A novel frequency modulated continuous wave laser radar measurement device and method

Abstract

The present application discloses a new type of frequency modulated continuous wave laser radar measurement device and method. The high-quality linear frequency sweep laser emitted by the high-quality frequency sweep laser emission subsystem of the device is amplified by the first optical amplifier and then transmitted to the first beam splitter. The first beam splitter sends the high-quality linear frequency sweep laser after beam splitting to the dual electro-optical comb generator subsystem. The optical frequency comb laser generated by the high-quality linear frequency sweep laser after beam splitting is sent to the beam transceiver subsystem and the data processing subsystem, so that the beam transceiver subsystem measures the object to be measured, obtains the measurement data, and obtains the three-dimensional surface morphology of the object to be measured based on the various data. The device provided by the present application can greatly improve the measurement speed and resolution of the frequency modulated continuous wave laser radar, and saves hardware resources by using the dual optical comb channelized receiver structure constructed in the dual electro-optical comb generator subsystem for receiving the high-quality linear frequency sweep laser after beam splitting.

Description

Technical Field

[0001] The present application relates to the field of optoelectronic information technology, and in particular to a novel frequency modulated continuous wave laser radar measurement device and method. Background Art

[0002] LiDAR is considered by the industry to be an essential sensor for achieving autonomous driving above Level 3 (conditional autonomous driving). Among the many LiDAR technology routes, Frequency Modulated Continuous Wave (FMCW) LiDAR has attracted much attention in the field of autonomous driving due to its advantages such as high sensitivity, high precision and strong anti-interference ability.

[0003] The current frequency modulated continuous wave lidar technology is limited by factors such as the low scanning rate of the tuned laser, the slow rate of the transmission system, and the mechanical beam scanning method, resulting in a low measurement speed, which seriously restricts its application and development in the field of autonomous driving. Although the existing technology can improve the measurement speed of frequency modulated continuous wave lidar based on multiple light sources and multiple transmission / reception technologies, the system requires parallel processing of multi-frequency signals and occupies a large amount of hardware resources. The number of photodetectors and analog-to-digital converters increases with the number of parallel arrays, and the use of wide-bandwidth photodetectors and high-sampling-rate analog-to-digital converters for coherent signal reception has brought great challenges to the hardware part in practical applications. Summary of the invention

[0004] In order to solve the above technical problems, the embodiments of the present application provide a new frequency modulated continuous wave lidar measurement device and method, electronic equipment, computer readable storage medium, and computer program product.

[0005] In the first aspect, in order to solve the above technical problems, the present application provides a novel frequency modulated continuous wave laser radar measurement device, comprising a high-quality frequency swept laser emission subsystem, a first optical amplifier, a first beam splitter, a dual electro-optical comb generator subsystem, a second beam splitter, a beam transceiver subsystem, a third beam splitter, a coupler and a data processing subsystem connected in sequence;

[0006] Two input ends of the dual electro-optical comb generator subsystem are connected to the first beam splitter, one output end of the dual electro-optical comb generator subsystem is connected to the beam transceiver subsystem through the second beam splitter, one output end of the second beam splitter is connected to the beam transceiver subsystem, and another output end of the second beam splitter is connected to the data processing subsystem through the coupler;

[0007] Another output end of the dual electro-optical comb generator subsystem is connected to the third beam splitter, one output end of the third beam splitter is connected to the data processing subsystem, and another output end of the third beam splitter is connected to the data processing subsystem through the coupler;

[0008] The high-quality linear swept-frequency laser emitted by the high-quality swept-frequency laser emitting subsystem is amplified by the first optical amplifier and then transmitted to the first beam splitter. The first beam splitter sends the high-quality linear swept-frequency laser after beam splitting to the dual electro-optical comb generator subsystem. The dual electro-optical comb generator subsystem sends the optical frequency comb laser generated based on the high-quality linear swept-frequency laser after beam splitting to the beam transceiver subsystem and the data processing subsystem, so that the beam transceiver subsystem measures the object to be measured and obtains measurement data; the data processing subsystem obtains a three-dimensional surface morphology image of the object to be measured based on the measurement data and the optical frequency comb laser transmitted by the dual electro-optical comb generator subsystem.

