WO2023060473A1

WO2023060473A1 - Laser radar, and control method for laser radar

Info

Publication number: WO2023060473A1
Application number: PCT/CN2021/123522
Authority: WO
Inventors: 汪敬
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2023-04-20
Also published as: CN114938662B; CN114938662A

Abstract

Disclosed in the present application are a laser radar and a control method therefor. The laser radar comprises a frequency-modulated light source, a beam-splitting module, a target detection module, a polarization beam-splitting rotator, and a balance detection module, wherein the frequency-modulated light source generates an input light beam; the beam-splitting module divides the input light beam into a detection light beam and a local oscillator light beam; the target detection module emits the detection light beam to a target object, and receives a reflected light beam, which is reflected by the target object; the polarization beam-splitting rotator converts the polarization state of the reflected light beam, so as to obtain a signal light beam, wherein the polarization state of the signal light beam is consistent with the polarization state of the local oscillator light beam; and the balance detection module performs balance detection on the local oscillator light beam and the signal light beam, and outputs a first detection signal, wherein the first detection signal is used for acquiring position information of the target object. By using the present application, the polarization state of a reflected light beam, which is reflected by a target object, is adjusted by means of a polarization beam-splitting rotator, and the situation of a detection failure caused by inconsistent polarization states is prevented, thereby improving the detection success rate of the laser radar.

Description

Laser radar and laser radar control method

technical field

The present application relates to the technical field of radar, and in particular, to a laser radar and a control method of the laser radar.

Background technique

At present, commonly used vehicle-mounted lidars include lidars based on frequency modulated continuous wave (FMCW). The laser beam emitted by the FMCW radar is a frequency-modulated continuous laser, which divides the laser beam into two, one of which is used as the local oscillator light, and the other beam is used as the emission light to emit to the detection area. After the emission light encounters the target object in the detection area , reflect the emitted light, and calculate the distance of the target object through the reflected emitted light and local oscillator light.

Since the reflected emitted light and local oscillator light need to be processed by the balanced detector first, the distance to the target object can be calculated based on the output signal of the balanced detector. It should be noted that the balanced detector requires the local oscillator light and the reflected emitted light The polarization state of the light is consistent, and the unknown material of the target object means that the polarization state of the emitted light reflected by the target object is random, which is very prone to detection failure, resulting in the detection success rate of FMCW lidar too low.

Contents of the invention

The present application provides a laser radar and a control method of the laser radar, which can solve the technical problem of how to improve the detection success rate of the laser radar.

In the first aspect, an embodiment of the present application provides a laser radar, which includes: a frequency modulation light source, a beam splitting module, a target detection module, a polarization beam splitting rotator, and a balanced detection module;

A frequency modulated light source is used to generate the input beam and transmit the input beam to the beam splitting module;

The beam splitting module is used to receive the input beam, divide the input beam into a detection beam and a local oscillator beam, transmit the detection beam to the target detection module, and transmit the local oscillator beam to the balance detection module;

The target detection module is used to receive the detection beam, emit the detection beam to the target object, receive the reflected beam reflected by the target object, and transmit the reflected beam to the polarization beam splitter rotator;

The polarization beam splitting rotator is used to receive the reflected beam, convert the polarization state of the reflected beam, obtain the signal beam, and transmit the signal beam to the balance detection module. The polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;

The balanced detection module is used to receive the local oscillator beam and the signal beam, perform balanced detection on the local oscillator beam and the signal beam, and output the first detection signal, and the first detection signal is used to obtain the position information of the target object.

In a second aspect, an embodiment of the present application provides a method for controlling a lidar, the method including:

Generating an input beam and splitting the input beam into a probe beam and a local oscillator beam;

Send the detection beam to the target object and receive the reflected beam reflected by the target object;

Convert the polarization state of the reflected beam to obtain the signal beam, the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;

performing balanced detection on the local oscillator beam and the signal beam to obtain a first detection signal;

The position information of the target object is acquired based on the first detection signal.

In the embodiment of the present application, the lidar includes: a frequency modulation light source, a target detection module, a polarization beam splitting rotator, a beam splitting module, and a balanced detection module; a frequency modulation light source is used to generate an input beam and transmit the input beam to The beam splitting module; the beam splitting module is used to receive the input beam, divide the input beam into the detection beam and the local oscillator beam, transmit the detection beam to the target detection module, and transmit the local oscillator beam to the balance detection module; the target The detection module is used to receive the detection beam, emit the detection beam to the target object, and receive the reflected beam reflected by the target object, and transmit the reflected beam to the polarization beam splitting rotator; the polarization beam splitting rotator is used to receive the reflected beam, convert Reflect the polarization state of the beam to obtain the signal beam, and transmit the signal beam to the balance detection module, the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam; the balance detection module is used to receive the local oscillator beam and the signal beam, A balanced detection is performed on the local oscillator beam and the signal beam, and a first detection signal is output, and the first detection signal is used to obtain position information of the target object. Therefore, the polarization state of the reflected beam reflected by the target object is adjusted through the polarization beam splitting rotator, so as to convert the polarization state of the reflected beam to be consistent with the polarization state of the local oscillator beam, avoiding detection failures caused by inconsistent polarization states , which improves the detection success rate of lidar.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a laser radar provided in an embodiment of the present application;

Fig. 2 is a detection schematic diagram of a laser radar provided by the embodiment of the present application;

FIG. 3 is a schematic structural diagram of a lidar provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a laser radar provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a lidar provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a lidar provided in an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a lidar provided in an embodiment of the present application;

FIG. 8 is a schematic flowchart of a control method of a lidar provided in an embodiment of the present application;

FIG. 9 is a schematic flowchart of a laser radar control method provided in an embodiment of the present application;

FIG. 10 is a schematic flowchart of a laser radar control method provided in an embodiment of the present application;

FIG. 11 is a schematic flow chart of a lidar control method provided in an embodiment of the present application;

FIG. 12 is a schematic flow chart of a lidar control method provided in an embodiment of the present application;

FIG. 13 is a schematic structural diagram of a computer device provided by an embodiment of the present application.

Detailed ways

In order to make the features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims. The flow charts shown in the accompanying drawings are only exemplary illustrations, and it is not necessary to execute the steps shown. For example, some steps are parallel, and there is no strict sequence relationship in logic, so the actual execution order is variable. In addition, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth" are for distinction purposes only and do not should be construed as a limitation of the present disclosure.

As shown in Figure 1, Figure 1 is a schematic structural diagram of a laser radar provided by an embodiment of the present application. The laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14 and a balance detection module 15.

There are at least two output ends in the beam splitting module 12; there are at least two input ends in the target detection module 13, which are respectively the first input end for receiving the detection beam and the second input end for receiving the reflected light beam; balanced detection There are at least two input ends in the module; the output end of the FM light source 11 is connected to the input end of the beam splitting module 12; the first output end of the beam splitting module 12 is connected to the first input end of the target detection module 13, and the splitting The second output end of the beam module 12 is connected with the first input end of the balance detection module 15; the output end of the target detection module 13 is connected with the input end of the polarization beam splitting rotator 14; the output of the polarization beam splitting rotator 14 The end is connected with the second input end of the balance detection module 15.

