Phased Array LiDAR

Abstract

The present invention relates to a phased array laser radar, comprising a laser emitting mechanism, the laser emitting mechanism comprising a laser and a emitting phased array unit, the laser is provided with at least one, the emitting phased array unit is provided with at least one, the emitting phased array unit is optically connected to the corresponding laser, the emitting phased array unit is used to receive a laser light source and emit a detection laser toward an object to be measured; and a laser receiving mechanism, the laser receiving mechanism comprising 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 to receive an echo laser reflected by the object to be measured, and the receiver is used to couple the echo laser. The emitting phased array unit emits a detection laser toward the object to be measured, and the receiving phased array unit receives the echo laser reflected by the object to be measured. Since no traditional mechanical rotating device is required, the occupied space of the laser radar is greatly reduced, the reliability of the entire phased array laser radar is improved, and the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of radar detection in automobile driving, and in particular to a phased array laser radar. Background Art

[0002] LiDAR is a device that uses lasers for detection and distance measurement. Its principle is similar to radar or sonar, that is, a transmitter emits laser pulses to a target object, and a receiver measures the delay and intensity of the return pulses to measure the distance and reflectivity of the target object.

[0003] Traditional LiDAR usually uses a mechanical rotating device to perform 360-degree circular scanning and integrates multiple sets of laser transmitters and receivers to cover multiple elevation angles at the same time. This type of LiDAR requires the use of multiple sets of laser transceivers and requires precise optical calibration (usually done manually), which is expensive and the mechanical rotating device is prone to failure. Summary of the invention

[0004] Based on this, it is necessary to provide a phased array laser radar which has low cost, high reliability and small space occupation.

[0005] The technical solution is as follows:

[0006] A phased array laser radar comprises a laser emitting mechanism, the laser emitting mechanism comprises a laser and a transmitting phased array unit, at least one laser is provided, the laser is used to generate a laser light source, at least one transmitting phased array unit is provided, the transmitting phased array unit is optically connected to a corresponding laser, the transmitting phased array unit is used to receive the laser light source generated by the laser and emit a detection laser toward a measured object; and a laser receiving mechanism, the laser receiving mechanism comprises a receiving phased array unit and a receiver arranged corresponding to the receiving phased array unit, at least one receiving phased array unit is provided, the receiving phased array unit is used to receive an echo laser reflected by the measured object, and the receiver is used to couple the echo laser.

[0007] The technical solution is further described below:

[0008] In one of the embodiments, the laser emission axis of the transmitting phased array unit and the laser receiving axis of the receiving phased array unit are set at a preset angle, and a transmitting phased array unit and a receiving phased array unit form a transmitting and receiving pair, and there is at least one transmitting and receiving pair.

[0009] In one of the embodiments, there is one transmitting and receiving pair, one laser, the laser is a tunable laser, and the transmitting phased array unit is a one-dimensional phased array;

[0010] Or there is one transmitting and receiving pair, one laser, and the transmitting phased array unit is a two-dimensional phased array.

[0011] In one embodiment, the receiving phased array unit is provided with one, and the receiving phased array unit is a two-dimensional phased array.

[0012] In one embodiment, a plurality of receiving phased array units are provided and arranged at intervals.

[0013] In one of the embodiments, there is one laser, there are multiple emitting phased array units, and the laser emitting mechanism also includes a beam splitter, which is arranged between the laser and the emitting phased array unit. The beam splitter is used to split the laser emitted by the laser and make the split laser correspond to the emitting phased array unit.

[0014] In one embodiment, a plurality of lasers are provided, and a plurality of transmitting phased array units are provided and arranged corresponding to the lasers.

[0015] In one of the embodiments, the installation elevation angles of at least two transmitting phased array units are different.

[0016] In one of the embodiments, the installation elevation angles of the transmitting phased array units are the same, and the laser transmitting mechanism further includes a deflection assembly, which includes a plurality of optical deflection members for deflecting the lasers emitted by the transmitting phased array units, and the optical deflection members correspond one-to-one to the transmitting phased array units.

