broadband matching technology, and first converts the microwave signal into a low-frequency signal, and then compares and judges the low-frequency signal with a set threshold reference level, and converts the low-frequency signal into a ttl (transistor logic) level for output.
It should be understood that in this embodiment, the reflected light based on GOLD code may be demodulated by a special demodulation module and then input to the threshold detector 16, and meanwhile, the demodulation module may be independent or integrated in the rosa 112 or the threshold detector 16.
Optionally, after the threshold detector 16 filters noise, the present embodiment may further perform preprocessing such as matched filtering, noise canceling, signal-to-noise ratio enhancement, and frequency, phase, and polarization on the electrical signal through a signal preprocessing module 17 disposed between the threshold detector 16 and the signal processing module 14, and then input the preprocessed signal into the signal processing module 14 to calculate the distance and/or speed information of the target object.
Specifically, the matched filtering uses a matched filter to perform two kinds of processing on an input signal: firstly, the signal phase-frequency characteristic is conjugated, so that all frequency components of an output signal are superposed in phase at an output end to form a peak value; secondly, the input waveform is weighted according to the amplitude-frequency characteristics of the signal, so that the signal energy is received most effectively and the output power of interference is suppressed to improve the signal-to-noise ratio, and the ratio of the output instantaneous power to the average power of noise is maximized.
Meanwhile, for a large time bandwidth product signal, matched filtering is equivalent to pulse compression. The range resolution and range measurement accuracy of the radar or sonar can be improved. In spread spectrum communications, despreading may be achieved.
The noise elimination, signal-to-noise ratio enhancement, frequency, phase, polarization and other preprocessing can be performed by adopting a common mode in the laser radar field, and are not described herein again.
The operation of the lidar 10 is explained as follows: GOLD code generator 15 generates GOLD sequence codes, the driving circuit of emission submodule 111 performs code division multiple access spread spectrum modulation on the generated laser based on the GOLD sequence codes to obtain modulated pulse laser, the modulated pulse laser is emitted through emission antenna 12, part of the modulated pulse laser is reflected back to laser radar 10 through a target object, the reflected laser is converged through receiving antenna 13 and enters into receiving submodule 112, the receiving submodule 112 converts the reflected laser into an electric signal, the electric signal flows into threshold detector 16 after being demodulated by demodulation module, threshold detector 16 inputs the electric signal into signal processing module 14 under the condition that the electric signal is excluded as noise, and the signal processing module 14 calculates and processes the electric signal to obtain information such as position and/or speed of the target object.
Optionally, the information such as the position and/or the speed of the target object obtained by the signal processing module 14 may also be sent to other laser radars 10 through the communication system to complete the cooperative positioning of the laser radars 10.
The signal processing module 14 is an integrated circuit chip, and has signal processing capability. The signal Processing module 14 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The general purpose processor may be a microprocessor or the signal processing module 14 may be any conventional processor or the like. In this embodiment, the signal processing module 14 may be an STM32 series processor, such as an STM32F103C8T6, an STM32F103VET6, or the like.
As an alternative embodiment, the laser radar 10 may further include a servo system connected to the signal processing module 14, and the servo system feeds back real-time data such as distance, speed, and the like measured by the laser radar to the signal processing module 14 and the communication module for error correction, so as to achieve real-time accurate measurement and target tracking.
The embodiment also provides a robot, which comprises the laser radar 10, and can position and measure the speed of the environmental target through the laser radar 10.
Alternatively, the robot in this embodiment may be a robot working in a building scene, such as a measured-quantity robot, a ceiling polishing robot, and the like, and most of the robots need to be mounted on an Automatic Guided Vehicle (AGV), so that the laser radar 10 may be used for positioning, navigating and avoiding an obstacle.
In summary, the present embodiment provides a lidar and a robot, where the lidar includes an optical module, a transmitting antenna, a receiving antenna, and a signal processing module; the optical module comprises a light emission secondary module and a light receiving secondary module, the light emission secondary module and the transmitting antenna are sequentially and electrically connected, the receiving antenna, the light receiving secondary module and the signal processing module are sequentially and electrically connected, modulated pulse laser generated by the light emission secondary module is emitted to a target object as emergent light after passing through the transmitting antenna, the light receiving secondary module is used for receiving reflected light of the emergent light reflected back by the target object through the receiving antenna, and the signal processing module is used for determining distance and/or speed information of the target object based on the reflected light transmitted back by the light receiving secondary module.
In the implementation mode, the optical transmitter and the optical receiver which are commonly used in the existing laser radar are replaced by the optical transmitter and the optical receiver which are contained in the optical module, and the laser transmitter and the optical receiver have the problems of large size and high cost.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams, and combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The laser radar is characterized by comprising an optical module, a transmitting antenna, a receiving antenna and a signal processing module;
the optical module comprises a light emission secondary module and a light receiving secondary module, the light emission secondary module and the transmitting antenna are sequentially and electrically connected, the receiving antenna, the light receiving secondary module and the signal processing module are sequentially and electrically connected, modulated pulse laser generated by the light emission secondary module is emitted to a target object as emergent light after passing through the transmitting antenna, the light receiving secondary module is used for receiving reflected light of the emergent light reflected back by the target object through the receiving antenna, and the signal processing module is used for determining distance and/or speed information of the target object based on the reflected light transmitted back by the light receiving secondary module.
2. The lidar of claim 1, further comprising a modulation code generator connected to the tosa, wherein the modulation code generator is a GOLD code generator, and the GOLD code generator is connected to a driving circuit of the tosa, and the driving circuit is configured to perform code division multiple access spread spectrum modulation on the laser light generated by the laser based on the GOLD sequence code generated by the GOLD code generator to obtain the modulated pulsed laser light.
3. Lidar according to claim 2, wherein said GOLD code generator is comprised of two linear feedback shift registers.
4. The lidar of claim 2, wherein the signal processing module comprises a demodulation module and a main processor, the demodulation module is electrically connected to the rosa and the main processor respectively, the demodulation module is configured to perform GOLD sequence code demodulation on the reflected light transmitted by the rosa to obtain a demodulated signal, and the main processor is configured to obtain distance and/or speed information of the target object based on the demodulated signal.
5. The lidar of claim 4, wherein the signal processing module further comprises a threshold detector electrically connected to the ROSA and the demodulation module, respectively, and the threshold detector is configured to activate the demodulation module to perform GOLD sequence code demodulation on the reflected light when the signal strength of the demodulated signal is higher than a demodulation threshold.
6. The lidar of claim 4, wherein the signal processing module further comprises a pre-processing module, the pre-processing module is electrically connected to the demodulation module and the main processor, respectively, and the pre-processing module is configured to filter and denoise the demodulated signal.
7. Lidar according to claim 1, wherein the optical module is of SFP or SFP + type with a transmission rate of 10 Gb/s.
8. Lidar according to claim 1 or 7, wherein the laser of the tosa of the optical module is a distributed feedback laser.
9. The lidar of claim 8, wherein the laser has a center wavelength of a specified wavelength of 850 nanometers to 1550 nanometers.
10. A robot, characterized in that the robot comprises a lidar according to any of claims 1-9.
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