CN109444849B - Phased Array LiDAR - Google Patents

Abstract

The invention relates to a phased array laser radar which comprises a laser emitting mechanism and a laser receiving mechanism, wherein the laser emitting mechanism comprises a laser and a emitting phased array unit, the laser is provided with at least one, the emitting phased array unit is optically connected with a corresponding laser, the emitting phased array unit is used for receiving a laser source and emitting detection laser towards an object to be detected, the laser receiving mechanism comprises a receiving phased array unit and a receiver, the receiving phased array unit is provided with at least one, the receiving phased array unit is used for receiving echo laser reflected by the object to be detected, and the receiver is used for coupling the echo laser. The transmitting phased array unit transmits detection laser towards the detected object, and the receiving phased array unit receives echo laser reflected by the detected object, so that the occupation space of the laser radar is greatly reduced, the reliability of the whole phased array laser radar is improved, and the production cost is reduced because a traditional mechanical rotating device is not needed.

Description

Phased array laser radar

Technical Field

The invention relates to the technical field of radar detection in automobile driving, in particular to a phased array laser radar.

Background

Lidar is a device that uses laser light for detection and ranging. The principle is similar to radar or sonar, namely, a transmitting device is used for transmitting laser pulses to a target object, and a receiving device is used for measuring the delay and the intensity of a return pulse to measure the distance and the reflectivity of the target object.

Conventional lidars typically employ a mechanical rotating device to perform a 360 degree circular scan and integrate multiple sets of laser transmitters and receivers to cover multiple pitch angles simultaneously. Such lidar requires the use of multiple sets of laser transceivers and requires precise light adjustment (usually done manually), which is expensive and the mechanical turning device is prone to failure.

Disclosure of Invention

Based on this, it is necessary to provide a phased array lidar. The phased array laser radar has the advantages of low cost, high reliability and small occupied space.

The technical scheme is as follows:

A phased array laser radar comprises a laser emitting mechanism and a laser receiving mechanism, wherein the laser emitting mechanism comprises a laser and an emitting phased array unit, the laser is provided with at least one, the laser is used for generating a laser light source, the emitting phased array unit is provided with at least one, the emitting phased array unit is optically connected with a corresponding laser, the emitting phased array unit is used for receiving the laser light source generated by the laser and emitting detection laser towards an object to be detected, the laser receiving mechanism comprises a receiving phased array unit and a receiver which is arranged corresponding to the receiving phased array unit, the receiving phased array unit is provided with at least one, the receiving phased array unit is used for receiving echo laser reflected by the object to be detected, and the receiver is used for coupling the echo laser.

The technical scheme is further described as follows:

In one embodiment, the laser emission axis of the emission phased array unit and the laser receiving axis of the receiving phased array unit form a preset included angle, and one emission phased array unit and one receiving phased array unit form an emission-receiving pair, and at least one emission-receiving pair is arranged.

In one embodiment, one transmitting-receiving pair is arranged, one laser is arranged, the laser is a tunable laser, and the transmitting phased array unit is a one-dimensional phased array;

Or one transmitting-receiving pair is arranged, one laser is arranged, and the transmitting phased array unit is a two-dimensional phased array.

In one embodiment, the receive phased array unit is provided with one, and the receive phased array unit is a two-dimensional phased array.

In one embodiment, the receiving phased array units are provided in a plurality and spaced arrangement.

In one embodiment, the laser is provided with one, the emission phased array unit is provided with a plurality of emission phased array units, the laser emission mechanism further comprises a beam splitter, the beam splitter is arranged between the laser and the emission phased array unit, and the beam splitter is used for splitting laser emitted by the laser and enabling the split laser to correspond to the emission phased array unit.

In one embodiment, the number of lasers is plural, and the emission phased array unit is plural and is arranged corresponding to the lasers.

In one embodiment, the mounting elevation angles of at least two transmit phased array units are different.