[0017] In one embodiment, the receiver is a photodetector.

[0018] In the above-mentioned phased array laser radar, the transmitting phased array unit transmits a detection laser toward the object to be measured, and the receiving phased array unit receives the echo laser reflected by the object to be measured. Since no traditional mechanical rotation device is required, the space occupied by the laser radar is greatly reduced, the reliability of the entire phased array laser radar is improved, and the production cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall framework diagram of the phased array laser radar in the embodiment;

[0020] Figure 2 The first embodiment of the laser emitting mechanism is an overall structural diagram;

[0021] Figure 3 for Figure 2 Schematic diagram of lateral adjustment and longitudinal adjustment of the embodiment;

[0022] Figure 4 is an overall structural diagram of a second embodiment of a laser emitting mechanism;

[0023] Figure 5 The third embodiment of the laser emitting mechanism is an overall structural diagram;

[0024] Figure 6 It is an overall structural diagram of the first embodiment of the laser receiving mechanism;

[0025] Figure 7 is an overall structural diagram of a second embodiment of a laser receiving mechanism;

[0026] Figure 8 The third embodiment of the laser receiving mechanism is an overall structural diagram;

[0027] Fig. 9 This is a diagram of a first embodiment of a longitudinal arrangement of a single one-dimensional phased array;

[0028] Fig.10 A second embodiment diagram of the longitudinal arrangement of a single one-dimensional phased array;

[0029] Fig.11 A third embodiment diagram of the longitudinal arrangement of a single one-dimensional phased array;

[0030] Fig.12 A diagram showing a first embodiment of a longitudinal arrangement of multiple one-dimensional phased arrays;

[0031] Fig.13 A diagram showing a second embodiment of a longitudinal arrangement of multiple one-dimensional phased arrays;

[0032] Fig.14 This is a diagram of a third embodiment of the longitudinal arrangement of multiple one-dimensional phased arrays.

[0033] Notes on the attached drawings:

[0034] 100. Laser, 200. Transmitting phased array unit, 210. Optical deflection element, 211. First deflection element, 212. Second deflection element, 300. Receiving phased array unit, 400. Receiver, 510. One-dimensional phased array, 520. Two-dimensional phased array, 600. Measured object, 700. Transmitting and receiving pair. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below with reference to the accompanying drawings:

[0036] It should be noted that when an element is referred to herein as being "fixed" to another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] like Figures 1 to 14 The embodiment shown provides a phased array laser radar, including a laser emitting mechanism, the laser emitting mechanism includes a laser 100 and a transmitting phased array unit 200, the laser 100 is provided with at least one, the laser 100 is used to generate a laser light source, the transmitting phased array unit 200 is provided with at least one, the transmitting phased array unit 200 is optically connected to the corresponding laser 100, the transmitting phased array unit 200 is used to receive the laser light source generated by the laser 100 and emit a detection laser toward the object 600 to be measured; and a laser receiving mechanism, the laser receiving mechanism includes a receiving phased array unit 300 and a receiver 400 arranged corresponding to the receiving phased array unit 300, the receiving phased array unit 300 is provided with at least one, the receiving phased array unit 300 is used to receive the echo laser reflected by the object 600 to be measured, and the receiver 400 is used to couple the echo laser.

[0039] The transmitting phased array unit 200 transmits a detection laser toward the object 600 under test, and the receiving phased array unit 300 receives the echo laser reflected by the object 600 under test. Since a traditional mechanical rotating device is not required, the space occupied by the laser radar is greatly reduced, the reliability of the entire phased array laser radar is improved, and the production cost is reduced.

[0040] Traditional laser radar uses a mechanical rotating device to perform 360° circular scanning, and integrates multiple sets of laser transmitters and receivers to simultaneously cover multiple pitch angles, thereby achieving multi-directional scanning. However, this type of laser radar is expensive, the rotation accuracy is difficult to control, it is prone to failure, and the laser reception efficiency is relatively poor.

