CN209327567U - Laser radar - Google Patents
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- CN209327567U CN209327567U CN201821598557.XU CN201821598557U CN209327567U CN 209327567 U CN209327567 U CN 209327567U CN 201821598557 U CN201821598557 U CN 201821598557U CN 209327567 U CN209327567 U CN 209327567U
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Abstract
The utility model relates to a kind of laser radars, including phase-modulator；Laser, laser and phase-modulator are electrically connected, and the laser that phase-modulator is used to that laser to be made to issue continuous variable, the laser that laser issues forms sawtooth wave；Coupling assembly, coupling assembly include the first coupler and the second coupler；Phased array component, phased array component include the first phased array and the second phased array；And controller, phase-modulator, laser, the first coupler, the second coupler, the first phased array and the second phased array are electrically connected with controller.Branch, transmitting, reflection, acquisition and a series of processes of subsequent processing are carried out by the laser issued to laser, finally obtain the distance between measured target and the first phased array namely required ranging distance, ranging is convenient, the sending power of laser is small, and cost is low, reliable test result.
Description
Technical field
The utility model relates to CW with frequency modulation laser radar technique fields, more particularly to a kind of laser radar.
Background technique
Laser radar refers to by the way of emitting laser beam the radar system of the characteristic quantities such as position, the speed for detecting target
System.Its working principle is that: firstly, to objective emission detectable signal (laser beam)；Then, the slave target received is reflected
Signal (target echo) with transmitting signal be compared, after making proper treatment, can be obtained target for information about, such as target
Distance, orientation, height, speed, posture, the even parameters such as shape, to be detected, be tracked to targets such as aircraft, guided missiles
And identification.
Traditional laser radar drives the optical lens system of outgoing to carry out angular transformation by way of mechanical rotation, makes
Radar is able to carry out 360 ° of scanning and the pitching angular transformation of certain perpendicular.However, this laser radar not only needs to match
Standby multiple groups laser transceiver also needs the micro mechanical system for being equipped with accurate light adjustment Barebone and sophisticated design, so that it be made to make
Valence is high；Meanwhile the stability of mechanical system and optical system is poor, service life is shorter.
Utility model content
Based on this, it is necessary to provide a kind of laser radar.The cost of the laser radar is low, and ranging effect is good, uses
Service life is long.
Its technical solution is as follows:
A kind of laser radar, including phase-modulator；Laser, laser and phase-modulator are electrically connected, phase tune
The laser that device processed is used to that laser to be made to issue continuous variable, the laser that laser issues form sawtooth wave；Coupling assembly, coupling systems
Part includes the first coupler and the second coupler；Phased array component, phased array component include the first phased array and the second phased array；
Laser, the first phased array and the second coupler are electrically connected with the first coupler, the second phased array and the second coupler electricity
Property connection；And controller, phase-modulator, laser, the first coupler, the second coupler, the first phased array and second are phased
Battle array is electrically connected with controller；First coupler is used to the real time output branch of sawtooth wave be first via live signal
With the second road live signal, the first phased array is used to that first via live signal to be emitted to towards measured target and be formed the first signal,
Second phased array is used to receive the second signal of measured target return and exports echo-signal, and the second coupler is for being received back
Wave signal, the second coupler are also used to receive the second current road live signal and obtain local oscillation signal, and controller is used for basis
Preset requirement carries out ranging processing to echo-signal and local oscillation signal.
Above-mentioned laser radar carries out branch, transmitting, reflection, acquisition and subsequent processing by the laser issued to laser
A series of processes finally obtain the distance between measured target and the first phased array namely required ranging distance, ranging side
Just, the sending power of laser is small, and cost is low, reliable test result.
Technical solution is illustrated further below:
Coupling assembly further includes third coupler in one of the embodiments, and third coupler is set to laser and the
Between one coupler, laser radar further includes clock generator, and third coupler and controller electrically connect with clock generator
It connects；Third coupler is used to be third road live signal and the 4th road live signal, the first coupling by real time output branch
Device received signal is third road live signal and is that first via live signal and the second tunnel are real by third road live signal branch
When signal, clock generator the 4th road live signal and forms clock signal for receiving.