In one embodiment, the mounting elevation angles of the emission phased array units are the same, the laser emission mechanism further comprises a deflection assembly, and the deflection assembly comprises a plurality of optical deflection pieces for deflecting laser emitted by the emission phased array units, and the optical deflection pieces are in one-to-one correspondence with the emission phased array units.

In one embodiment, the receiver is a photodetector.

Above-mentioned phased array laser radar, the transmission phased array unit is towards the measured object emission detection laser, and the echo laser of receiving phased array unit receipt measured object reflection is owing to need not traditional mechanical rotating device to greatly reduced laser radar's occupation space, promoted whole phased array laser radar's reliability, and reduced manufacturing cost.

Drawings

FIG. 1 is an overall frame diagram of a phased array lidar in an embodiment;

FIG. 2 is an overall construction view of a first embodiment of a laser emitting mechanism;

FIG. 3 is a schematic view of lateral adjustment and longitudinal adjustment of the embodiment of FIG. 2;

FIG. 4 is an overall construction diagram of a second embodiment of a laser emitting mechanism;

FIG. 5 is an overall construction view of a third embodiment of a laser emitting mechanism;

FIG. 6 is an overall construction view of a first embodiment of the laser receiving mechanism;

FIG. 7 is an overall construction diagram of a second embodiment of a laser receiving mechanism;

FIG. 8 is an overall construction diagram of a third embodiment of a laser receiving mechanism;

FIG. 9 is a diagram of a first embodiment of a single one-dimensional phased array in a portrait configuration;

FIG. 10 is a diagram of a second embodiment of a single one-dimensional phased array in a portrait configuration;

FIG. 11 is a diagram of a third embodiment of a single one-dimensional phased array in a portrait configuration;

FIG. 12 is a diagram of a first embodiment of a longitudinal arrangement of a plurality of one-dimensional phased arrays;

FIG. 13 is a diagram of a second embodiment of a longitudinal arrangement of a plurality of one-dimensional phased arrays;

Fig. 14 is a diagram of a third embodiment of a longitudinal arrangement of a plurality of one-dimensional phased arrays.

The drawings are marked with the following description:

100. The device comprises a laser, 200, a transmitting phased array unit, 210, optical deflection pieces, 211, first deflection pieces, 212, second deflection pieces, 300, a receiving phased array unit, 400, a receiver, 510, a one-dimensional phased array, 520, a two-dimensional phased array, 600, an object to be measured, 700 and a transmitting-receiving pair.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the attached drawings:

It will be understood that when an element is referred to herein as being "fixed" with respect to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in the embodiment of fig. 1 to 14, there is provided a phased array laser radar including a laser emitting mechanism including a laser 100 and an emitting phased array unit 200, the laser 100 being provided with at least one, the laser 100 being for generating a laser light source, the emitting phased array unit 200 being provided with at least one, the emitting phased array unit 200 being optically connected with the corresponding laser 100, the emitting phased array unit 200 being for receiving the laser light source generated by the laser 100 and emitting a probe laser light toward a measured object 600, and a laser receiving mechanism including a receiving phased array unit 300 and a receiver 400 provided in correspondence with the receiving phased array unit 300, the receiving phased array unit 300 being provided with at least one, the receiving phased array unit 300 being for receiving echo laser light reflected by the measured object 600, the receiver 400 being for coupling the echo laser light.

The transmitting phased array unit 200 transmits the detection laser towards the measured object 600, and the receiving phased array unit 300 receives the echo laser reflected by the measured object 600, so that the occupation space of the laser radar is greatly reduced, the reliability of the whole phased array laser radar is improved, and the production cost is reduced because a traditional mechanical rotating device is not required.

The traditional laser radar uses a mechanical rotating device to carry out 360-degree annular scanning, and integrates a plurality of groups of laser transmitters and receivers to cover a plurality of pitching angles at the same time, so that multi-azimuth scanning is realized. However, this laser radar is expensive in cost, difficult to control in rotation accuracy, prone to failure, and relatively poor in laser receiving efficiency.