As shown in Figure 2, Figure 2 is a schematic diagram of detection of a laser radar provided by the embodiment of the present application. The frequency-modulated light source 11 generates an input beam, and the input beam refers to a frequency-modulated continuous wave signal (FMCW, Frequency Modulated Continuous Wave), that is, to emit A continuous signal whose frequency is modulated by a specific signal. After the frequency-modulated light source 11 generates an input beam, it transmits the input beam to the beam splitting module 12 connected to the frequency-modulated light source 11 . The beam splitting module 12 receives the input beam output by the frequency modulation light source 11, and then divides the input beam into a local oscillator beam and a detection beam according to a preset beam splitting ratio, transmits the local oscillator beam to the balance detection module 15, and transmits the detection beam to the target Detection module 13. The target detection module 13 receives the detection beam output by the beam splitting module 12 , and then emits the detection beam to the target object 00 .

It should be noted that the detection beam enters the target detection module 13 via the beam emission port of the target detection module 13 (ie, the second input end of the target detection module 13, which is both a light exit port and a light entrance port). When the detection beam encounters the target object 00 , it is reflected by the target object 00 to form a reflected beam, and the reflected beam is reflected to the target detection module 13 .

The target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the polarization beam splitter rotator 14 . The polarization beam splitting rotator 14 receives the reflected beam, then converts the polarization state of the reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 . It should be noted that the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam. When the frequency-modulated light source 11 generates the input beam, it generates the beam according to the preset polarization state that the frequency-modulated light source 11 uses in advance. Then the input beam If the polarization state is known and fixed to a preset polarization state, then the polarization beam splitting rotator 14 adjusts the polarization state of the reflected beam to a preset polarization state when converting the polarization state of the reflected beam; It is assumed that the polarization state may be a horizontal polarization state, a vertical polarization state, etc., which are not limited here.

The balanced detection module 15 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, then performs balanced detection on the local oscillator beam and the signal beam, and outputs a first detection signal, which is It is used to obtain the position information of the target object 00.

Optionally, the laser radar 1 further includes a processing module, the processing module is used to obtain the first detection signal output by the balance detection module 15, and obtain the position information of the target object 00 based on the first detection signal, the position information can be the target The distance between the object 00 and the laser radar 1, the relative orientation of the target object 00 and the laser radar 1, the speed information of the target object 00, etc.

In the embodiment of the present application, the polarization state of the reflected beam reflected by the target object is adjusted through the polarization beam splitting rotator, so that the polarization state of the reflected beam is converted to be consistent with the polarization state of the local oscillator beam, and the polarization state caused by the inconsistent polarization state is avoided The resulting detection failure improves the detection success rate of the lidar.

As shown in Figure 3, Figure 3 is a schematic structural diagram of a laser radar provided by an embodiment of the present application. The laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14. Balance detection module 15 and optical mixing module 16.

The optical mixing module 16 includes at least two input ports, respectively a first input end for receiving a local oscillator beam and a second input end for receiving a signal beam, and the optical mixing module 16 also includes at least two output ports end. The output end of the FM light source 11 is connected to the input end of the beam splitting module 12; the first output end of the beam splitting module 12 is connected to the first input end of the target detection module 13, and the second input end of the beam splitting module 12 Connected with the first input end of the optical mixing module 16; the output end of the target detection module 13 is connected with the input end of the polarization beam splitting rotator 14; the output end of the polarization beam splitting rotator 14 is connected with the optical mixing module 16 The second input end of the optical mixing module 16 is connected to the first input end of the balance detection module 15, and the second output end of the optical mixing module 16 is connected to the first output end of the balance detection module 15. Two input connections.

The frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the beam splitting module 12 connected to the frequency-modulated light source 11 . The beam splitting module 12 receives the input beam output by the frequency modulation light source 11, and then divides the input beam into a local oscillator beam and a detection beam according to a preset beam splitting ratio, transmits the local oscillator beam to the optical mixing module 16, and transmits the detection beam to the Target detection module 13. The target detection module 13 receives the detection beam output by the beam splitting module 12 , and then emits the detection beam to the target object 00 . The target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the polarization beam splitter rotator 14 . The polarization beam splitting rotator 14 receives the reflected beam, and then converts the polarization state of the reflected beam to obtain a signal beam whose polarization state is consistent with that of the local oscillator beam, and then transmits the signal beam to the optical mixing module 16 .

The optical mixing module 16 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, and then optically mixes the received local oscillator beam and signal beam, such as frequency subtraction, Mixing operations such as frequency addition and frequency superposition obtain a first mixed frequency signal, wherein the first mixed frequency signal is a differential signal.

Exemplarily, if there are two ports in the optical mixing module 16, and the mixing operations are addition and subtraction respectively, then the first output terminal outputs a mixed frequency signal whose frequency is subtracted, and the second output terminal outputs a frequency signal whose frequency is added. For the mixed frequency signal, the first input end of the balance detection module 15 receives the frequency subtracted mixed frequency signal transmitted by the first output end of the optical frequency mixing module 16, and the second input end of the balance detection module 15 receives the optical frequency mixing mode The second output of group 16 transmits the frequency-summed mixed signal.

The balance detection module 15 receives each first mixed frequency signal, then performs balanced detection based on each first mixed frequency signal, and outputs a first detection signal, which is used to obtain the position information of the target object 00 .

It should be noted that the optical mixing module consists of at least two optical mixers.

In the embodiment of the present application, the optical mixing module obtains a sufficiently large differential signal, that is, the first mixing signal, thereby improving the detection accuracy of the balanced detection module, thereby improving the detection success rate of the laser radar.

As shown in Figure 4, Figure 4 is a schematic structural diagram of a laser radar provided by an embodiment of the present application. The laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14. A balance detection module 15 , a first mode converter 171 , a second mode converter 172 and a mode conversion module 173 .

The input end of the first mode converter 171 is connected with the output end of the FM light source 11, the output end of the first mode converter 171 is connected with the input end of the beam splitting module 12; the input end of the second mode converter 172 is connected with the beam splitter The first output end of module 12 is connected, and the output end of second mode converter 172 is connected with the first input end of target detection module 13; The input end of mode conversion module 173 is connected with the output end of target detection module 13 , the output end of the mode conversion module 173 is connected to the input end of the polarization beam splitting rotator 14 .

The frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the first mode converter 171 connected to the frequency-modulated light source 11; the first mode converter 171 receives the input beam output by the frequency-modulated light source 11, and then adjusts the beam diameter of the input beam to the first A preset diameter, to obtain a target input beam whose beam diameter is the first preset diameter, and then transmit the target input beam to the beam splitting module 12 . The beam splitting module 12 receives the target input beam output by the first mode converter 171, then divides the target input beam into a local oscillator beam and a detection beam according to a preset beam splitting ratio, transmits the local oscillator beam to the balance detection module 15, and The probe beam is transmitted to the second mode converter 172 . The second mode converter 172 receives the detection beam output by the beam splitting module 12, and then adjusts the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam whose beam diameter is the second preset diameter, and then detects the target The light beam is transmitted to the target detection module 13 . Wherein, the second preset diameter is larger than the first preset diameter. The target detection module 13 receives the target detection beam output from the second mode converter 172 , and then emits the target detection beam to the target object 00 .