[0009] The beneficial effects are:

[0010] In the technical solution provided in the embodiments of the present application, through a high-quality swept-frequency laser emission subsystem, a dual electro-optical comb generator subsystem and a beam transceiver subsystem, the measurement speed and resolution of the new frequency-modulated continuous-wave laser radar can be greatly improved compared to the traditional single light source and single transceiver structure. The measurement capability of the measurement speed is gigapixels per second and the distance resolution is at the millimeter level. In addition, based on the principle of a dual-optical comb coherent channelized receiver of the dual electro-optical comb generator subsystem, multi-heterodyne signal detection technology is used to realize signal down-conversion, which can reduce the dependence on the detector bandwidth, thereby improving the measurement capability while saving hardware resources.

[0011] In a second aspect, the present invention provides a novel frequency modulated continuous wave laser radar measurement method, which is applied to the novel frequency modulated continuous wave laser radar measurement device, comprising:

[0012] Acquire high-quality linear frequency-sweep lasers that meet preset error requirements emitted by a high-quality frequency-sweep laser emission subsystem;

[0013] Performing beam splitting processing on the high-quality linear frequency-sweep laser through a first beam splitter, and inputting the high-quality linear frequency-sweep laser after the beam splitting processing into a dual electro-optical comb generator subsystem;

[0014] Using the dual electro-optical comb generator subsystem to generate an optical frequency comb laser based on the high-quality linear swept laser after the beam splitting process;

[0015] Acquiring a matching relationship between the optical frequency comb laser and a preset shape condition;

[0016] When the matching relationship indicates that the optical frequency comb laser satisfies the preset shape condition, the optical frequency comb laser is used to measure the object to be measured by the optical beam transceiver subsystem to obtain measurement data;

[0017] A data processing subsystem is used to obtain a three-dimensional surface topography image of the object to be measured based on the measurement data.

[0018] In a third aspect, the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the new frequency modulated continuous wave lidar measurement method as described above.

[0019] In a fourth aspect, the present application also provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer executes the new frequency-modulated continuous wave lidar measurement method as described above.

[0020] In a fifth aspect, the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the novel frequency modulated continuous wave laser radar measurement method provided in the above various optional embodiments.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1 is a schematic diagram of a novel frequency modulated continuous wave laser radar measurement device shown in an exemplary embodiment of the present application;

[0024] Figure 2 yes Figure 1 A schematic diagram of a high quality swept laser emission subsystem in an exemplary embodiment of the illustrated embodiment;

[0025] Figure 3 yes Figure 2 A schematic diagram of a high quality swept laser emission subsystem in an exemplary embodiment of the illustrated embodiment;

[0026] Figure 4 yes Figure 1 A schematic diagram of a dual electro-optic comb generator subsystem in an exemplary embodiment of the illustrated embodiment;

[0027] Figure 5 yes Figure 1 A schematic diagram of the beam transceiver subsystem in the illustrated embodiment in an exemplary embodiment;

[0028] Figure 6 yes Figure 1 A schematic diagram of the data processing subsystem in the illustrated embodiment in an exemplary embodiment;

[0029] Figure 7 It is a flow chart of a novel frequency modulated continuous wave laser radar measurement method shown in an exemplary embodiment of the present application;

[0030] Figure 8 It is a structural diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application. DETAILED DESCRIPTION

[0031] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0032] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0034] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0035] In order to solve the problem that the current frequency modulated continuous wave laser radar technology occupies a large amount of hardware resources, the embodiments of the present application propose a new system of frequency modulated continuous wave laser radar measurement device and method, electronic equipment, and computer-readable storage medium, which mainly involve a new system of frequency modulated continuous wave laser radar measurement technology included in optoelectronic information technology. These embodiments will be described in detail below.