In this embodiment, the laser 100 is provided with at least one, the transmitting phased array unit 200 is provided with at least one, so that the laser 100 and the transmitting phased array unit 200 can be matched according to actual needs and can perform multi-dimensional scanning in cooperation with each other, and the receiving phased array unit 300 is provided with at least one, so that the receiving phased array unit 300 can be matched according to actual needs to meet different receiving needs of echo laser. Because the laser emitting mechanism and the laser receiving mechanism do not need to be provided with mechanical rotating devices, the whole laser radar system has low cost, the receiver 400 carries out coupling treatment on echo laser received by the receiving phased array unit 300 and obtains a measurement result based on preset requirement treatment, the measurement reliability is high, and in addition, compared with the traditional mechanical rotating devices, the emitting phased array unit 200 and the receiving phased array unit 300 also greatly reduce the occupied space of the laser radar.

The phased array units (e.g., the transmit phased array unit 200 and the receive phased array unit 300 described above) are referred to as Optical phased arrays, i.e., optical PHASED ARRAY, OPA for short. The phased array laser radar provided in this embodiment employs a phased array unit (i.e., OPA) instead of the conventional mechanical rotation device. The optical phased array is composed of a matrix of many identical antennas, and the radiation waves of all antennas form a radar wave by interference in the far field. The electronic system controls the phase of each antenna in real time, thereby controlling the radar wave direction in the far field. The electronic system changes the phase of some antennas to change the direction of the radar wave (i.e. the probe laser) and thus achieve dynamic scanning. The electronic scanning does not need a mechanical rotating device, the scanning speed is high, and the practical use of the optical phased array is not affected even if a small number of antennas are in fault.

The optical phased array can complete scanning in a space three-dimensional angle by only a single element, and meanwhile, the manufacturing and packaging process of the full-automatic large-scale photon integrated circuit is adopted without the complicated and time-consuming installation and calibration process of the laser radar of a mechanical rotating device, so that the cost can be reduced. Meanwhile, the phased array laser radar in the embodiment does not have a mechanical part rotating at a high speed, and the measurement reliability can be further improved compared with that of the traditional laser radar.

The phased array unit belongs to a unidirectional optical device, and the phased array unit is used for forming a laser radar, so radar echo signals (namely echo lasers) reflected by detection lasers emitted to all directions in space by the phased array unit are required to be collected and detected.

In this embodiment, the receiving phased array unit 300 is used to receive the echo laser reflected by the measured object 600, and the receiver 400 is used to perform coupling processing on the received echo laser, and perform conversion, calculation, and the like according to preset requirements to obtain a required measurement result.

It should be noted that:

An optical connection between the transmitting phased array unit 200 and the laser 100, where an optical connection refers to a setup of the connection that ensures low attenuation transmission of optical energy between optical waveguides or between optical waveguides and optically passive devices or between optical waveguides and optically active devices;

The receiver 400 is used for performing coupling processing on the echo laser received by the receiving phased array unit 300, so that the receiver 400 and the receiving phased array unit 300 can be optically connected according to needs, and a person skilled in the art can select a receiver 400, such as a photodetector, which can meet the needs according to needs, and the details are not repeated here.

As in the embodiment shown in fig. 6 and 7, the laser emission axis of the emission phased array unit 200 is disposed at a predetermined angle with respect to the laser receiving axis of the receiving phased array unit 300, and one emission phased array unit 200 and one receiving phased array unit 300 form an emission-receiving pair 700, and at least one emission-receiving pair 700 is disposed.

The receiving phased array unit 300 is configured to receive the echo laser reflected by the measured object 600, and in order to improve the accuracy of receiving the echo laser, a preset included angle is generally formed between a laser receiving axis of the receiving phased array unit 300 and a laser transmitting axis of the transmitting phased array unit 200, so as to achieve a better receiving technical effect.