The target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the mode conversion module 173 . The mode conversion module 173 receives the reflected beam output by the target detection module 13, then adjusts the beam diameter of the reflected beam to a third preset diameter, obtains a target reflected beam whose beam diameter is the third preset diameter, and converts the target reflected beam transmitted to the polarization beam splitting rotator 14. Wherein, the second preset diameter is larger than the third preset diameter. The polarization beam splitting rotator 14 receives the target reflected beam, then converts the polarization state of the target reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 . It should be noted that the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam. When the frequency-modulated light source 11 generates the input beam, it generates the beam according to the preset polarization state that the frequency-modulated light source 11 uses in advance. Then the input beam If the polarization state is known and fixed to a preset polarization state, then the polarization beam splitting rotator 14 adjusts the polarization state of the target reflected beam to a preset polarization state when converting the polarization state of the target reflected beam; exemplary , the preset polarization state may be a horizontal polarization state, a vertical polarization state, etc., which are not limited here.

In the embodiment of this application, since the beam diameter of the input beam generated by the frequency-modulated light source is relatively large, and the beam splitting module, polarization beam splitting converter, balance detection module, and target detection module have different requirements for the beam diameter, the first The first mode converter, the second mode converter and the mode conversion module switch the beam diameter of the beam, so that each module can work normally, avoiding the problem of excessive beam loss due to excessively large/too small beam diameters, and avoiding The decrease in detection accuracy or detection failure due to beam loss improves the detection success rate of lidar.

As shown in Figure 5, Figure 5 is a schematic structural diagram of a laser radar provided by the embodiment of the present application. The laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, at least one polarization beam The rotator 14, the balance detection module 15, the first mode converter 171, the second mode converter 172 and the mode conversion module 173, wherein the target detection module 13 includes an optical amplifier 131, at least one circulator 132 and at least one Beam control module 133, mode conversion module 173 includes at least one third mode converter 174; The converters 174 are in one-to-one correspondence with the polarization splitting rotators 14 .

The output end of the second mode converter 172 is connected to the input end of the amplifier 131, and the amplifier 131 has at least two output ends, and the number of the output ends of the amplifier 131 is the same as the number of the circulator 132, and each output end of the amplifier 131 is respectively It is connected to the first end of each circulator 132, the second end of each circulator 132 is connected to the first end of the corresponding beam control module 133, and the third end of each circulator 132 is connected to the corresponding third mode converter 174 The input end of each third mode converter 174 is connected to the corresponding polarization beam splitting rotator 14, and the output end of each polarization beam splitting rotator 14 is connected to the input end of the balanced detection module 15.

The frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the first mode converter 171 connected to the frequency-modulated light source 11; the first mode converter 171 receives the input beam output by the frequency-modulated light source 11, and then adjusts the beam diameter of the input beam to the first A preset diameter, to obtain a target input beam whose beam diameter is the first preset diameter, and then transmit the target input beam to the beam splitting module 12 . The beam splitting module 12 receives the target input beam output by the first mode converter 171, and then divides the target input beam into a preset number of local oscillator beams and detection beams according to a preset beam splitting ratio. It should be noted that the preset number The number is the number of all circulators 132 , each local oscillator beam is transmitted to the balance detection module 15 , and the detection beam is transmitted to the second mode converter 172 . The second mode converter 172 receives the detection beam output by the beam splitting module 12, and then adjusts the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam whose beam diameter is the second preset diameter, and then detects the target The light beam is transmitted to amplifier 131 . Wherein, the second preset diameter is larger than the first preset diameter. The amplifier 131 receives the target detection beam output by the second mode converter 172 , and then amplifies the optical power of the target detection beam to obtain a preset number of actual detection beams, and transmits each actual detection beam to each circulator 132 . Each circulator 132 receives the actual detection beam output by the amplifier 131 through the first end, and transmits the actual detection beam to the beam manipulation module 133 through the second end. Each beam control module 133 receives the actual detection beam output by the corresponding circulator 132 through the first end, and then processes the actual detection beam, such as shaping, collimating and scanning, and passes the processed actual detection beam through the first end. The two ends transmit to detect the target object 00 within the corresponding detection range. It should be noted that different beam control modules 133 correspond to different detection angles. When the actual detection beam encounters the target object 00, it is reflected by the target object 00 to form a reflected beam, which is reflected to the beam control module 133. in the second end.

The beam steering module 133 transmits the reflected beam to the circulator 132 through the first end. The second end of the circulator 132 receives the reflected beam output by the circulator, and transmits the reflected beam to the corresponding third mode converter 174 through the third end. Each third mode converter 174 receives the reflected beam output by the corresponding circulator 132, and then adjusts the beam diameter of the reflected beam to a third preset diameter to obtain a target reflected beam whose beam diameter is the third preset diameter, and the target The reflected beam is transmitted to the corresponding polarization beam splitting rotator 14 . Wherein, the second preset diameter is larger than the third preset diameter. Each polarization beam splitting rotator 14 receives the target reflected beam, then converts the polarization state of the target reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 . The balanced detection module 15 receives the local oscillator beams output by the beam splitting module 12 and the signal beams output by each polarization beam splitting rotator 14, then performs balanced detection on each local oscillator beam and each signal beam, and outputs each first detection signal, It should be noted that the balanced detection module 15 performs balanced detection on a signal beam and a local oscillator beam in sequence to obtain corresponding first detection signals, and all first detection signals are used to obtain the position information of the target object 00 .

In the embodiment of the present application, by setting multiple sets of circulators, beam steering modules and third mode converters, the detectable angle of the lidar is increased, thereby improving the detection range of the lidar.

As shown in FIG. 6, FIG. 6 is a schematic structural diagram of a laser radar provided by an embodiment of the present application. The laser radar 1 includes: a frequency modulation light source 11, a beam splitter module 12, a target detection module 13, and at least one polarization beam splitter Rotator 14, balanced detection module 15, first mode converter 171, second mode converter 172, mode conversion module 173 and at least two optical mixers 161, wherein the target detection module 13 includes an optical amplifier 131 , at least one circulator 132 and at least one beam steering module 133, the mode conversion module 173 includes at least one third mode converter 174, the balance detection module 15 includes at least two first balance detectors 151; the circulator 132 and The third mode converter 174 is in one-to-one correspondence, the circulator 132 beam steering module 133 is in one-to-one correspondence, the third mode converter 174 is in one-to-one correspondence with the polarization beam splitting rotator 14, and the polarization beam splitting rotator 14 corresponds to two optical hybrids. frequency converter 161, the optical mixer 161 corresponds to a polarization beam splitting rotator 14, and the optical mixer 161 corresponds to the first balanced detector 151 one by one.