[0036] First see Figure 1 , Figure 1 FIG. 1 is a schematic diagram of a novel frequency modulated continuous wave laser radar measurement device shown in an exemplary embodiment of the present application. Figure 1 As shown, in an exemplary embodiment, the novel frequency modulated continuous wave laser radar measurement device may include a high-quality frequency swept laser emission subsystem, a first optical amplifier, a first beam splitter, a dual electro-optical comb generator subsystem, a second beam splitter, a beam transceiver subsystem, a third beam splitter, a coupler, and a data processing subsystem connected in sequence;

[0037] Two input ends of the dual electro-optical comb generator subsystem are connected to the first beam splitter, one output end of the dual electro-optical comb generator subsystem is connected to the beam transceiver subsystem through the second beam splitter, one output end of the second beam splitter is connected to the beam transceiver subsystem, and the other output end of the second beam splitter is connected to the data processing subsystem through a coupler;

[0038] Another output end of the dual electro-optical comb generator subsystem is connected to the third beam splitter, one output end of the third beam splitter is connected to the data processing subsystem, and another output end of the third beam splitter is connected to the data processing subsystem through a coupler;

[0039] The high-quality linear swept-frequency laser emitted by the high-quality swept-frequency laser emission subsystem is amplified by the first optical amplifier and then transmitted to the first beam splitter. The first beam splitter sends the high-quality linear swept-frequency laser after beam splitting processing to the dual electro-optical comb generator subsystem. The dual electro-optical comb generator subsystem sends the optical frequency comb laser generated based on the high-quality linear swept-frequency laser after beam splitting processing to the beam transceiver subsystem and the data processing subsystem, so that the beam transceiver subsystem measures the object to be measured and obtains measurement data; the data processing subsystem obtains a three-dimensional surface morphology image of the object to be measured based on the measurement data and the optical frequency comb laser transmitted by the dual electro-optical comb generator subsystem.

[0040] When using, Figure 1As shown, in this embodiment, the S2 light emitted by the high-quality swept-frequency laser emission subsystem is power-amplified by the first optical amplifier and then divided into A light and B light after passing through the first beam splitter. The A light and the B light are respectively connected to the two input ends of the dual electro-optical comb generator subsystem. The output of the dual electro-optical comb generator subsystem is divided into C light and D light. The C light is divided into E light and F light after passing through the second beam splitter. The D light is divided into G light and H light after passing through the third beam splitter. The E light enters the beam transceiver subsystem and is emitted to the surface of the target to be measured. After reflection, it is received by the beam transceiver subsystem and outputs R light from the output port. The F light and the H light beam merge at the coupler to generate interference, and then are divided into I light and J light. The G light, R light, I light and J light beams enter the data processing subsystem together for target information processing.

[0041] As can be seen from the above, in the device provided in this embodiment, through the high-quality swept-frequency laser emission subsystem, the dual electro-optical comb generator subsystem and the beam transceiver subsystem, compared with the traditional single light source and single transceiver structure of the new system frequency modulated continuous wave laser radar measurement, the measurement speed and resolution of the frequency modulated continuous wave laser radar can be greatly improved, and the measurement capability of the measurement speed of gigapixels per second and the distance resolution of the millimeter level can be achieved. Moreover, compared with the traditional multi-light source and multi-transceiver technology of the new system frequency modulated continuous wave laser radar measurement, the present application is based on the principle of dual optical comb coherent channelized receiver of the dual electro-optical comb generator subsystem, and adopts multi-heterodyne signal detection technology to realize signal down-conversion, which can reduce the dependence on the detector bandwidth, thereby improving the measurement capability while saving hardware resources.