In the transmission process of the laser, since the optical path is reversible, and the beam width of the echo laser scattered by the measured object 600 is far greater than that of the probe laser, the laser receiving axis of the receiving phased array unit 300 and the laser transmitting axis of the transmitting phased array unit 200 are set to form a preset included angle, that is, the axes of the transmitting end and the receiving end are not parallel (can be understood as different axes), so that the two-axis clamping angle is kept within a preset range, and at least a part of the echo laser can still be received by the receiving phased array unit 300.

As in the embodiment shown in fig. 6, a transmit phased array unit 200 cooperates with a receive phased array unit 300 to form a transmit receive pair 700, with the transmit receive pair 700 being provided in plurality.

At this time, the transmitting phased array unit 200 is provided in plurality, the receiving phased array unit 300 is provided in plurality, so that the probe laser emitted from the transmitting phased array unit 200 is reflected by the measured object 600 to form echo laser, and the plurality of receiving phased array units 300 can receive the echo laser, so as to further obtain the measurement result through the coupling processing of the receiver 400.

As in the embodiment shown in fig. 7, the transmitting-receiving pair 700 is provided with one, the laser 100 is a tunable laser 100, and the transmitting phased array unit 200 is a one-dimensional phased array 510.

In this case, the laser 100 is provided with one and the tunable laser 100, the transmitting phased array unit 200 is provided with one and the one-dimensional phased array 510, and the receiving phased array unit 300 is provided with one.

The tunable laser 100 refers to a laser 100 with tunable wavelength to generate a light source, and when the wavelength of the output laser changes, the light beam passes through the transmitting phased array unit 200 and exits to different longitudinal angles, so as to achieve longitudinal beam deflection and longitudinal scanning.

When the transmitting phased array unit 200 is provided with one and is a one-dimensional phased array 510, the following longitudinal scanning modes are adopted:

As in the embodiment shown in fig. 9, the laser 100 is a tunable laser 100, and the tunable laser 100 cooperates with a transmitting antenna of a transmitting phased array unit 200 (i.e., a one-dimensional phased array 510) as a dispersive device to achieve longitudinal scanning of wavelength modulation;

as in the embodiment shown in fig. 10, the laser 100 is also a tunable laser 100, and a separate first deflecting element 211 (e.g., a grating or prism) is used outside the one-dimensional phased array 510 as a dispersive device to achieve longitudinal scanning of the wavelength modulation;

as in the embodiment shown in fig. 11, longitudinal scanning is achieved using a non-dispersive second deflection 212 (e.g., a micro-electromechanical system).

In fig. 9 and 10, the modulation method of the wavelength tunable laser 100 may be temperature modulation or current modulation of the semiconductor laser 100, MEMS resonant cavity modulation of the solid-state laser 100 or external cavity semiconductor laser 100, or other existing laser wavelength tuning methods. When a single one-dimensional phased array 510 is used for spatial scanning at two-dimensional angles (i.e., transverse and longitudinal), depending on the relative speeds of wavelength modulation and phase modulation, the longitudinal scan can be taken as the fast axis when the wavelength modulation is fast, the longitudinal scan as the slow axis when the phase modulation is fast, and further, if the speeds of the two are substantially equivalent, random point scanning in the two-dimensional angle space can be achieved more easily.

Of course, it is also possible to:

As in the embodiment shown in fig. 5, one transmit receive pair 700 is provided, one laser 100 is provided, and the transmit phased array unit 200 is a two-dimensional phased array 520.

In this case, the laser 100 is provided with one transmitting phased array unit 200 as a two-dimensional phased array 520 and the receiving phased array unit 300 is provided with one.

The two-dimensional phased array 520 refers to a phased array device capable of realizing transverse scanning and longitudinal scanning without other devices, and is directly matched with the laser 100, and a laser source emitted by the laser 100 is directly coupled into the two-dimensional phased array 520 and emits detection laser towards the tested object 600.