There are two output ends in the polarization beam splitting rotator 14, and there are two input ends in the optical mixer 161; the first output end of the polarization beam splitting rotator 1 is connected with the first input end of the corresponding optical mixer 161, and the polarization The second output end of the beam splitting rotator 14 is connected to the first input end of another corresponding optical mixer 161 , and the second input end of each optical mixer 161 is connected to an output end of the beam splitting module 12 . The first output end of the optical mixer 161 is connected to the first input end of the corresponding first balanced detector 151, and the second output end of the optical mixer 161 is connected to the second input end of the corresponding first balanced detector 151. connect.

The frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the first mode converter 171 connected to the frequency-modulated light source 11; the first mode converter 171 receives the input beam output by the frequency-modulated light source 11, and then adjusts the beam diameter of the input beam to the first A preset diameter, to obtain a target input beam whose beam diameter is the first preset diameter, and then transmit the target input beam to the beam splitting module 12 . The beam splitting module 12 receives the target input beam output by the first mode converter 171, and then divides the target input beam into a preset number of local oscillator beams and detection beams according to a preset beam splitting ratio. It should be noted that the preset number The number is the number of all circulators 132 , each local oscillator beam is transmitted to each optical mixer 161 , and the detection beam is transmitted to the second mode converter 172 . The second mode converter 172 receives the detection beam output by the beam splitting module 12, and then adjusts the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam whose beam diameter is the second preset diameter, and then detects the target The light beam is transmitted to amplifier 131 . Wherein, the second preset diameter is larger than the first preset diameter. The amplifier 131 receives the target detection beam output by the second mode converter 172 , and then amplifies the optical power of the target detection beam to obtain a preset number of actual detection beams, and transmits each actual detection beam to each circulator 132 . Each circulator 132 receives the actual detection beam output by the amplifier 131 through the first end, and transmits the actual detection beam to the beam manipulation module 133 through the second end. Each beam control module 133 receives the actual detection beam output by the corresponding circulator 132 through the first end, and then processes the actual detection beam, such as shaping, collimating and scanning, and passes the processed actual detection beam through the first end. The two ends transmit to detect the target object 00 within the corresponding detection range. It should be noted that different beam control modules 133 correspond to different detection angles. When the actual detection beam encounters the target object 00, it is reflected by the target object 00 to form a reflected beam, which is reflected to the beam control module 133. in the second end.

The beam steering module 133 transmits the reflected beam to the circulator 132 through the first end. The second end of the circulator 132 receives the reflected beam output by the circulator, and transmits the reflected beam to the corresponding third mode converter 174 through the third end. Each third mode converter 174 receives the reflected beam output by the corresponding circulator 132, and then adjusts the beam diameter of the reflected beam to a third preset diameter to obtain a target reflected beam whose beam diameter is the third preset diameter, and the target The reflected beam is transmitted to the corresponding polarization beam splitting rotator 14 . Wherein, the second preset diameter is larger than the third preset diameter. Each polarization beam splitting rotator 14 receives the target reflected beam, then converts the polarization state of the target reflected beam to obtain a signal beam, and then transmits the signal beam to the corresponding two optical mixers 161 .

The optical mixer 161 receives the local oscillator beam and signal beam output by the beam module 12 and the polarization beam splitting rotator 14, and then optically mixes the received local oscillator beam and signal beam, such as frequency subtraction and frequency addition Mixing operations such as frequency superposition, at least two beams of different first frequency mixing signals are obtained based on different optical frequency mixing operations, wherein the first frequency mixing signals are differential signals. The optical mixer 161 transmits each first mixed frequency signal to the corresponding first balanced detector 151 through the first output terminal and the second output terminal respectively. The first balanced detector 151 receives each first mixed frequency signal output by the corresponding optical mixer 161, then performs balanced detection on each first mixed frequency signal, and outputs a first detection signal, and the first detection signal is used to obtain the target The location information of object 00.

In the embodiment of the present application, the local oscillator beam and the signal beam are optically mixed by an optical mixer, so as to obtain a sufficiently large differential signal to improve the accuracy of the balanced detector, thereby improving the detection success rate of the lidar.

As shown in FIG. 7, FIG. 7 is a schematic structural diagram of a laser radar provided by an embodiment of the present application. The laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14. A balanced detection module 15 , an optical delay line 18 , a coupler 19 and a second balanced detector 20 .

The coupler 19 includes a first input terminal, a second input terminal and at least two output terminals. The input end of the optical delay line 18 is connected with the output end of the beam module 12, the output end of the optical delay line 18 is connected with the first input end of the coupler 19, and the second input end of the coupler 19 is connected with the other end of the beam module group. The output terminals are connected, the first output terminal of the coupler 19 is connected with the first input terminal of the second balanced detector 20 , the second output terminal of the coupler 19 is connected with the second input terminal of the second balanced detector 20 .

The frequency-modulated light source 11 generates an input beam, and transmits the input beam to the beam splitting module 12 connected to the frequency-modulated light source 11 . The beam splitting module 12 receives the input beam output by the frequency-modulated light source 11, and then divides the input beam into a local oscillator beam, a detection beam, and two calibration beams according to a preset beam splitting ratio, that is, a first calibration beam and a second calibration beam. The vibration beam is transmitted to the balance detection module 15 , the detection beam is transmitted to the target detection module 13 , the first calibration beam is transmitted to the optical delay line 18 , and the second calibration beam is transmitted to the coupler 19 .

The target detection module 13 receives the detection beam output by the beam splitting module 12 , and then emits the detection beam to the target object 00 . The target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the polarization beam splitter rotator 14 . The polarization beam splitting rotator 14 receives the reflected beam, then converts the polarization state of the reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 . The balanced detection module 15 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, then performs balanced detection on the local oscillator beam and the signal beam, and outputs a first detection signal, which is It is used to obtain the position information of the target object 00.

The optical delay line 18 receives the first calibration beam output by the beam splitting module 12 , the first calibration beam is transmitted through the optical delay line 18 to obtain a delayed beam, and transmits the delayed beam to the coupler 19 . The coupler 19 receives the delayed beam output by the optical extension line 18, receives the second calibration beam output by the beam splitting module 12, and then performs optical mixing on the currently received delayed beam and the second calibration beam, such as frequency subtraction, frequency Mixing operations such as addition and frequency superposition are based on different optical mixing operations to obtain at least two beams of different second mixed signals, wherein the second mixed signals are differential signals. The coupler 19 transmits the second mixed frequency signals to the second balanced detector 20 through the first output terminal and the second output terminal respectively.

The second balanced detector 20 receives the second mixed frequency signals output by the coupler 19, then performs balanced detection on each second mixed frequency signal, and outputs a second detection signal, and the second detection signals are used to obtain the adjustment of the frequency modulation light source 11 value.

Optionally, the laser radar 1 further includes a processing module, which is used to obtain the second detection signal output by the second balance detector 20, and obtain an adjustment value of the frequency-modulated light source 11 based on the second detection signal, and the adjustment value may be The optical frequency of the output beam, etc.

In the embodiment of the present application, the adjustment value of the frequency-modulated light source is obtained by calibrating the optical path (that is, the circuit composed of the beam splitting module, the optical delay line, the coupler, and the second balance detector), so as to adjust the output beam of the frequency-modulated beam in time, The local oscillator beam and detection beam with higher linearity are obtained, and the signal beam with higher linearity is obtained, thereby improving the signal quality of the lidar.