[0041] In this embodiment, at least one laser 100 is provided, and at least one transmitting phased array unit 200 is provided, so that the laser 100 and the transmitting phased array unit 200 can be matched and set according to actual needs, and can be used together to perform multi-dimensional scanning; at least one receiving phased array unit 300 is provided, so that the receiving phased array unit 300 can be matched and set according to actual needs to meet the different receiving needs of the echo laser. Since the laser emitting mechanism and the laser receiving mechanism do not need to be provided with a mechanical rotating device, the overall laser radar system cost is low, and the receiver 400 couples the echo laser received by the receiving phased array unit 300 and obtains the measurement result based on the preset requirements, and the measurement reliability is high; in addition, the transmitting phased array unit 200 and the receiving phased array unit 300 also greatly reduce the occupied space of the laser radar compared with the traditional mechanical rotating device.

[0042] The phased array unit (such as the aforementioned transmitting phased array unit 200 and receiving phased array unit 300) refers to an optical phased array, namely Optical Phased Array, referred to as OPA. The phased array lidar provided in this embodiment adopts a phased array unit (ie, OPA) instead of a traditional mechanical rotating device. The optical phased array is composed of many identical antennas to form a matrix, and the radiation waves of all antennas form a beam of radar waves through interference in the far field. The electronic system controls the phase of each antenna in real time, thereby controlling the direction of the radar wave in the far field. By changing the phase of certain antennas, the electronic system can change the direction of the radar wave (ie, the detection laser), thereby realizing dynamic scanning. Such electronic scanning does not require a mechanical rotating device, has a fast scanning rate, and even if a small number of antennas fail, it will not affect the actual use of the optical phased array.

[0043] The use of an optical phased array only requires a single element to complete scanning within a spatial stereoscopic angle; at the same time, the use of fully automatic, large-scale photonic integrated circuit manufacturing and packaging processes does not require the complex and time-consuming installation and calibration process of a laser radar with a mechanical rotating device, thereby reducing costs. At the same time, the phased array laser radar in this embodiment has no high-speed rotating mechanical parts, and the measurement reliability can be further improved compared to traditional laser radars.

[0044] Phased array units are unidirectional optical devices. When using phased array units to form a lidar, it is necessary to collect and detect the radar echo signals (i.e., echo lasers) reflected by the detection lasers emitted by the phased array units in various directions in space.

[0045] In this embodiment, the receiving phased array unit 300 is used to receive the echo laser reflected by the measured object 600, and the received echo laser is coupled and processed by the receiver 400, and converted and calculated according to preset requirements to obtain the required measurement results.

[0046] It should be noted that:

[0047] The transmitting phased array unit 200 is optically connected to the laser 100. The optical connection here refers to a connection setting that ensures that light energy has low attenuation transmission between optical waveguides or between optical waveguides and optical passive devices or between optical waveguides and optical source devices;

[0048] The receiver 400 is used to perform coupling processing on the echo laser received by the receiving phased array unit 300, etc. Therefore, the receiver 400 and the receiving phased array unit 300 can be optically connected as needed, and technical personnel in this field can select a receiver 400 that can meet the requirements, such as a photoelectric detector, etc., as needed, which will not be repeated here.

[0049] like Figure 6 and Figure 7 In the illustrated embodiment, the laser emission axis of the transmitting phased array unit 200 and the laser receiving axis of the receiving phased array unit 300 are arranged at a preset angle, and one transmitting phased array unit 200 and one receiving phased array unit 300 form a transmitting-receiving pair 700, and the transmitting-receiving pair 700 is provided with at least one.

[0050] The receiving phased array unit 300 is used to receive the echo laser reflected by the object under test 600. When receiving, in order to improve the reception accuracy of the echo laser, the laser receiving axis of the receiving phased array unit 300 and the laser emitting axis of the transmitting phased array unit 200 are usually set at a preset angle to achieve a better receiving technical effect.

[0051] During the transmission of the laser, since the optical path is reversible and the beam width of the echo laser scattered by the measured object 600 is much larger than the beam of the detection laser, the laser receiving axis of the receiving phased array unit 300 and the laser emitting axis of the transmitting phased array unit 200 are set at a preset angle, that is, the axes of the transmitting end and the receiving end are not parallel (can also be understood as different axes), so that the angle between the two axes is maintained within a preset range to ensure that at least a part of the echo laser can still be received by the receiving phased array unit 300.