It should be noted that:

The transmit phased array unit 200 synthesizes the scanned beams by diffraction to achieve a non-sequential, spatially discontinuous beam scan in time;

one-dimensional phased array 510 (1D-OPA) refers to a phased array device having a set of linear transmit antennas, with the ability to modulate the beam emission angle in the direction of the linear antennas;

A two-dimensional phased array 520 (2D-OPA) refers to a phased array device having a plurality of transmit antennas distributed over a two-dimensional plane with the ability to modulate the beam emission angle in any direction.

Of course, it is also understood that the one-dimensional phased array 510 refers to a plurality of phased array units arranged at intervals (e.g., transversely or longitudinally) along one direction, and the two-dimensional phased array 520 refers to a plurality of phased array units arranged on one plane according to preset requirements, as needed. At this time, the phased array unit is a two-dimensional phased array 520, which is understood that the phased array unit has a plurality of phased array units and is arranged on a plane according to a preset requirement, and the phased array unit is adopted for the two-dimensional phased array 520 only for convenience of explanation and writing, and will not be repeated.

In addition, when the transmitting and receiving pair 700 is provided with one, the transmitting phased array unit 200 is provided with one, and the receiving phased array unit 300 is provided with one, for convenience of writing and explanation, and in actual operation, one transmitting phased array unit 200 may correspond to a plurality of receiving phased array units 300, so as to achieve a better echo laser receiving effect.

As in the embodiment shown in fig. 8, the receive phased array unit 300 is provided with one, and the receive phased array unit 300 is a two-dimensional phased array 520.

As shown in fig. 8, since the two-dimensional phased array 520 has the capability of collecting echo laser light in any direction in space, when the receiving phased array unit 300 is the two-dimensional phased array 520, the transmitting phased array unit 200 may be set in any form, and will not be described again.

In one embodiment, the receive phased array unit 300 is provided in a plurality and spaced arrangement.

Because of the size limitation of the receiving antennas of the receiving phased array unit 300, a manner of arranging a plurality of receiving phased array units 300 to operate synchronously to increase the receiving aperture can be adopted to achieve better receiving technical effect. The arrangement manner of the receiving phased array unit 300 can be specifically set according to needs, and will not be described herein.

As shown in the embodiment of fig. 2, the laser 100 is provided with one emission phased array unit 200, and the laser emission mechanism further includes a beam splitter, which is disposed between the laser 100 and the emission phased array unit 200, and is configured to split laser light emitted by the laser 100 and make the split laser light correspond to the emission phased array unit 200.

As shown in fig. 2, the laser 100 is provided with one emission phased array unit 200, a plurality of emission phased array units 200 are provided, and the emission phased array units 200 are optically connected with the laser 100, wherein the optical connection can be based on optical fiber connection or connection based on free space optical elements, the laser emitted by the laser 100 is split by a beam splitter, the split laser is coupled into the corresponding emission phased array units 200, and the emission phased array units 200 emit the split laser (namely detection laser) towards the object 600 to be detected.

Of course, the beam splitter herein may also be implemented in the form of a splitter, which is not described herein.

Further, as in the embodiment shown in fig. 2 and 3, the transmit phased array units 200 are arranged in a row and a pitch, and the transmit phased array units 200 are one-dimensional phased arrays 510. The transmitting phased array units 200 are arranged to form a row, and since the transmitting phased array units 200 are one-dimensional phased arrays 510, the one-dimensional phased arrays 510 scan in one dimension, and the transmitting phased array units 200 of the row scan in the other dimension in the arrangement direction, thereby realizing multi-azimuth scanning.

As shown in fig. 2 and 3, the beam deflection direction of the one-dimensional phased array 510 achieved by phase modulation is defined as transverse, and the longitudinal arrangement direction of the one-dimensional phased array 510 is defined as longitudinal in fig. 2, so that scanning in the transverse and longitudinal directions can be achieved through a plurality of one-dimensional phased arrays 510 which are longitudinally arranged and by phase adjustment.