Optionally, the beam splitting module 12, the polarization beam splitting rotator 14, the balance detection module 15, the first balance detector 151, the optical mixing module 16, the optical mixer 161, the first mode converter 171, The second mode converter 172, the mode conversion module 173, the third mode converter 174, the optical delay line 18, the coupler 19, and the second balanced detector 20 can be integrated on the detection chip, and the detection chip can be implemented by a mature semiconductor Processing technology is used to avoid the situation of discrete devices, improve the integration of lidar, and reduce the complexity, production cost and product volume of lidar.

The control method of the laser radar provided by the embodiment of the present application will be described in detail below with reference to FIGS. 8 to 11 .

Please refer to FIG. 8 , which provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 8, the method may include the following steps S101 to S105.

This method is applied to the lidar, and the specific connection manner of the lidar can be referred to the foregoing embodiments, which will not be repeated here.

S101. Generate an input beam and divide the input beam into a detection beam and a local oscillator beam.

S102, sending a detection beam to the target object, and receiving a reflected beam reflected by the target object.

S103, converting the polarization state of the reflected beam to obtain a signal beam, where the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam.

S104. Perform balanced detection on the local oscillator beam and the signal beam to obtain a first detection signal.

S105. Acquire position information of the target object based on the first detection signal.

Specifically, the input beam refers to a frequency modulated continuous wave signal (FMCW, Frequency Modulated Continuous Wave), that is, a continuous signal whose emission frequency is modulated by a specific signal. The emission frequency of the lidar is an adjustable value; the target object is within the detection range of the lidar objects within.

After the laser radar receives the detection command, it generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and the preset polarization state, that is, the input beam, and then divides the input beam into a detection beam and a local oscillator beam according to the preset splitting ratio. It needs to be explained What's more, the preset beam splitting ratio is only used to split the input beam, the specific size can be defined by the user, and the laser beam splitting only changes the size of the laser beam. The lidar emits this detection beam at the object of interest. It should be noted that when the detection beam encounters a target object within the detection range of the laser radar, it will be reflected by the target object and reflected back to the laser radar as a reflected beam. The laser radar receives the reflected beam reflected by the target object, and then converts the polarization state of the received reflected beam into a preset polarization state, and uses the reflected beam after the polarization state conversion as the signal beam. It can be understood that the polarization of the signal beam The state coincides with the polarization state of the local oscillator beam. The laser radar performs balanced detection on the local oscillator beam and the signal beam to obtain the first detection signal, and then performs signal processing such as signal sampling and filtering on the first detection signal, and calculates the position information of the target object based on the processed signal data.

In the embodiment of the present application, the polarization state of the reflected beam reflected by the target object is adjusted to convert the polarization state of the reflected beam to be consistent with the polarization state of the local oscillator beam, thereby avoiding detection failures caused by inconsistent polarization states. Thereby improving the detection success rate of lidar.

Please refer to FIG. 9 , which provides a schematic flowchart of a lidar control method according to an embodiment of the present application. As shown in FIG. 9 , the method may include the following steps S201 to S205.

S201, generating an input beam, and dividing the input beam into a detection beam and a local oscillator beam;

S202, sending a detection beam to the target object, and receiving a reflected beam reflected by the target object;

S203, converting the polarization state of the reflected beam to obtain a signal beam, where the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;

S204, perform frequency mixing processing on the local oscillator light beam and the signal light beam to obtain a first frequency mixing signal;

S205. Perform balanced detection on the first mixed frequency signal to obtain a first detection signal.

Specifically, after the lidar receives the detection command, it generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and the preset polarization state, that is, the input beam, and then divides the input beam into the detection beam and the local oscillator beam according to the preset beam splitting ratio. . The laser radar emits the detection beam to the target object, then receives the reflected beam reflected by the target object, converts the polarization state of the received reflected beam into a preset polarization state, and uses the polarized reflected beam as a signal beam.

LiDAR is first based on optical mixing of local oscillator beams and signal beams. Optical mixing can be frequency subtraction, frequency addition, frequency superposition and other mixing operations to obtain the first mixing signal, and then based on the first mixing The signal is balanced and detected to obtain the first detection signal, and then signal processing processes such as signal sampling and filtering are performed on the first detection signal, and the position information of the target object is calculated based on the processed signal data.

Optionally, the laser radar may optically mix the local oscillator beam and the signal beam based on the first mixing operation to obtain the first mixing sub-signal, and perform optical mixing on the local oscillator beam and the signal beam based on the second mixing operation, Obtain the second frequency mixing sub-signal, then perform balanced detection based on the first frequency mixing sub-signal and the second frequency mixing sub-signal, obtain the first detection signal, then perform signal processing processes such as signal sampling and filtering on the first detection signal, and The position information of the target object is calculated based on the processed signal data.

In the embodiment of the present application, by obtaining a sufficiently large differential signal, that is, the first mixed frequency signal, the detection accuracy of balanced detection is improved, thereby improving the detection success rate of the lidar.

Please refer to FIG. 10 , which provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 10 , the method may include the following steps S301 to S309.

S301, generating an input light beam;

S302, adjusting the beam diameter of the input beam to a first preset diameter to obtain the target input beam;

S303, dividing the target input beam into a detection beam and a local oscillator beam;

S304, adjusting the beam diameter of the detection beam to a second preset diameter to obtain the target detection beam, the second preset diameter being greater than the first preset diameter;

S305, sending a target detection beam to the target object, and receiving a reflected beam reflected by the target object;

S306. Adjust the beam diameter of the reflected beam to a third preset diameter to obtain the target reflected beam, and the second preset diameter is greater than the third preset diameter.

S307, converting the polarization state of the reflected beam to obtain a signal beam, where the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;

S308, performing balanced detection on the local oscillator beam and the signal beam to obtain a first detection signal;

S309. Acquire position information of the target object based on the first detection signal.

Specifically, the first preset diameter refers to the maximum beam diameter of the beam that can be transmitted by the integrated chip of the laser radar, and can also be the optimal beam diameter, which is not limited here, but the first preset diameter must be less than or equal to the available beam diameter of the integrated chip. The maximum beam diameter of the transmission beam; the second preset diameter refers to the maximum beam diameter of the non-integrated chip components of the laser radar, and may also be the optimal beam diameter, which is not limited here. The third preset diameter may be the same as the first preset diameter, and the third preset diameter must be smaller than or equal to the maximum beam diameter of the beam transmitted by the integrated chip.

After receiving the detection command, the laser radar generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and preset polarization state, that is, the input beam, and then adjusts the beam diameter of the input beam to the first preset diameter to obtain the target input beam. The lidar divides the target input beam into a detection beam and a local oscillator beam according to a preset splitting ratio, then adjusts the beam diameter of the detection beam to a second preset diameter, and emits the target detection beam to the target object. The lidar receives the reflected beam reflected by the target object, and then adjusts the beam diameter of the received reflected beam to a third preset diameter to obtain the target reflected beam, and then converts the polarization state of the target reflected beam into a preset polarization state, and Taking the reflected light beam after polarization conversion as the signal light beam, it can be understood that the polarization state of the signal light beam is consistent with the polarization state of the local oscillator light beam. The laser radar performs balanced detection on the local oscillator beam and the signal beam to obtain the first detection signal, and then performs signal processing such as signal sampling and filtering on the first detection signal, and calculates the position information of the target object based on the processed signal data.