Clock generator includes the 4th coupler, the 5th coupler and interferometer, interferometer in one of the embodiments,
Between the 4th coupler and the 5th coupler, the 4th coupler and third coupler are electrically connected, the 5th coupler and control
Device processed is electrically connected；4th coupler is for receiving the 4th road live signal and being the 5th tunnel by the 4th road live signal branch
Live signal and the 6th road live signal, interferometer is for receiving the 5th road live signal and the 6th road live signal and to the
Five road live signals and the 6th road live signal are handled, form the 5th signal and the 6th signal and keep the 5th signal opposite
There is delay in the 6th signal, the 5th coupler is for receiving the 5th signal and the 6th signal and by the 5th signal and the 6th signal
It is combined and branch is two the second impartial output optical signals again.
Laser radar further includes signal adapter in one of the embodiments, and signal adapter is used to turn optical signal
It is changed to electric signal.
Signal adapter includes the first balanced detector and the second balanced detector in one of the embodiments,；Second
The echo-signal received and local oscillation signal are combined by coupler and branch is two impartial the first output light letters again
Number, the first balanced detector is used to the first output optical signal being converted to the first output electric signal, and the second balanced detector is used for
Second output optical signal is converted into the second output electric signal.
Controller further includes capture card in one of the embodiments, capture card for acquire the first output electric signal and
Second output electric signal.
Controller further includes signal analysis module in one of the embodiments, and signal analysis module and capture card are electrical
Connection, signal analysis module according to output signal of the preset requirement to capture card for being analyzed and obtaining distance measurement result.
Controller further includes analog-digital converter in one of the embodiments, and analog-digital converter is set to capture card and signal
Between analysis module.
Laser radar further includes outer cover, phase-modulator, coupling assembly, phased array component in one of the embodiments,
It is set in outer cover with controller.
Outer cover is additionally provided with display screen in one of the embodiments, and display screen and controller are electrically connected.
Detailed description of the invention
Fig. 1 is that schematic diagram is arranged in the module architectures of laser radar in embodiment；
Fig. 2 is measured target and laser radar echo-signal and local oscillation signal when opposing stationary and to work as in Fig. 1 embodiment
Curve graph of the preceding first difference frequency value about the time；
Fig. 3 is curve graph of the first difference frequency value about the time in Fig. 1 embodiment；
Fig. 4 is the curve graph of clock signal and difference waveform about the time in Fig. 1 embodiment；
Fig. 5 is the curve graph of values of Doppler frequency shift and time in Fig. 1 embodiment；
Fig. 6 is the specific setup module figure of the laser radar in Fig. 1 embodiment.
Attached drawing mark explanation:
110, laser, 120, phase-modulator, 130, optoisolator, the 210, first coupler, the 220, second coupler,
230, third coupler, the 240, the 4th coupler, the 250, the 5th coupler, the 310, first phased array, the 320, second phased array,
400, measured target, 500, interferometer, 600, capture card, the 710, first balanced detector, the 720, second balanced detector,
800, signal analysis module, 900, correcting circuit.
Specific embodiment
The embodiments of the present invention are described in detail with reference to the accompanying drawing:
It should be noted that it can be directly in another element when alleged element is with another element " fixation " in text
Above or there may also be elements placed in the middle.When an element is considered as with another element " connection ", it be can be directly
It is connected to another element in succession or may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element
When "upper", intermediary element is not present.Term as used herein "vertical", "horizontal", "left" and "right" and similar table
It states for illustrative purposes only, is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein packet
Include any and all combinations of one or more related listed items.
Embodiment as shown in Figures 1 to 6 provides a kind of laser radar, including phase-modulator 120；Laser
110, laser 110 and phase-modulator 120 are electrically connected, and phase-modulator 120 is for making laser 110 issue continuous variable
Laser, laser 110 issue laser formed sawtooth wave；Coupling assembly, coupling assembly include the first coupler 210 and second
Coupler 220；Phased array component, phased array component include the first phased array 310 and the second phased array 320；Laser 110,
One phased array 310 and the second coupler 220 are electrically connected with the first coupler 210, and the second phased array 320 is coupled with second
Device 220 is electrically connected；And controller, phase-modulator 120, laser 110, the first coupler 210, the second coupler 220,
One phased array 310 and the second phased array 320 are electrically connected with controller；First coupler 210 is used for the real-time of sawtooth wave
Output signal branch is first via live signal and the second road live signal, and the first phased array 310 for believing the first via in real time
Number towards measured target 400 emit and formed the first signal, the second phased array 320 be used for receive measured target 400 return second
Signal simultaneously exports echo-signal, and the second coupler 220 is used for receives echo-signal, and the second coupler 220 is also used to receive currently
The second road live signal and obtain local oscillation signal, controller be used for according to preset requirement to echo-signal and local oscillation signal into
Row ranging processing.