[0042] Optionally, in an exemplary embodiment provided by the present application, the high-quality swept-frequency laser emission subsystem includes a continuous wave laser, an electro-optical modulator, an optical filter, a first sub-beam splitter and a signal correction structure, which is used to generate high-quality linear swept-frequency laser with wide bandwidth, narrow linewidth and fast rate. Figure 2 , Figure 2 yes Figure 1 A schematic diagram of a high quality swept frequency laser emission subsystem in an exemplary embodiment is shown in FIG. Figure 2 As shown, the electro-optic modulator is connected to the continuous wave laser and the signal correction structure, and after being driven by the signal correction structure, is used to modulate the single-frequency continuous wave laser emitted by the continuous wave laser into a multi-sideband linear frequency sweeping laser;

[0043] The optical filter is connected to the electro-optic modulator and the first sub-beam splitter. One output end of the first sub-beam splitter is connected to the signal correction structure, and the other output end serves as the output end of the high-quality swept-frequency laser emission subsystem. The optical filter is used to perform high-order sideband filtering on the multi-sideband linear swept-frequency laser, so that the high-quality swept-frequency laser emission subsystem outputs high-quality linear swept-frequency laser through the first sub-beam splitter.

[0044] In another exemplary embodiment, Figure 2 The signal modification structure shown may include an unbalanced Mach-Zehnder interferometer, a photodetector, a digital storage filter, a computer, a first signal source, a digital frequency detector, a loop filter, an adder, an arbitrary function generator, and a voltage-controlled oscillator. Figure 3 , Figure 3 yes Figure 2 A schematic diagram of a high quality swept frequency laser emission subsystem in an exemplary embodiment is shown in FIG. Figure 3 As shown, the unbalanced Mach-Zehnder interferometer includes a second sub-beam splitter, an acousto-optic modulator, a first single-mode optical fiber and a sub-coupler, the second sub-beam splitter is connected to the first beam splitter, the acousto-optic modulator and one end of the first single-mode optical fiber are connected to the second sub-beam splitter, and the other end is connected to the sub-coupler, and the sub-coupler is connected to the photodetector;

[0045] The other end of the photodetector is connected to a digital storage filter and a digital frequency and phase detector, the digital storage filter is connected to an adder through a computer, the input end of the digital frequency and phase detector is also connected to the first signal source, and the output end is connected to the adder through a loop filter;

[0046] The adder is connected to the voltage-controlled oscillator through an arbitrary function generator, and the voltage-controlled oscillator is connected to the electro-optic modulator, so as to drive the electro-optic modulator through the emitted high-quality driving signal.

[0047] When using, Figure 3 As shown, the continuous wave laser generates a single-frequency continuous wave laser which enters the electro-optic modulator driven by the voltage-controlled oscillator. The electro-optic modulator converts the single-frequency continuous wave laser into a multi-sideband linear swept laser. Preferably, the continuous wave laser is a narrow-linewidth continuous wave laser, and the electro-optic modulator can use a high-bandwidth phase modulator or an intensity modulator.

[0048] After receiving the multi-sideband linear swept laser, the optical filter performs filtering processing on it to generate a high-order sideband linear swept laser, wherein the optical filter may adopt a fiber Bragg grating. Afterwards, the high-order sideband linear swept laser is divided into S1 light and S2 light after passing through the first sub-beam splitter, and the S1 light is divided into S3 light and S4 light through the second sub-beam splitter to an unbalanced Mach-Zehnder interferometer, and the S2 light is the output beam of the high-quality swept laser emission subsystem, that is, the high-quality linear swept laser.

[0049] The S3 light generates a time delay through the first single-mode optical fiber, and the S3 light is frequency-shifted through the acousto-optic modulator. After the two light paths pass through the sub-coupler, they enter the photoelectric detector for coherent detection and are divided into the D1 electrical signal and the D2 electrical signal. After the D1 electrical signal is collected by the digital storage oscilloscope, it is sent to the computer for processing to generate a pre-distortion signal and then connected to an input end of the adder. The D2 electrical signal and the electrical signal output by the first signal source enter the digital frequency and phase detector for frequency and phase detection to generate a phase error signal, enter the loop filter for filtering and amplification, and then connect to the other input end of the adder. After the two electrical signals at the input end of the adder pass through the adder, a superimposed electrical signal is generated through an arbitrary function generator, and then enter the voltage-controlled oscillator to generate a high-quality driving signal to drive the electro-optical modulator.