In the embodiment of this application, since the beam diameter of the input beam is relatively large, and the beam diameter requirements of integrated chips and non-integrated chip components are different, by switching the beam diameter of the beam, it is avoided that the beam diameter is too large/too small to cause Error, improve the detection success rate of lidar.

Please refer to FIG. 11 , which provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 11 , the method may include the following steps S401 to S411.

S401, generating an input beam, and dividing the input beam into a detection beam and at least two local oscillator beams, the number of local oscillator beams is twice the number of launch angles, and at least one launch angle;

S402, adjusting the beam diameter of the input beam to a first preset diameter to obtain the target input beam;

S403, dividing the target input beam into a detection beam and a local oscillator beam;

S404, adjusting the beam diameter of the detection beam to a second preset diameter to obtain the target detection beam, the second preset diameter being greater than the first preset diameter;

S405, increasing the optical power of the target detection beam to obtain the actual detection beam;

S406, sending an actual detection beam to the target object through each launch angle;

S407, receiving reflected light beams reflected by the target object at each emission angle;

S408, adjusting the beam diameter of each reflected beam to a third preset diameter to obtain the target reflected beam;

S409, converting the polarization state of each target reflected beam, and performing beam splitting to obtain at least two signal beams, one target reflected beam is divided into two signal beams;

S410. Acquire each first detection signal based on each local oscillator beam and each signal beam;

S411. Acquire position information of a target object based on each first detection signal.

Specifically, the emission angle refers to the emission angle of the laser radar when emitting the emission laser for detection. There is at least one emission angle. If the number of emission angles of the lidar is the first preset number, then The number of local oscillation light beams is the second preset number, and the second preset number is twice the first preset number.

After receiving the detection command, the laser radar generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and preset polarization state, that is, the input beam, and then adjusts the beam diameter of the input beam to the first preset diameter to obtain the target input beam. The laser radar divides the target input beam into the detection beam and the second preset number of local oscillator beams according to the preset splitting ratio, then adjusts the beam diameter of the detection beam to the second preset diameter, and emits the target detection beam to the target object . The lidar receives the reflected beam reflected by the target object, and then adjusts the beam diameter of the received reflected beam to a third preset diameter to obtain the target reflected beam, and then converts the polarization state of the target reflected beam into a preset polarization state, and Laser beam splitting is performed on the reflected beam after the polarization state conversion to obtain a second preset number of signal beams. It should be noted that there is no difference between the local oscillator beams, and a signal beam and a local oscillator beam are regarded as a set of detection signals, and the signal beams correspond to the local oscillator beams one by one.

The laser radar performs balanced detection on the same group of local oscillator beams and signal beams to obtain the first detection signals, and then performs signal processing processes such as signal sampling and filtering on each first detection signal, and calculates based on the processed signal data The location information of the target object.

It should be noted that if the laser radar cannot detect the target object at a certain emission angle, the laser radar cannot receive the reflected beam corresponding to the emission angle, and there will be no subsequent balanced detection process corresponding to the emission angle.

In the embodiment of the present application, the detection range of the laser radar is improved by increasing the detectable angle of the laser radar.

Please refer to FIG. 12 , which provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 12 , the method may include the following steps S501 to S509.

S501. Generate an input beam, and divide the input beam into a probe beam, a local oscillator beam, a first calibration beam, and a second calibration beam;

S502, sending a detection beam to the target object, and receiving a reflected beam reflected by the target object;

S503, converting the polarization state of the reflected beam to obtain a signal beam, where the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;

S504, performing balanced detection on the local oscillator beam and the signal beam to obtain a first detection signal;

S505. Acquire position information of the target object based on the first detection signal.

S506, prolonging the transmission time of the first calibration beam to obtain a delayed beam;

S507. Perform frequency mixing processing on the delayed beam and the second calibration beam to obtain a second mixed signal;

S508. Perform balanced detection on the second mixed frequency signal, and output a second detection signal;

S509. Acquire an adjustment value of a frequency-modulated light source of the lidar based on the second detection signal.

Specifically, after the laser radar receives the detection command, it generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and the preset polarization state, that is, the input beam, and then divides the input beam into the detection beam and the local oscillator beam according to the preset beam splitting ratio. , the first calibration beam and the second calibration beam, it should be noted that the preset beam splitting ratio is only used to split the input beam, the specific size can be defined by the user, and the laser beam splitting only changes the size of the laser beam. The lidar emits this detection beam at the object of interest. It should be noted that when the detection beam encounters a target object within the detection range of the laser radar, it will be reflected by the target object and reflected back to the laser radar as a reflected beam. The laser radar receives the reflected beam reflected by the target object, and then converts the polarization state of the received reflected beam into a preset polarization state, and uses the reflected beam after the polarization state conversion as the signal beam. It can be understood that the polarization of the signal beam The state is the same as the polarization state of the local oscillator beam. The laser radar performs balanced detection on the local oscillator beam and the signal beam to obtain the first detection signal, and then performs signal processing such as signal sampling and filtering on the first detection signal, and calculates the position information of the target object based on the processed signal data.

At the same time, the laser radar prolongs the transmission time of the first calibration signal to obtain a delayed beam, and then optically mixes the delayed beam and the second calibration beam, wherein the optical mixing can be frequency subtraction, frequency addition, frequency superposition, etc. Frequency mixing operation to obtain the second mixing signal, and then perform signal processing such as signal sampling and filtering on the second detection signal, and calculate the adjustment value of the preset transmission frequency based on the processed signal data and the original preset transmission frequency , and then obtain the target preset transmission frequency based on the adjustment value and the preset transmission frequency, and then replace the preset transmission frequency stored in the memory with the target preset transmission frequency.

In the embodiment of the present application, by obtaining the adjustment value of the frequency-modulated light source, the preset emission frequency is adjusted in time to adjust the output beam to obtain a more reliable local oscillator beam and a detection beam, thereby obtaining a highly reliable signal beam , to achieve the effect of improving the detection success rate of lidar.

The embodiment of the present application also provides a storage medium, the storage medium can store multiple program instructions, and the program instructions are suitable for being loaded by the processor and executing the method steps of the above-mentioned embodiments shown in Figures 8 to 12, the specific execution process Reference may be made to the specific descriptions of the embodiments shown in FIGS. 8 to 12 , and details are not repeated here.

Please refer to FIG. 13 , which provides a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in FIG. 13 , the computer device 1000 may include: at least one processor 1001, at least one memory 1002, at least one network interface 1003, at least one input and output interface 1004, at least one communication bus 1005 and at least one display unit 1006. Wherein, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts of the entire computer device 1000, and runs or executes instructions, programs, code sets or instruction sets stored in the memory 1002, and calls data stored in the memory 1002 to execute Various functions and processing data of the terminal 1000. The memory 1002 can be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory. Optionally, the memory 1002 may also be at least one storage device located away from the aforementioned processor 1001 . Wherein, the network interface 1003 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The communication bus 1005 is used to realize connection communication between these components. As shown in FIG. 13 , the memory 1002 as a storage medium of a terminal device may include an operating system, a network communication module, an input/output interface module, and a laser radar control program.