Branch, transmitting, reflection, acquisition and a series of processes of subsequent processing are carried out by the laser issued to laser 110,
The distance between measured target 400 and the first phased array 310 namely required ranging distance are finally obtained, ranging is convenient, laser
The sending power of device 110 is small, and cost is low, reliable test result.
Ranging process are as follows:
Phase-modulator 120 controls the Laser emission of laser 110 and the output of laser 110 is made to meet preset requirement
Laser, the i.e. laser of continuous variable simultaneously form sawtooth wave, obtain the real time output of sawtooth wave and the slope of sawtooth wave；
Real time output is carried out branch and forms first via live signal and the second road is real-time by the first coupler 210
Signal；
First via live signal is emitted towards measured target 400 and forms the first signal by the first phased array 310；
Obtain the fiber distance between the first coupler 210 and the first phased array 310；
Measured target 400 reflects the first signal and to the second phased array 320 and forms second signal；
It is echo-signal that second phased array 320, which receives second signal and exports,；
Second coupler, 220 receives echo-signal；Meanwhile second coupler 220 receive the second current road live signal,
And obtain local oscillation signal (namely: the second road live signal is the local oscillation signal in system)；
The first signal frequency for obtaining echo-signal, obtains the second signal frequency of local oscillation signal；
The current first difference frequency value between the first signal frequency and second signal frequency is obtained according to preset requirement；
The spacing between measured target 400 and the first phased array 310 is calculated and obtained based on the first equation；
Wherein, the first equation are as follows:
R=(Δ f*c/ (2*k))-(L/2)；
Spacing of the R between measured target 400 and the first phased array 310, Δ f are the first signal frequency and second signal frequency
Current first difference frequency value between rate, c are light velocity value, and k is the slope of sawtooth wave, and L is the first coupler 210 and the first phased array
Fiber distance between 310.
By using laser radar provided in this embodiment to laser-formed real time output carry out branch, transmitting,
A series of processes such as reflection, acquisition and calculating, finally obtain the distance between measured target 400 and the first phased array 310, from
And the distance needed for obtaining, distance measuring method is simple, laser frequency stabilization, and sending power is small, not only cost and use cost
It is low, and reliable test result.
In the present embodiment, the first phased array 310 and the second phased array 320 form matrix by many identical antennas, institute
There is the radiated wave of antenna to form a branch of radar wave by interference in far field.The phase of each antenna of electronic system real-time control, from
And control the radar wave direction in far field.Electronic system changes the phase of certain antennas, so that it may change the direction of radar wave, thus
Realize dynamic scan.It is fast that such electron scanning does not need mechanical rotation device, sweep speed, and even if has a small amount of antenna to send out
Raw failure will not influence the actual use of phased array component.
Only need one group of Laser emission receiver that the scanning in a space multistory angle can be completed；It uses simultaneously entirely certainly
The manufacture of dynamic, large-scale photonic integrated circuits, the packaging technology peace time-consuming without the such complexity of mechanical laser radar
Calibration process is filled, to reduce cost.Meanwhile the laser radar that the distance measuring method using the laser radar carries out ranging is not necessarily to
High-speed rotating mechanical part, reliability is compared with the available improve of conventional laser radar.
And phased array component is extremely difficult to higher transmission power in traditional laser radar, this is because: light energy exists
It is gradually to be distributed to many antenna elements in the waveguide of phased array component, therefore in initial input waveguide, unit area
Optical power density is larger；The laser radar of pulse ranging is used to require relatively narrow pulsewidth to reach higher peak power simultaneously,
Further improve the requirement to waveguide material tolerance high optical power.Therefore, in the laser thunder of past laser pulse emission
Use up to phased array component in system is restricted, in FMCW laser radar system, due to required laser intelligence
It is its frequency shift amount, therefore the transmission power of laser can be reduced, so that the transmission power limitation for solving phased array component is asked
Topic is not necessarily to higher transmission power when so that the distance measuring method using laser radar provided in this embodiment carrying out ranging
Ranging is completed, and Range finding reliability is higher, ranging is at low cost.