[0052] like Figure 6 In the illustrated embodiment, a transmitting phased array unit 200 cooperates with a receiving phased array unit 300 to form a transmitting-receiving pair 700 , and a plurality of transmitting-receiving pairs 700 are provided.

[0053] At this time, there are multiple transmitting phased array units 200 and multiple receiving phased array units 300, so that the detection laser emitted by the transmitting phased array unit 200 is reflected by the object to be measured 600 to form an echo laser, and multiple receiving phased array units 300 can receive the echo laser to further obtain the measurement result through coupling processing by the receiver 400.

[0054] like Figure 7 In the illustrated embodiment, one transmitting and receiving pair 700 is provided, one laser 100 is provided, the laser 100 is a tunable laser 100 , and the transmitting phased array unit 200 is a one-dimensional phased array 510 .

[0055] At this time, the laser 100 is provided with one tunable laser 100 , the transmitting phased array unit 200 is provided with one one-dimensional phased array 510 , and the receiving phased array unit 300 is provided with one.

[0056] The tunable laser 100 refers to a laser 100 with tunable wavelength to generate a light source. When the output laser wavelength changes, the light beam passes through the transmitting phased array unit 200 and is emitted to different longitudinal angles, thereby achieving longitudinal light beam deflection and longitudinal scanning.

[0057] When the transmitting phased array unit 200 is provided with one one-dimensional phased array 510, the longitudinal scanning modes are as follows:

[0058] like Fig. 9 In the illustrated embodiment, the laser 100 is a tunable laser 100, and the tunable laser 100 cooperates with the transmitting antenna of the transmitting phased array unit 200 (i.e., the one-dimensional phased array 510) as a dispersion device to realize longitudinal scanning of wavelength modulation;

[0059] like Fig.10 In the embodiment shown, the laser 100 is also a tunable laser 100, and an independent first deflection element 211 (such as a grating or a prism) is used outside the one-dimensional phased array 510 as a dispersion element to achieve longitudinal scanning of wavelength modulation;

[0060] like Fig.11 In the illustrated embodiment, a non-dispersive second deflection element 212 (eg, a micro-electromechanical system) is used to achieve longitudinal scanning.

[0061] Fig. 9 and Fig.10 In the modulation method of the wavelength tunable laser 100, the temperature modulation or current modulation of the semiconductor laser 100, the MEMS resonant cavity modulation of the solid laser 100 or the external cavity semiconductor laser 100 can be adopted. Of course, other existing laser wavelength tuning methods can also be adopted. When a single one-dimensional phased array 510 is used for two-dimensional angle (i.e., horizontal and vertical) spatial scanning, depending on the relative speed of wavelength modulation and phase modulation, the longitudinal scanning can be used as the fast axis when the wavelength modulation is faster; the longitudinal scanning is used as the slow axis when the phase modulation is faster; in addition, if the speeds of the two are basically the same, random point scanning in the two-dimensional angle space can be easily achieved.

[0062] Of course, it can also be:

[0063] like Figure 5 In the illustrated embodiment, one transmitting and receiving pair 700 is provided, one laser 100 is provided, and the transmitting phased array unit 200 is a two-dimensional phased array 520 .

[0064] At this time, the laser 100 is provided with one, the transmitting phased array unit 200 is a two-dimensional phased array 520, and the receiving phased array unit 300 is provided with one.

[0065] The two-dimensional phased array 520 refers to a phased array device that can achieve lateral scanning and longitudinal scanning without the aid of other devices. It directly cooperates with the laser 100. The laser source emitted by the laser 100 will be directly coupled into the two-dimensional phased array 520 and the detection laser will be emitted toward the object 600 to be measured.