In one embodiment, the laser 100 is provided in plurality, and the transmitting phased array unit 200 is provided in plurality and is disposed corresponding to the laser 100.

The number of the emission phased array units 200 is equal to the number of the lasers 100, and the emission phased array units 200 are optically connected, one laser 100 corresponds to one emission phased array unit 200, and laser light sources emitted by the lasers 100 are respectively coupled into the corresponding emission phased array units 200.

As in the embodiment shown in fig. 12, the elevation angles of installation of at least two transmit phased array units 200 are different.

By adjusting the installation elevation angle of the emission phased array units 200, the light beams emitted by each emission phased array unit 200 correspond to one elevation angle, and the purpose of longitudinal scanning is achieved.

It should be noted that, the installation elevation angle of the transmitting phased array unit 200 refers to an angle between a line where a default transmitting beam of the transmitting phased array unit 200 is located and a plane where the transmitting phased array unit 200 itself is located.

As shown in fig. 12, the transmit antenna of each transmit phased array unit 200 (one-dimensional phased array 510) is longitudinally at a default angle relative to its normal (dashed line in fig. 12) determined by the transmit phased array unit 200. The mounting elevation of all the transmit phased array units 200 is adjusted mechanically, in which each transmit phased array unit 200 is fabricated on a separate optoelectronic chip.

As in the embodiment shown in fig. 13, the mounting elevation angles of the transmit phased array units 200 are the same, with one portion of the transmit phased array units 200 being arranged in a first direction and another portion of the transmit phased array units 200 being arranged in a second direction.

As in the embodiment of fig. 13, the default angle is changed by changing the internal setting of the transmit phased array unit 200 (one-dimensional phased array 510), which is usually only able to adjust the elevation angle to one side of its normal (dashed line in fig. 13), while on the other side of the overall longitudinal direction, the transmit phased array unit 200 needs to be inverted, i.e. a portion of the transmit phased array unit 200 is normally arranged, and another portion is inverted (e.g. is arranged by 180 ° relative rotation), which allows multiple one-dimensional phased arrays 510 to be integrally fabricated on the same optoelectronic chip, which is more compact and less costly than the embodiment of fig. 12.

As in the embodiment shown in fig. 14, the elevation angle of installation of the transmitting phased array unit 200 is the same, and the laser transmitting mechanism further includes a deflecting component including a plurality of optical deflecting members 210 for deflecting the laser light emitted from the transmitting phased array unit 200, and the optical deflecting members 210 are in one-to-one correspondence with the transmitting phased array unit 200.

The installation elevation angles of the plurality of emission phased array units 200 (the one-dimensional phased array 510) are the same, that is, the initial installation elevation angles of the emission phased array units 200 are the same, and when the emission phased array units 200 emit detection laser towards the object 600 to be measured, emitted laser beams are deflected by the optical deflecting member 210, so that the beams are deflected to different elevation angles, and the purpose of scanning in different directions (longitudinally) is achieved.

Further, the optical deflecting element 210 may be a transmissive element or a reflective element. The optical deflecting piece 210 is highly reliable in deflecting treatment, and allows a plurality of one-dimensional phased arrays 510 to be integrated on the same optoelectronic chip, so that the small-size installation requirement can be met.

The embodiment shown in fig. 12 to 14 is a longitudinal arrangement manner when a plurality of one-dimensional phased arrays 510210 are arranged, and of course, those skilled in the art may also perform specific arrangements according to needs, including but not limited to this embodiment, which is not repeated here.

In addition, to satisfy the need for receiving echo laser light, the receiving phased array unit 300 may also be:

the receiving phased array unit 300 is a one-dimensional phased array 510 and is provided with a plurality of receiving phased array units 300, the receiving phased array units 300 are arranged longitudinally, and the optical deflecting piece 210 is also arranged to deflect the echo laser, so that the echo laser can be received by the receiving phased array unit 300 in real time.