The distance measuring method of laser radar provided in this embodiment more particularly to carry out ranging within the scope of 200 meters and 500 meters,
Be able to solve 400 moving range of measured target it is larger when measurement；Ranging, ranging can be carried out using the Laser emission of low-power
It is at low cost.
Frequency modulated continuous wave radar, also referred to as FMCW (Frequency Modulated Continuous Wave) radar, relies on
The measurement advantage of itself, is widely applied in terms of ranging, and frequency modulated continuous wave radar is a kind of tranmitting frequency by specific letter
Number modulation continuous wave radar.Compared with other range radars, the structure of frequency modulated continuous wave radar is more simple.
In addition, the technical experience of fmcw radar is abundant, required transmission power peak is lower, is easy modulation, is at low cost, letter
Number processing is simple, and the distance measuring method of laser radar provided in this embodiment can be applied in car radar.
Phased array refers to optical phased array, OPA, i.e. Optical Phased Array.
Certainly, laser radar provided in this embodiment can also realize the tachometric survey to measured target 400:
In the step for obtaining the current first difference frequency value between the first signal frequency and second signal frequency according to preset requirement
It, can be with after rapid:
The current first difference frequency value of subsequent time is obtained according to preset requirement and obtains current second difference frequency value；
It is calculated according to preset requirement and based on the first difference frequency value and the second difference frequency value and obtains values of Doppler frequency shift；
Obtain the current tranmitting frequency of laser 110；
Obtain the current goal radial angle of measured target 400；
The movement speed for being calculated based on second equation and obtaining measured target 400 with respect to the first phased array 310；
Wherein, second equation are as follows:
V=(fDopp*c)/(f0*(cosα))；
fDoppFor values of Doppler frequency shift, f0For the current tranmitting frequency of laser 110, v is measured target 400 opposite first
The movement speed of phased array 310, c are light velocity value, and α is the current goal radial angle of measured target 400.
It should be understood that being calculated and being obtained according to preset requirement and based on the first difference frequency value and the second difference frequency value
In the step of values of Doppler frequency shift, preset requirement simultaneously calculate based on the first difference frequency value and the second difference frequency value and refers to the first difference frequency value
With the difference of the second difference frequency value.
The movement speed of opposite first phased array 310 of measured target 400 is being calculated and obtained based on second equation
After step, further includes:
Obtain radar absolute velocity of the laser radar with respect to ground level；
According to preset requirement and based on radar absolute velocity and measured target 400 relative to the mobile speed of the first phased array 310
The target absolute velocity that degree is calculated and obtains measured target 400 with respect to ground level.
As shown in Figures 2 to 5, solid line refers to first via live signal in figure, and dotted line refers to that echo-signal, the first via are real-time in figure
Signal is after undergoing the τ time, and delay produces the first difference frequency value of Δ f, then the relationship of R (also known as absolute distance) and τ are as follows:
τ=(2*R+L)/C；
According to geometrical relationship:
τ/Δ f=T/ (2* Δ F)；
And R may be expressed as:
R=((Δ f*T*c)/(4* Δ F))-(L/2)；
And:
K=(2* Δ f)/T；
Based on above four formula, the first equation can be obtained, and it is phased that measured target 400 and first can be calculated
Spacing between battle array 310.
According to Doppler shift characteristics, Δ fDoppRelationship, that is, second equation between movement speed v:
fDopp=f0*(v/c)*(cosα)；
And:
fDopp=Δ fDiff_down-ΔfDiff_up；
Wherein, Δ fDiff_downWith Δ fDiff_upRespectively represent the signal of two different times.
The movement speed that can be calculated as a result, and obtain measured target 400 with respect to the first phased array 310.