[0050] As can be seen from the above, in the device provided in the above embodiment, on the one hand, the multi-sideband linear swept laser emitted by the electro-optic modulator is filtered by an optical filter to generate a high-order sideband linear swept laser, and on the other hand, the acousto-optic modulator and the first single-mode optical fiber are simultaneously configured in the unbalanced Mach-Zehnder interferometer, and the signal emitted by the interferometer is frequency- and phase-detected with the electrical signal for reference output by the first signal source to obtain the error between the two, and then the electro-optic modulator is regulated based on the error, so that the high-quality swept laser emission subsystem can emit high-quality linear swept laser with wide bandwidth, narrow linewidth and fast rate.

[0051] Optionally, in an exemplary embodiment provided by the present application, the dual electro-optical comb generator subsystem includes a parallel signal electro-optical comb and a local oscillator electro-optical comb, which are respectively arranged between two input ends and two output ends of the dual electro-optical comb generator subsystem, and are used to convert a single-channel laser beam into a multi-channel parallel measurement laser beam. Figure 4 , Figure 4 yes Figure 1 A schematic diagram of a dual electro-optic comb generator subsystem in an exemplary embodiment is shown in FIG. Figure 4 As shown, the signal electro-optical comb includes a second signal source, a first power divider, a preset number of modulation structures, a second single-mode optical fiber, a first highly nonlinear optical fiber, and a second optical amplifier connected in sequence, and the modulation structure is also connected to the input end of the dual electro-optical comb generator subsystem;

[0052] The local oscillator electro-optical comb includes a third signal source, a second power divider, a preset number of modulation structures, a third single-mode optical fiber, a second high nonlinear optical fiber and a third optical amplifier which are connected in sequence.

[0053] In this embodiment, Figure 4As shown, the preset number of modulation structures in the signal electro-optical comb and the local oscillator electro-optical comb include a group of sequentially connected phase shifters, amplifiers and intensity modulators, and multiple groups of sequentially connected phase shifters, electrical amplifiers and phase modulators. For example, the fourth phase shifter, the fourth electrical amplifier and the first intensity modulator, and the first phase modulator, the second phase modulator, the third phase modulator, the first phase shifter, the first electrical amplifier, the second phase shifter, the second electrical amplifier, the third phase shifter and the third electrical amplifier in the signal electro-optical comb; the eighth phase shifter, the eighth electrical amplifier and the second intensity modulator, and the fifth phase shifter, the fifth electrical amplifier, the sixth phase shifter, the sixth electrical amplifier, the seventh phase shifter and the seventh electrical amplifier in the local oscillator electro-optical comb.

[0054] When in use, after the A-path light emitted by the first beam splitter is connected to the input end of the signal electro-optical comb in the dual electro-optical comb generator subsystem, it successively enters the first phase modulator, the second phase modulator, the third phase modulator, the first intensity modulator, the second single-mode optical fiber, the first highly nonlinear optical fiber, and the second optical amplifier, and then outputs the C-path light from one output end of the dual electro-optical comb generator subsystem. After the B-path light emitted by the first beam splitter is connected to the input end of the local oscillator electro-optical comb in the dual electro-optical comb generator subsystem, it successively enters the fourth phase modulator, the fifth phase modulator, the sixth phase modulator, the second intensity modulator, the third single-mode optical fiber, the second highly nonlinear optical fiber, and the third optical amplifier, and then outputs the D-path light from the other output end of the dual electro-optical comb generator subsystem.

[0055] Among them, the first phase modulator, the second phase modulator, the third phase modulator, the fourth phase modulator, the fifth phase modulator, the sixth phase modulator, the first intensity modulator and the second intensity modulator use high-bandwidth phase modulators and intensity modulators, and the second single-mode optical fiber and the third single-mode optical fiber use single-mode optical fibers with negative second-order dispersion coefficients.

[0056] The first phase modulator, the second phase modulator, the third phase modulator, the fourth phase modulator, the fifth phase modulator and the sixth phase modulator are used to generate an optical frequency comb laser, and the first intensity modulator and the second intensity modulator are used to improve the spectral flatness of the generated optical frequency comb laser. The second single-mode optical fiber and the third single-mode optical fiber are used to perform dispersion compensation on the generated optical frequency comb laser, and the first high nonlinear optical fiber and the second high nonlinear optical fiber are used to expand the spectral width of the optical frequency comb laser.