[0066] It should be noted that:

[0067] The transmitting phased array unit 200 realizes non-sequential and non-continuous beam scanning in time and space by diffracting and synthesizing the scanning beam;

[0068] One-dimensional phased array 510 (1D-OPA) refers to a phased array device with a set of linear transmitting antennas, which has the ability to modulate the beam emission angle along the linear antenna direction;

[0069] Two-dimensional phased array 520 (2D-OPA) refers to a phased array device with multiple transmitting antennas distributed in a two-dimensional plane, which has the ability to modulate the emission angle of the light beam in any direction.

[0070] Of course, as required, it can also be understood that: the one-dimensional phased array 510 refers to a plurality of phased array units arranged at intervals along one direction (such as arranged horizontally or vertically), and the two-dimensional phased array 520 refers to a plurality of phased array units arranged on a plane according to preset requirements. At this time, the phased array unit is a two-dimensional phased array 520, which should be understood as: there are multiple phased array units, which are arranged and set on a plane according to preset requirements. Here, the phased array unit is a two-dimensional phased array 520 just for the convenience of explanation and writing, and will not be repeated.

[0071] In addition, when there is one transmitting and receiving pair 700, there is one transmitting phased array unit 200 and one receiving phased array unit 300. This is only for the convenience of writing and description. In actual operation, one transmitting phased array unit 200 can correspond to multiple receiving phased array units 300 to achieve a better echo laser reception effect.

[0072] like Figure 8 In the illustrated embodiment, the receiving phased array unit 300 is provided with one, and the receiving phased array unit 300 is a two-dimensional phased array 520 .

[0073] like Figure 8 As shown, since the two-dimensional phased array 520 has the ability to collect echo lasers 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 can be set in any form, which will not be repeated.

[0074] In one embodiment, a plurality of receiving phased array units 300 are provided and arranged at intervals.

[0075] Due to the size limitation of the receiving antenna of the receiving phased array unit 300, a plurality of receiving phased array units 300 may be arranged to work synchronously to increase the receiving aperture and achieve a better receiving technical effect. The arrangement of the receiving phased array unit 300 may be specifically arranged as required, and will not be described in detail here.

[0076] like Figure 2 In the embodiment shown, one laser 100 is provided, and a plurality of emitting phased array units 200 are provided. The laser emitting mechanism also includes a beam splitter, which is provided between the laser 100 and the emitting phased array unit 200. The beam splitter is used to split the laser emitted by the laser 100 and make the split laser correspond to the emitting phased array unit 200.

[0077] like Figure 2 As shown, the laser 100 is provided with one, and the transmitting phased array unit 200 is provided with multiple, and the transmitting phased array unit 200 is optically connected to the laser 100, and this optical connection can be a connection based on optical fiber or a connection based on free space optical elements; the laser emitted by the laser 100 is split by a beam splitter, and the split laser is coupled into the corresponding transmitting phased array unit 200, and the transmitting phased array unit 200 emits the split laser (i.e., the detection laser) toward the object 600 to be measured.

[0078] Of course, the beam splitter here can also be implemented in the form of branching, which will not be repeated here.

[0079] Furthermore, if Figure 2 and Figure 3 In the illustrated embodiment, the transmitting phased array units 200 are arranged at intervals and in rows, and the transmitting phased array units 200 are one-dimensional phased arrays 510. The transmitting phased array units 200 are arranged in a row, and since the transmitting phased array units 200 are one-dimensional phased arrays 510, the one-dimensional phased array 510 scans in a one-dimensional direction, and the transmitting phased array units 200 in a row thus realize another-dimensional scanning in the arrangement direction, thereby realizing multi-directional scanning.

[0080] like Figure 2 and Figure 3As shown, the beam deflection direction of the one-dimensional phased array 510 achieved by phase modulation is defined as horizontal, and the rows are arranged as follows Figure 2 The longitudinal arrangement direction is longitudinal; therefore, transverse and longitudinal scanning can be achieved by longitudinally arranging multiple one-dimensional phased arrays 510 and adjusting the phase.

[0081] In one embodiment, a plurality of lasers 100 are provided, and a plurality of transmitting phased array units 200 are provided and arranged corresponding to the lasers 100 .