Embodiment as shown in Figure 1, coupling assembly further include third coupler 230, and third coupler 230 is set to laser
110 and first between coupler 210, and laser radar further includes clock generator, and third coupler 230 and controller are and clock
Generator is electrically connected；Third coupler 230 is used to be that third road live signal and the 4th tunnel are real by real time output branch
When signal, 210 received signal of the first coupler is third road live signal and is the first via by third road live signal branch
Live signal and the second road live signal, clock generator is for receiving the 4th road live signal and forming clock signal.
The laser of frequency consecutive variations is issued in laser 110 and forms sawtooth wave, obtains the real-time output letter of sawtooth wave
Number and sawtooth wave slope the step of after, real time output is carried out in the first coupler 210 branch and to form the first via
Before the step of live signal and the second road live signal, further includes:
Real time output is carried out branch and forms third road live signal and the 4th road is real-time by third coupler 230
Signal；
Real time output is subjected to branch in the first coupler 210 and forms first via live signal and the second tunnel reality
When signal the step of after, further includes:
Clock generator receives the 4th road live signal and generates clock signal；
Real time output is carried out branch and forms first via live signal and the second road is real-time by the first coupler 210
In the step of signal, the real time output that the first coupler 210 carries out branch is third road live signal.
As shown in Figure 1, third coupler 230 will export letter in real time after the sending of laser 110 meets the laser of preset requirement
It number carries out branch and forms two paths of signals and third road live signal and the 4th road live signal, third road signal passes through first
The further branch of coupler 210 simultaneously forms first via live signal and the second road live signal；And the 4th road live signal passes through
The processing of clock generator simultaneously generates clock signal, and clock signal is used for subsequent data processing and calculating, more smart to obtain
Quasi- data.
Certainly, clock generator, which can according to need, is specifically arranged, such as when being not provided with third coupler 230,
It can directly be arranged and meet the clock generator needed or subsequent data processing is carried out using the clock signal of the machine and calculates need
It wants, those skilled in the art can be specifically arranged as needed, and which is not described herein again.
Embodiment as shown in Figure 1, clock generator include the 4th coupler 240, the 5th coupler 250 and interferometer
500, interferometer 500 is set between the 4th coupler 240 and the 5th coupler 250, the 4th coupler 240 and third coupler
230 are electrically connected, and the 5th coupler 250 is electrically connected with controller；4th coupler 240 is believed in real time for receiving the 4th road
Number and be the 5th road live signal and the 6th road live signal by the 4th road live signal branch, interferometer 500 is for receiving the
Five road live signals and the 6th road live signal simultaneously handle the 5th road live signal and the 6th road live signal, are formed
5th signal and the 6th signal and make the 5th signal with respect to the 6th signal exist postpone, the 5th coupler 250 for receive the 5th
5th signal and the 6th signal are simultaneously combined and branch is two impartial second outputs again by signal and the 6th signal
Optical signal.
Clock generator includes the 4th coupler 240, interferometer 500 and the 5th coupler 250, and clock generator receives the
Four road live signals and the step of generate clock signal further include:
4th coupler 240 receives the 4th road live signal and the 4th road live signal is carried out branch and forms the 5th
Road live signal and the 6th road live signal；
Interferometer 500 receives the 5th road live signal and the 6th road live signal and to the 5th road live signal and the 6
Road live signal is handled and is formed the 5th signal and the 6th signal, and the 5th signal exists with respect to the 6th signal to postpone；
5th coupler 250 receives the 5th signal and the 6th signal and is combined the 5th signal and the 6th signal, simultaneously
It re-starts branch, form two the second impartial output optical signals；
The second output optical signal is converted into the second output electric signal according to preset requirement and forms clock signal.
The correction signal road by such setting of 4th road live signal, so that clock signal is obtained, it is subsequent to meet
Needs.
It should be noted that as needed, can be set are as follows:
Third coupler 230 is by the third road live signal and the 4th tunnel that real time output branch is that energy ratio is 99:1
Live signal；
First coupler 210 is by the first via live signal and second that third road live signal branch is that energy ratio is 99:1
Road live signal；
It is 50:50 that echo-signal and local oscillation signal are combined by the second coupler 220 and branch is energy ratio again
Two the first impartial output optical signals；
4th coupler 240 is by the 5th road live signal and the 6th that the 4th road live signal branch is that energy ratio is 99:1
Road live signal；
It is 50:50 that 5th signal and the 6th signal are combined by the 5th coupler 250 and branch forms energy ratio again
Two the second impartial output optical signals.