Of course, the receiving phased array unit 300 is a one-dimensional phased array 510 and only one receiving phased array is provided, and the optical deflecting element 210 may be provided at this time to meet the actual requirement, which is not described herein.

In one embodiment, the receiver 400 is a photodetector. The photodetector performs coupling processing and further photoelectric conversion on the echo laser light received by the receiving phased array unit 300 to satisfy further processing and obtain a test result.

Since the receive phased array unit 300 itself is already provided with spatial resolution capability, one skilled in the art can select the photodetector to be a single point detector (without spatial resolution capability) as desired. Even if multiple detectors or array detectors are used, the spatial distribution of the photosurface of the detectors does not have to correspond directly to the spatial sampling of the beam of the lidar.

It should be noted that:

A single point linear ToF detector for directly sensing the time of flight of the laser pulses, and the amplitude of each pulse is positively correlated with the light energy in the pulse. Such a detector may consist of an avalanche photodiode (APD, AVALANCHE PHOTO-Diode) or a photodiode (PD, photo-Diode) or a Multi-pixel photon counter (MPPC, multi-Pixel Photon Counter).

Single-point photon counters, such detectors may consist of single photon avalanche diodes SPAD (Single Photon Avalanche Diode) or Multiple Pixel Photon Counters (MPPC) or photomultiplier tubes (PMT, photo-Multiplier).

The coherent detector is used for measuring coherent light signals of a beam of reference light and signal light through a heterodyne method, and can be used for superposing the reference light and the signal light through a free space interferometer or an optical fiber interferometer and measuring the coherent light signals through PD.

The receiving phased array unit 300 plays a role in collecting echo lasers in different directions in the laser receiving mechanism, and the receiving phased array unit 300 can selectively receive lasers in a specific spatial direction, and then processes and measures echo signals according to echo signals (echo signals) and based on preset requirements, and details are omitted.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (7)

1. A phased array lidar comprising:

The laser emitting mechanism comprises at least one laser and a emitting phased array unit, wherein the laser is used for generating laser light sources, the emitting phased array unit is provided with a plurality of emitting phased array units, the emitting phased array unit is optically connected with the corresponding laser, and is used for receiving the laser light sources generated by the laser and emitting detection laser towards an object to be detected, and

The laser receiving mechanism comprises a receiving phased array unit and a receiver which is arranged corresponding to the receiving phased array unit, wherein at least one receiving phased array unit is arranged, the receiving phased array unit is used for receiving echo laser reflected by the measured object, and the receiver is used for coupling the echo laser;

The emission phased array units are one-dimensional phased arrays, the installation elevation angles of the emission phased array units are the same, one part of the emission phased array units are arranged towards a first direction, the other part of the emission phased array units are arranged towards a second direction, the included angle between the first direction and the second direction is 180 degrees, and the one-dimensional phased arrays are located on one photoelectronic chip.

2. The phased array lidar of claim 1, wherein the receive phased array unit is provided with one and the receive phased array unit is a two-dimensional phased array.

3. The phased array lidar of claim 1, wherein the receiving phased array unit is provided in a plurality and is arranged in a pitch arrangement.

4. A phased array lidar according to claim 2 or 3, wherein the laser is provided with one, and the laser emitting mechanism further comprises a beam splitter, which is arranged between the laser and the emitting phased array unit, and is configured to split the laser light emitted from the laser and to make the split laser light correspond to the emitting phased array unit.

5. A phased array lidar according to claim 2 or 3, wherein a plurality of lasers are provided, one of the transmitting phased array units corresponding to each of the lasers.

6. The phased array lidar of claim 4, wherein the laser emitting mechanism further comprises a deflecting assembly comprising a plurality of optical deflecting members for deflecting the laser emitted by the emitting phased array units, the optical deflecting members being in one-to-one correspondence with the emitting phased array units.

7. A phased array lidar according to any of claims 1 to 3, wherein the receiver is a photodetector.