[0082] There are multiple lasers 100, and the transmitting phased array units 200 are arranged corresponding to the number of lasers 100 and optically connected accordingly. One laser 100 corresponds to one transmitting phased array unit 200, and the laser light sources emitted by the multiple lasers 100 are respectively coupled into the corresponding transmitting phased array units 200.

[0083] like Fig.12 In the illustrated embodiment, the installation elevation angles of at least two transmitting phased array units 200 are different.

[0084] By adjusting the installation elevation angle of the transmitting phased array unit 200 , the light beam emitted by each transmitting phased array unit 200 corresponds to a pitch angle, thereby achieving the purpose of longitudinal scanning.

[0085] It should be noted that the installation elevation angle of the transmitting phased array unit 200 refers to the angle between the straight line where the default transmitting light beam of the transmitting phased array unit 200 is located and the plane where the transmitting phased array unit 200 itself is located.

[0086] like Fig.12 As shown, the transmitting antenna of each transmitting phased array unit 200 (one-dimensional phased array 510) is longitudinally oriented relative to its normal ( Fig.12 There is a default angle (dashed line in FIG. 1 ), which is determined by the transmitting phased array unit 200. The installation elevation angles of all transmitting phased array units 200 are adjusted mechanically. In this elevation adjustment method, each transmitting phased array unit 200 is manufactured on a separate optoelectronic chip.

[0087] like Fig.13 In the illustrated embodiment, the installation elevation angles of the transmitting phased array units 200 are the same, a portion of the transmitting phased array units 200 are arranged toward a first direction, and another portion of the transmitting phased array units 200 are arranged toward a second direction.

[0088] like Fig.13 In the embodiment shown, the default angle is changed by changing the internal settings of the transmitting phased array unit 200 (one-dimensional phased array 510). This change can usually only be made to the normal ( Fig.13The elevation angle is adjusted on one side of the transmission phased array unit 200 (the dotted line in the figure), and on the other side of the entire longitudinal direction, the transmission phased array unit 200 needs to be inverted to achieve this, that is, a part of the transmission phased array unit 200 is arranged normally, and the other part is arranged inverted (such as arranged with a relative rotation of 180 degrees). This arrangement allows multiple one-dimensional phased arrays 510 to be integrated and manufactured on the same optoelectronic chip. Fig.12 The embodiment shown has a more compact structure and lower cost.

[0089] like Fig.14 In the embodiment shown, the installation elevation angles of the transmitting phased array units 200 are the same, and the laser transmitting mechanism further includes a deflection assembly, which includes a plurality of optical deflection elements 210 for deflecting the laser emitted by the transmitting phased array units 200, and the optical deflection elements 210 correspond one-to-one to the transmitting phased array units 200.

[0090] The installation elevation angles of multiple transmitting phased array units 200 (one-dimensional phased array 510) are the same, that is, the initial installation elevation angles of the transmitting phased array units 200 are the same. When the transmitting phased array unit 200 emits a detection laser toward the object 600 to be measured, the emitted laser beam is deflected by the optical deflection element 210, so that the beam is deflected to different elevation angles, thereby achieving the purpose of scanning in different directions (longitudinal).

[0091] Furthermore, the optical deflection element 210 can be a transmission element or a reflection element. The deflection processing method using the optical deflection element 210 has high reliability and allows multiple one-dimensional phased arrays 510 to be integrated on the same optoelectronic chip, which can meet the small-size installation requirements.

[0092] Figure 12 to Figure 14 The given embodiment is a longitudinal arrangement of multiple one-dimensional phased arrays 510210. Of course, those skilled in the art can also make specific settings as needed, including but not limited to the present embodiment, which will not be repeated here.

[0093] In addition, as required, in order to meet the need for receiving the echo laser, the receiving phased array unit 300 may also be:

[0094] The receiving phased array unit 300 is a one-dimensional phased array 510 and is provided with a plurality of them. The plurality of receiving phased array units 300 are arranged longitudinally. An optical deflection element 210 is also provided to deflect the echo laser so that the echo laser can be received by the receiving phased array unit 300 in real time.