Further, interferometer 500 can be Mach-Zehnder interferometers 500, and being also possible to other can be realized to two
A signal carries out the interferometer 500 of given delay disposal, to meet actual needs.
Further, laser radar is additionally provided with optoisolator 130, and optoisolator 130 is located at laser 110 and third coupling
Between device 230, it can unidirectionally be conducted with the laser for controlling laser 110 (such as tunable laser 110) sending, reduce and swash
110 shoot laser of light device transmits the probability reflected in a fiber, and thus reduces the noise that reflection generates.
Certainly, those skilled in the art can be specifically arranged as needed, no longer superfluous here to meet actual needs
It states.
Embodiment as shown in Figure 1, laser radar further include signal adapter, and signal adapter is for converting optical signal
For electric signal.
The step of being calculated and obtained the spacing between measured target 400 and the first phased array 310 based on the first equation
Further include:
The echo-signal received and local oscillation signal are combined and are re-started branch, formed by the second coupler 220
Two the first impartial output optical signals；
First output optical signal is converted into the first output electric signal；
Obtain clock signal；
According to preset requirement and based on clock signal, first output electric signal and the first equation handled and obtain by
Survey the spacing between target 400 and the first phased array 310.
Since two signals of the second coupler 220 output are optical signal, need to be converted to electric signal, and further locate
Reason, to meet actual processing needs.
Embodiment as shown in Figure 1, signal adapter include the first balanced detector 710 and the second balanced detector 720；
The echo-signal received and local oscillation signal are combined by the second coupler 220 and branch is two impartial first again
Output optical signal, the first balanced detector 710 are used to be converted to the first output optical signal the first output electric signal, the second balance
Detector 720 is used to the second output optical signal being converted to the second output electric signal.
Embodiment as shown in Figure 1, controller further include capture card 600, and capture card 600 is for acquiring the first output telecommunications
Number and second output electric signal.
According to preset requirement and based on clock signal, first output electric signal and the first equation handled and obtain by
The step of spacing surveyed between target 400 and the first phased array 310 includes:
Capture card 600 samples the first output electric signal and is based on clock signal and handled, obtains output simulation
Signal；
Output analog signal is subjected to analog-to-digital conversion and obtains digital output signal；
It is handled according to preset requirement and based on the first equation logarithm word output signal and obtains 400 and of measured target
Spacing between first phased array 310.
By the above process, specific signal processing and conversion are carried out, to obtain specific data.Those skilled in the art
Can specifically it be arranged as needed (such as comprising the second output electric signal using processing), which is not described herein again.
Embodiment as shown in Figure 1, controller further include signal analysis module 800, signal analysis module 800 and acquisition
Card 600 is electrically connected, and signal analysis module 800 according to output signal of the preset requirement to capture card 600 for being analyzed, simultaneously
Obtain distance measurement result.
Embodiment as shown in Figure 1, controller further include analog-digital converter, and analog-digital converter is set to capture card 600 and letter
Between number analysis module 800.
Embodiment as shown in Figure 1, laser radar further include outer cover, phase-modulator 120, coupling assembly, phased array group
Part and controller are set in outer cover.
It should be noted that laser 110 can be set as needed in outer cover or be located at outside outer cover, those skilled in the art
Member can be specifically arranged as needed, and which is not described herein again.
Embodiment as shown in Figure 1, outer cover are additionally provided with display screen, and display screen and controller are electrically connected.
Display screen is for showing ranging and testing the speed as a result, more convenient to use.
It is illustrated in figure 6 a kind of more specifically embodiment:
Laser 110 is Distributed Feedback Laser 110 (DFB Laser, i.e. Distributed Feedback Laser), need to be matched
Close phase-modulator 120, to control the laser that Distributed Feedback Laser 110 issues the frequency consecutive variations met the requirements.
In this embodiment, Distributed Feedback Laser 110 need phase-modulator 120 make laser 110110 export frequency quilt
Current-modulation reaches the mode of continuous wave output；The sampling frequency of capture card 600 is 10kHz-100kHz, capture card 600
Frequency can be reduced to reach lower using frequency；The output power of Distributed Feedback Laser 110 can correspondingly increase.