[0057] In this way, the second optical amplifier and the third optical amplifier are used to amplify the power of the optical frequency comb laser, and the cascaded first phase modulator, the second phase modulator, the third phase modulator, the first intensity modulator, the second single-mode optical fiber, the first highly nonlinear optical fiber and the second optical amplifier are used to generate a high-power, wide and flat optical frequency comb laser C path light. In addition, the cascaded fourth phase modulator, the fifth phase modulator, the sixth phase modulator, the second intensity modulator, the third single-mode optical fiber, the second highly nonlinear optical fiber and the third optical amplifier are used to generate another high-power, wide and flat optical frequency comb laser D path light.

[0058] Thus, in this embodiment, the two high-quality linear frequency-sweeping laser beams after the splitting are processed by the signal electro-optical comb and the local oscillator electro-optical comb respectively to obtain multi-channel parallel laser beams.

[0059] Optionally, in an exemplary embodiment provided by the present application, the light beam transceiver subsystem includes a fiber circulator, a collimator, a scanning galvanometer, a single lens and a transmission grating connected in sequence, which are used to realize the emission and scanning of the light beam and the reception of the target reflected light signal. Figure 5 , Figure 5 yes Figure 1 A schematic diagram of the beam transceiver subsystem in an exemplary embodiment is shown in FIG. Figure 5 As shown, the beam transceiver subsystem includes a fiber circulator, a collimator, a scanning galvanometer, a single lens, and a transmission grating which are connected in sequence.

[0060] The optical fiber circulator has a first port, a second port and a third port, and is used to transmit the light circulation from the first port to the second port and from the second port to the third port. The first port of the optical fiber circulator is connected to the second beam splitter, the second port is connected to the collimator, and the third port is connected to the data processing subsystem.

[0061] When in use, the E-path light enters from the first port of the optical fiber circulator and then outputs from the second port. The output light beam passes through the collimator for beam collimation and then outputs the collimated light to enter the scanning galvanometer; the scanning galvanometer is used for slow-axis light beam scanning, and the collimated light is deflected by the scanning galvanometer and then outputs the deflected light to enter the single lens; the single lens is used for focusing and projecting the deflected light beam, and the deflected light passes through the single lens and then enters the transmission grating; the transmission grating is used for fast-axis light beam scanning, and the output light of the single lens is projected onto the target surface through the transmission grating; the light beam reflected from the target surface passes through the transmission grating, the collimator, the scanning galvanometer, and the collimator in sequence, then enters from the second port of the optical fiber circulator and then outputs from the third port.

[0062] Through the device provided in this embodiment, by configuring a single-head well and a projection grating in the beam transceiver subsystem, laser measurement using high-quality linear swept laser is achieved, and multiple returned light beams can be received, thereby improving measurement efficiency.

[0063] Optionally, in an exemplary embodiment provided by the present application, the data processing subsystem includes a tunable optical filter, a 90° optical mixer, a first balanced photodetector, a second balanced photodetector, a third balanced photodetector and a digital signal processing unit, which is used to process and demodulate the received optical signal, i.e., the measurement data. Figure 6 , Figure 6 yes Figure 1 A schematic diagram of a data processing subsystem in an exemplary embodiment is shown in FIG. Figure 6 As shown, the first balanced photodetector, the second balanced photodetector and the third balanced photodetector are connected to the digital signal processing unit through corresponding low-pass filters and analog-to-digital converters, and the other end of the first balanced photodetector is connected to the coupler;

[0064] The output end of the 90° optical mixer is connected to the second balanced photodetector and the third balanced photodetector, one input end is connected to the beam transceiver subsystem, and the other input end is connected to the tunable optical filter and then to the third beam splitter.