[0095] Of course, as required, the receiving phased array unit 300 is a one-dimensional phased array 510 and only one is provided. In this case, an optical deflection element 210 may also be provided to meet actual needs, which will not be described in detail.

[0096] In one embodiment, the receiver 400 is a photodetector that couples and further converts the echo laser received by the phased array unit 300 into photoelectricity to meet further processing and obtain test results.

[0097] Since the receiving phased array unit 300 itself has spatial resolution capability, those skilled in the art may select the photodetector to be a single-point detector (without spatial resolution capability) as needed. Even if multiple detectors or array detectors are used, the spatial distribution of the photosensitive surface of the detector does not have to directly correspond to the spatial sampling of the laser radar beam.

[0098] It should be noted that:

[0099] A single-point linear ToF detector is used to directly sense the flight time of a laser pulse, and the amplitude of each pulse is positively correlated with the light energy in the pulse. This detector can be composed of an avalanche photodiode (APD) or a photodiode (PD) or a multi-pixel photon counter (MPPC).

[0100] Single-point photon counter, this detector can be composed of a single photon avalanche diode SPAD (Single Photon Avalanche Diode) or a multi-pixel photon counter (MPPC) or a photomultiplier tube (PMT, Photo-Multiplier).

[0101] Coherent detector, this detector measures the coherent optical signal of a reference light and a signal light by heterodyne method, can superimpose the reference light and the signal light by free space interferometer or fiber interferometer, and measure the coherent optical signal by PD.

[0102] The receiving phased array unit 300 plays the role of collecting echo lasers in different directions in the laser receiving mechanism. The receiving phased array unit 300 can selectively receive lasers in a specific spatial direction, and then process and measure the distance of the echo signal (echo signal) based on the preset requirements, which will not be repeated here.

[0103] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A phased array laser radar, characterized in that: include: A laser emitting mechanism, the laser emitting mechanism comprising a laser and an emitting phased array unit, the laser being provided with at least one, the laser being used to generate a laser light source, the emitting phased array unit being provided with a plurality of units, the emitting phased array unit being optically connected to the corresponding laser, the emitting phased array unit being used to receive the laser light source generated by the laser and emitting a detection laser toward the object to be measured; and A laser receiving mechanism, the laser receiving mechanism comprising a receiving phased array unit and a receiver arranged corresponding to the receiving phased array unit, the receiving phased array unit is provided with at least one receiving phased array unit, the receiving phased array unit is used to receive the echo laser reflected by the measured object, and the receiver is used to couple the echo laser; The transmitting phased array unit is a one-dimensional phased array, and the installation elevation angles of multiple transmitting phased array units are the same. A part of the transmitting phased array units are arranged in a first direction, and another part of the transmitting phased array units are arranged in a second direction. The angle between the first direction and the second direction is 180 degrees, and multiple one-dimensional phased arrays are located on an optoelectronic chip.

2. The phased array laser radar according to claim 1, characterized in that: The receiving phased array unit is provided with one, and the receiving phased array unit is a two-dimensional phased array.

3. The phased array laser radar according to claim 1, characterized in that: The receiving phased array units are provided in plurality and are arranged at intervals.

4. The phased array laser radar according to claim 2 or 3, characterized in that: The laser is provided with one, and the laser emitting mechanism also includes a beam splitter, which is arranged between the laser and the emitting phased array unit. The beam splitter is used to split the laser emitted by the laser and make the split laser correspond to the emitting phased array unit.

5. The phased array laser radar according to claim 2 or 3, characterized in that: There are multiple lasers, and one transmitting phased array unit corresponds to one laser.

6. The phased array laser radar according to claim 4, characterized in that: The laser emitting mechanism further comprises a deflection assembly, wherein the deflection assembly comprises a plurality of optical deflection members for deflecting the laser emitted by the emitting phased array unit, and the optical deflection members correspond one to one to the emitting phased array unit.

7. The phased array laser radar according to any one of claims 1 to 3, characterized in that: The receiver is a photodetector.

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