In addition, correcting circuit 900 is equivalent to clock generator in Fig. 6, for cooperating capture card 600 to carry out subsequent place
Reason process；Signal analysis module 800 is for carrying out final process and exporting ranging and the result that tests the speed.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of laser radar characterized by comprising
Phase-modulator；
Laser, the laser and the phase-modulator are electrically connected, and the phase-modulator is for making the laser
The laser of continuous variable is issued, the laser that the laser issues forms sawtooth wave；
Coupling assembly, the coupling assembly include the first coupler and the second coupler；
Phased array component, the phased array component include the first phased array and the second phased array；
The laser, first phased array and second coupler are electrically connected with first coupler, described
Second phased array and second coupler are electrically connected；And
Controller, the phase-modulator, the laser, first coupler, second coupler, first phase
Battle array and second phased array is controlled to be electrically connected with the controller；
First coupler is used to the real time output branch of the sawtooth wave be first via live signal and the second tunnel
Live signal, first phased array are used to emit and be formed the first signal towards measured target for the first via live signal,
Second phased array is used to receive the second signal that the measured target returns and exports echo-signal, second coupling
Device is also used to receive current second road live signal and obtains for receiving the echo-signal, second coupler
To local oscillation signal, the controller is used to carry out at ranging the echo-signal and the local oscillation signal according to preset requirement
Reason.
2. laser radar according to claim 1, which is characterized in that the coupling assembly further includes third coupler, institute
Third coupler to be stated to be set between the laser and first coupler, the laser radar further includes clock generator,
The third coupler and the controller are electrically connected with the clock generator；
The third coupler be used for by the real time output branch be third road live signal and the 4th road live signal,
The first coupler received signal is third road live signal and is described by the third road live signal branch
First via live signal and second road live signal, the clock generator for receive the 4th road live signal,
And form clock signal.
3. laser radar according to claim 2, which is characterized in that the clock generator includes the 4th coupler, the
Five couplers and interferometer, the interferometer are set between the 4th coupler and the 5th coupler, the 4th coupling
Clutch and the third coupler are electrically connected, and the 5th coupler and the controller are electrically connected；
4th coupler is for receiving the 4th road live signal and being the 5th by the 4th road live signal branch
Road live signal and the 6th road live signal, the interferometer are real for receiving the 5th road live signal and the 6th tunnel
When signals and the 5th road live signal and the 6th road live signal are handled, form the 5th signal and the 6th
Signal and the 5th signal the 6th signal relatively is made to there is delay, the 5th coupler is for receiving the described 5th
Signal and the 6th signal and the 5th signal and the 6th signal are combined and again branch be two
Deng the second output optical signal.
4. laser radar according to claim 3, which is characterized in that the laser radar further includes signal adapter, institute
Signal adapter is stated for converting optical signals to electric signal.
5. laser radar according to claim 4, which is characterized in that the signal adapter includes the first balanced detector
With the second balanced detector；
The echo-signal received and the local oscillation signal are combined by second coupler and branch is two again
First output optical signal of a equalization, first balanced detector are used to first output optical signal being converted to first defeated
Electric signal out, second balanced detector are used to second output optical signal being converted to the second output electric signal.
6. laser radar according to claim 5, which is characterized in that the controller further includes capture card, the acquisition
Card is for acquiring the first output electric signal and the second output electric signal.
7. laser radar according to claim 6, which is characterized in that the controller further includes signal analysis module, institute
It states signal analysis module and the capture card is electrically connected, the signal analysis module is used for according to preset requirement to the acquisition
The output signal of card is analyzed and obtains distance measurement result.
8. laser radar according to claim 7, which is characterized in that the controller further includes analog-digital converter, described
Analog-digital converter is set between the capture card and the signal analysis module.
9. laser radar according to claim 1-8, which is characterized in that the laser radar further includes outer cover,
The phase-modulator, the coupling assembly, the phased array component and the controller are set in the outer cover.
10. laser radar according to claim 9, which is characterized in that the outer cover is additionally provided with display screen, the display screen
It is electrically connected with the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821598557.XU CN209327567U (en) | 2018-09-28 | 2018-09-28 | Laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821598557.XU CN209327567U (en) | 2018-09-28 | 2018-09-28 | Laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN209327567U true CN209327567U (en) | 2019-08-30 |
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