[0065] When in use, the I and J path lights enter the first balanced photodetector for coherent detection, and then successively pass through the first low-pass filter signal filtering and the first analog-to-digital converter for analog-to-digital conversion of electrical signals; the G path light enters the tunable optical filter, and the tunable optical filter is used to filter out the spontaneous radiation noise introduced by the first optical amplifier and the third optical amplifier in the G path light. The G path light after passing through the tunable optical filter is combined with the H path light in the 90° optical mixer, and the 90° optical mixer is used to generate four orthogonal lights E1, E2, E3 and E4. The E1 and E2 path lights enter the second balanced photodetector for coherent detection, and then successively pass through the second low-pass filter signal filtering and the second analog-to-digital converter for analog-to-digital conversion of electrical signals; the E3 and E4 path lights enter the third balanced photodetector for coherent detection, and then successively pass through the third low-pass filter signal filtering and the third analog-to-digital converter for analog-to-digital conversion of electrical signals; the three digital electrical signals passing through the first analog-to-digital converter, the second analog-to-digital converter and the third analog-to-digital converter enter the digital signal processing unit for data processing and target information demodulation.

[0066] In this way, the data processing subsystem of this embodiment utilizes the in-phase / quadrature demodulation technology to extract signal information, which can greatly reduce the number of detectors required for signal reception and greatly simplify the hardware complexity of the system.

[0067] Figure 7This is a flow chart of a new frequency modulated continuous wave laser radar measurement method shown in an exemplary embodiment of the present application. The method can be specifically executed by a server. In the implementation environment, the server can be an independent server, or it can be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. This is not limited here. In other implementation environments, the method can be executed by devices in other implementation environments, and this embodiment does not limit this.

[0068] like Figure 7 As shown, the novel frequency modulated continuous wave laser radar measurement method may include steps S701 to S706, which are described in detail as follows:

[0069] S701, obtaining high-quality linear frequency-sweep lasers that meet preset error requirements and are emitted by a high-quality frequency-sweep laser emission subsystem.

[0070] S702, performing beam splitting processing on the high-quality linear swept laser through a first beam splitter, and inputting the high-quality linear swept laser after the beam splitting processing into a dual electro-optic comb generator subsystem.

[0071] S703, using the dual electro-optical comb generator subsystem to generate an optical frequency comb laser based on the high-quality linear swept laser after beam splitting processing.

[0072] S704, obtaining a matching relationship between the optical frequency comb laser and a preset shape condition.

[0073] S705, when the matching relationship characterizes that the optical frequency comb laser meets the preset shape condition, the optical frequency comb laser is used to measure the object to be measured by the optical beam transceiver subsystem to obtain measurement data.

[0074] S706, using the data processing subsystem to obtain a three-dimensional surface topography image of the object to be measured based on the measurement data.

[0075] In this embodiment, the high-quality swept-frequency laser emitting subsystem is used to emit high-quality linear swept-frequency laser. In order to ensure the measurement effect, a preset error requirement is configured so that the high-quality swept-frequency laser emitting subsystem emits a high-quality linear swept-frequency laser that meets the preset error requirement. The high-quality linear swept-frequency laser is amplified by the first optical amplifier and then transmitted to the first beam splitter. The first beam splitter sends the high-quality linear swept-frequency laser after beam splitting processing to the dual electro-optical comb generator subsystem. The dual electro-optical comb generator subsystem generates two optical frequency comb lasers based on the high-quality linear swept-frequency laser after beam splitting processing.

[0076] The dual electro-optical comb generator subsystem converts a single-channel laser beam into a multi-channel parallel measurement laser beam. In order to ensure the measurement quality, it is also necessary to determine whether the optical frequency comb laser it generates matches the preset collision condition. After determining that the optical frequency comb laser meets the preset shape condition through the matching relationship, the two optical frequency comb lasers are sent to the beam transceiver subsystem and the data processing subsystem, so that the beam transceiver subsystem measures the object to be measured and obtains the measurement data. The data processing subsystem obtains the three-dimensional surface morphology of the object to be measured based on the measurement data and the optical frequency comb laser transmitted by the dual electro-optical comb generator subsystem.