In the computer device 1000 shown in FIG. 13 , the input and output interface 1004 is mainly used to provide an input interface for the user and the access device, and obtain data input by the user and the access device.

In one embodiment.

The processor 1001 can be used to call the control program of the lidar stored in the memory 1002, and specifically perform the following operations:

Optionally, when the processor 1001 performs balanced detection of the local oscillator beam and the signal beam to obtain the first detection signal, specifically perform the following operations:

performing frequency mixing processing on the local oscillator beam and the signal beam to obtain a first mixed frequency signal;

A balanced detection is performed on the first mixed frequency signal to obtain a first detection signal.

Optionally, when the processor 1001 generates the input beam and divides the input beam into the detection beam and the local oscillator beam, specifically perform the following operations:

generate the input beam;

adjusting the beam diameter of the input beam to a first preset diameter to obtain the target input beam;

Split the target input beam into a probe beam and a local oscillator beam.

Optionally, when the processor 1001 transmits the detection beam to the target object and receives the reflected beam reflected by the target object, it specifically performs the following operations:

adjusting the beam diameter of the detection beam to a second preset diameter to obtain the target detection beam, the second preset diameter being greater than the first preset diameter;

Send the target detection beam to the target object, and receive the reflected beam reflected by the target object;

The beam diameter of the reflected beam is adjusted to a third preset diameter to obtain the target reflected beam, and the second preset diameter is larger than the third preset diameter.

Optionally, when the processor 1001 transmits the target detection beam to the target object and receives the reflected beam reflected by the target object, the following operations are specifically performed:

Gain the optical power of the target detection beam to obtain the actual detection beam;

The actual detection beam is emitted to the target object and the reflected beam reflected by the target object is received.

An input beam is generated and divided into a probe beam and at least two local oscillator beams, the number of local oscillator beams is twice the number of launch angles, and at least one launch angle.

Optionally, when the processor 1001 executes sending the actual detection beam to the target object and receiving the reflected beam reflected by the target object, it specifically performs the following operations:

Emitting the actual detection beam to the target object through various emission angles;

Receive the reflected light beam reflected by the target object at each emission angle;

Optionally, when the processor 1001 adjusts the beam diameter of the reflected beam to the third preset diameter to obtain the target reflected beam, specifically perform the following operations:

adjusting the beam diameter of each reflected beam to a third preset diameter to obtain the target reflected beam;

Optionally, when the processor 1001 converts the polarization state of the reflected beam to obtain the signal beam, it specifically performs the following operations:

Convert the polarization state of each target reflected beam and perform beam splitting to obtain at least two signal beams, one target reflected beam is divided into two signal beams

Obtaining each first detection signal based on each local oscillator beam and each signal beam

Optionally, when the processor 1001 executes acquiring the position information of the target object based on the first detection signal, specifically perform the following operations:

Acquiring position information of the target object based on each first detection signal

Optionally, when the processor 1001 divides the input beam into the detection beam and the local oscillator beam, specifically perform the following operations:

Splitting the input beam into a probe beam, a local oscillator beam, a first calibration beam, and a second calibration beam

Optionally, after the processor 1001 divides the input beam into the detection beam and the local oscillator beam, the following operations are further performed:

Prolonging the transmission time of the first calibration beam to obtain a delayed beam;

performing frequency mixing processing on the delayed beam and the second calibration beam to obtain a second mixed signal;

performing balanced detection on the second mixed frequency signal, and outputting a second detection signal;

The adjustment value of the frequency-modulated light source of the laser radar is acquired based on the second detection signal.

It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The above is a description of a laser radar, laser radar control method, storage medium, and equipment provided by this application. For those skilled in the art, based on the ideas of the embodiments of this application, they will understand both the specific implementation and the scope of application. There are changes. In summary, the contents of this specification should not be construed as limiting the application.

Claims

A laser radar, characterized in that the laser radar includes: a frequency modulation light source, a beam splitting module, a target detection module, a polarization beam splitting rotator, and a balanced detection module;

The frequency-modulated light source is used to generate an input beam and transmit the input beam to the beam splitting module;

The beam splitting module is used to receive an input beam, divide the input beam into a detection beam and a local oscillation beam, transmit the detection beam to the target detection module, and transmit the local oscillation beam to the balance detection module;

The target detection module is configured to receive the detection beam, transmit the detection beam to the target object, receive the reflected beam reflected by the target object, and transmit the reflected beam to the polarization beam splitter rotator;

The polarization beam splitting rotator is used to receive the reflected beam, convert the polarization state of the reflected beam to obtain a signal beam, and transmit the signal beam to the balance detection module, and the polarization state of the signal beam is the same as The polarization states of the local oscillator beams are consistent;

The balanced detection module is used to receive the local oscillator beam and the signal beam, perform balanced detection on the local oscillator beam and the signal beam, and output a first detection signal, and the first detection signal is used for for obtaining the position information of the target object.
The lidar according to claim 1, wherein the lidar further comprises: an optical mixing module;

The beam splitting module is also used to transmit the local oscillator beam to the optical mixing module;

The polarization beam splitting rotator is also used to transmit the signal beam to the optical mixing module;

The optical mixing module is configured to receive the local oscillator beam and the signal beam, perform frequency mixing processing on the received local oscillator beam and the signal beam to obtain a first mixed frequency signal, and The first mixed frequency signal is transmitted to the balance detection module;

The balanced detection module is also used to receive the first mixed frequency signal, perform balanced detection on the first mixed frequency signal, and output a first detection signal, and the first detection signal is used to obtain the target The location information of the object.
The lidar according to claim 1, wherein the lidar further comprises: a first mode converter, a second mode converter, and a mode conversion module;

The frequency-modulated light source is further configured to transmit the input light beam to the first mode converter;

The first mode converter is configured to receive the input beam, adjust the beam diameter of the input beam to a first preset diameter, obtain a target input beam, and transmit the target input beam to the beam splitter module;

The beam splitting module is also used to receive the target input beam, divide the target input beam into a detection beam and a local oscillator beam, transmit the detection beam to the second mode converter, and convert the The local oscillator beam is transmitted to the balance detection module;

The second mode converter is configured to receive the detection beam, adjust the beam diameter of the detection beam to a second preset diameter, obtain a target detection beam, and transmit the target detection beam to the target detection beam. module, the second preset diameter is larger than the first preset diameter;

The target detection module is also used to receive the target detection beam, emit the target detection beam to the target object, receive the reflected beam reflected by the target object, and transmit the reflected beam to the mode conversion module Group;

The mode conversion module is used to receive the reflected beam, adjust the beam diameter of the reflected beam to a third preset diameter, obtain the target reflected beam, and transmit the target reflected beam to the polarization beam splitting and rotating device, the second preset diameter is larger than the third preset diameter.
The lidar according to claim 3, wherein the target detection module includes: an optical amplifier, at least one circulator, and at least one beam steering module, and the mode conversion module includes at least one third mode conversion The lidar also includes at least one polarization beam splitting rotator, the circulator corresponds to the third mode converter one by one, the circulator corresponds to the beam steering module one by one, and The third mode converter is in one-to-one correspondence with the polarization beam splitting rotator;

The second mode converter is also used to transmit the target detection beam to the optical amplifier;

The optical amplifier is configured to receive the target detection beam, gain the optical power of the target detection beam to obtain an actual detection beam, and transmit the actual detection beam to each of the circulators;

The circulator is used to receive the actual detection beam and transmit the actual detection beam to the corresponding beam control module;

The beam manipulation module is configured to receive the actual detection beam, transmit the actual detection beam to the target object, receive the reflected beam reflected by the target object, and transmit the reflected beam to the corresponding circulator;

The circulator is further configured to receive the reflected light beam and transmit the reflected light beam to the corresponding third mode converter;

The third mode converter is configured to receive the reflected beam, adjust the beam diameter of the reflected beam to the third preset diameter, obtain the target reflected beam, and transmit the target reflected beam to the corresponding The polarization beam splitting rotator.
The lidar according to claim 4, wherein the lidar further comprises: at least two optical mixers, the balanced detection module comprises at least two first balanced detectors, and the polarization beam splitter The rotator corresponds to two of the optical mixers, the optical mixer corresponds to one of the polarization beam splitting rotators, and the optical mixer corresponds to the first balanced detector one by one;

The polarization beam splitting rotator is also used to receive the target reflected beam, convert the polarization state of the target reflected beam, and perform beam splitting to obtain two beams of the signal beam, and transmit each of the signal beams respectively To the corresponding two optical mixers, the polarization state of each of the signal beams is consistent with the polarization state of the local oscillator beam;

The beam splitting module is also used to divide the target input beam into a detection beam and at least two local oscillator beams, and transmit each of the local oscillator beams to each of the optical mixers;

The optical mixer is configured to receive the local oscillator beam and the signal beam, perform mixing processing on the local oscillator beam and the signal beam to obtain a first mixed frequency signal, and convert the first The mixed frequency signal is transmitted to the corresponding first balanced detector;

The first balanced detector is configured to receive the first mixed frequency signal, perform balanced detection on the first mixed frequency signal, and output a first detection signal, and the first detected signal is used to obtain the target The location information of the object.
The laser radar according to claim 1, wherein the laser radar further comprises: an optical delay line, a coupler, and a second balance detector;

The beam splitting module is also used to divide the input beam into a probe beam, a local oscillator beam and two calibration beams, and transmit each of the calibration beams to the optical delay line and the coupler respectively;

The optical delay line is used to receive the calibration beam, prolong the transmission time of the calibration beam, obtain a delay beam, and transmit the delay beam to the coupler;

The coupler is configured to receive the calibration beam and the delayed beam, perform frequency mixing processing on the calibration beam and the delayed beam to obtain a second mixed frequency signal, and transmit the second mixed frequency signal to said second balance detector;

The second balance detector is configured to receive the second frequency mixing signal, perform balance detection on the second frequency mixing signal, and output a second detection signal, and the second detection signal is used to obtain the frequency-modulated light source adjustment value.
The lidar according to any one of claims 1-6, wherein the lidar also includes an integrated chip;

The integrated chip integrates the polarization beam splitting rotator, the beam splitting module, the balance detection module, the optical mixing module, the first mode converter, and the second mode converter , the mode conversion module, the optical delay line, the coupler and the second balanced detector are integrated inside the chip;

The optical mixing module includes at least two optical mixers, and the balanced detection module includes at least two first balanced detectors.
A control method for laser radar, characterized in that the method comprises:

generating an input beam and splitting the input beam into a probe beam and a local oscillator beam;

sending the detection light beam to the target object, and receiving the reflected light beam reflected by the target object;

converting the polarization state of the reflected beam to obtain a signal beam, the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;

performing balanced detection on the local oscillator beam and the signal beam to obtain a first detection signal;

Acquiring position information of the target object based on the first detection signal.
The method according to claim 8, wherein the balanced detection of the local oscillator beam and the signal beam to obtain the first detection signal comprises:

performing frequency mixing processing on the local oscillator beam and the signal beam to obtain a first mixed frequency signal;

A balanced detection is performed on the first mixed frequency signal to obtain a first detection signal.
The method according to claim 8, wherein said generating an input beam and dividing said input beam into a probe beam and a local oscillator beam comprises:

generate the input beam;

adjusting the beam diameter of the input beam to a first preset diameter to obtain a target input beam;

splitting the target input beam into a probe beam and a local oscillator beam;

The transmitting the detection beam to the target object and receiving the reflected beam reflected by the target object includes:

adjusting the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam, the second preset diameter being larger than the first preset diameter;

transmitting the target detection beam to the target object, and receiving the reflected beam reflected by the target object;

Adjusting the beam diameter of the reflected beam to the third preset diameter to obtain a target reflected beam, the second preset diameter being larger than the third preset diameter.
The method according to claim 10, wherein the transmitting the target detection beam to the target object and receiving the reflected beam reflected by the target object comprises:

Gaining the optical power of the target detection beam to obtain the actual detection beam;

The actual detection beam is emitted to the target object, and the reflected beam reflected by the target object is received.
The method according to claim 11, wherein said generating an input beam and dividing said input beam into a probe beam and a local oscillator beam comprises:

generating an input beam, and dividing the input beam into a probe beam and at least two local oscillator beams, the number of the local oscillator beams is twice the number of launch angles, and the launch angle is at least one;

The transmitting the actual detection beam to the target object and receiving the reflected beam reflected by the target object includes:

radiating the actual probe beam towards the target object through each of the radiating angles;

receiving reflected light beams reflected by the target object at each of the emission angles;

The adjusting the beam diameter of the reflected beam to the third preset diameter to obtain the target reflected beam includes:

adjusting the beam diameter of each of the reflected beams to the third preset diameter to obtain the target reflected beam;

The conversion of the polarization state of the reflected beam to obtain the signal beam includes:

converting the polarization state of each of the target reflected beams, and splitting the beams to obtain at least two signal beams, one beam of the target reflected beam is divided into two beams of the signal beams;

The balanced detection of the local oscillator beam and the signal beam to obtain the first detection signal includes:

acquiring each of the first detection signals based on each of the local oscillator beams and each of the signal beams;

The acquiring the position information of the target object based on the first detection signal includes:

Acquiring position information of the target object based on each of the first detection signals.
The method according to claim 8, wherein said dividing the input beam into a probe beam and a local oscillator beam comprises:

splitting the input beam into a probe beam, a local oscillator beam, a first calibration beam, and a second calibration beam;

After the said input beam is divided into detection beam and local oscillator beam, it also includes:

Prolonging the transmission time of the first calibration beam to obtain a delayed beam;

performing frequency mixing processing on the delayed beam and the second calibration beam to obtain a second mixed signal;

performing balanced detection on the second mixed frequency signal, and outputting a second detection signal;

The adjustment value of the frequency-modulated light source of the laser radar is acquired based on the second detection signal.