[0077] As can be seen from the above, in the method provided in this embodiment, by obtaining high-quality linear swept lasers that meet the preset error requirements and optical frequency comb lasers that meet the preset shape conditions emitted by the high-quality swept laser emission subsystem, the high quality of the light beam used for laser measurement is guaranteed, thereby improving the measurement capability and speed. In addition, based on the principle of dual optical comb coherent channelized receivers of the dual electro-optical comb generator subsystem, the dependence on the detector bandwidth can be reduced, thereby improving the measurement capability while saving hardware resources.

[0078] In an exemplary embodiment provided in the present application, the specific steps of obtaining high-quality linear frequency-sweep lasers that meet preset error requirements may include:

[0079] Acquire an output electrical signal of a photodetector in a high-quality frequency-sweep laser emission subsystem and a first signal output by a first signal source;

[0080] Determine whether the signal frequency of the output electrical signal is the same as that of the first signal and whether the difference in signal phase meets the difference requirement, and if so, determine that the high-quality linear frequency sweeping laser meets the preset error requirement;

[0081] If not, a frequency error signal is obtained based on the output electrical signal and the first signal, and a signal correction is performed on the high-quality frequency-sweeping laser emission subsystem based on the frequency error signal until the high-quality linear frequency-sweeping laser meets the preset error requirement.

[0082] In this embodiment, in order to determine whether the high-quality linear frequency sweeping laser meets the preset error requirement, it is necessary to measure the frequency error of the frequency sweeping optical signal of the high-quality frequency sweeping laser emission subsystem. Specifically, first, the output electrical signal ipd(t) of the photodetector is measured using a digital storage oscilloscope in the high-quality frequency sweeping laser emission subsystem:

[0083]

[0084] Where I0 represents the output electrical signal amplitude, is the delay difference between the two arms of the unbalanced Mach-Zehnder interferometer, f A is the driving frequency of the AOM, is the sweep rate of the linear swept light, is the phase constant.

[0085] Afterwards, the output electrical signal is subjected to Hilbert transform by a computer to extract the phase, thereby obtaining the pre-distortion signal enon(t):

[0086]

[0087] Wherein, H(·) represents the Hilbert transform operator.

[0088] Then, the frequency and phase of the output electrical signal of the photodetector are compared with the frequency of the first signal source. The phase error signal is obtained by performing phase comparison on the phase detector, and the phase error signal is added to the pre-distortion signal after passing through a loop filter to obtain a frequency error signal.

[0089] Thus, the frequency error signal and the phase error signal are analyzed to determine whether the signal frequency of the output electrical signal is the same as that of the first signal, and whether the difference in the signal phase satisfies the difference requirement and is always equal to a constant. If so, it is determined that the high-quality linear frequency sweep laser meets the preset error requirement, and the frequency error of the frequency sweep optical signal output by the high-quality frequency sweep laser emission subsystem reaches the minimum value. If not, the output electrical signal of the arbitrary signal generator is corrected by the computer using the frequency error signal, and the high-quality linear frequency sweep laser is generated by controlling the voltage-controlled oscillator to drive the electro-optical modulator, thereby forming a closed-loop control loop until the high-quality linear frequency sweep laser emitted by the high-quality frequency sweep laser emission subsystem meets the above-mentioned preset error requirement.

[0090] In another exemplary embodiment, in the parameter configuration stage before obtaining high-quality linear swept laser, after the new frequency modulated continuous wave laser radar measurement device provided by the present application is built, the output signal amplitude and frequency of the arbitrary function generator are set, and then the continuous wave laser is turned on, and the output signal drives the electro-optic modulator through the voltage-controlled oscillator to generate a linear swept light including a carrier, a first-order sideband, and a high-order sideband. A digital frequency detector, a loop filter, and a voltage-controlled oscillator with appropriate parameters are selected to construct an optical phase-locked loop, and the parameters of the digital frequency detector, the loop filter, and the voltage-controlled oscillator in the optical phase-locked loop are adjusted to achieve optimal suppression of frequency errors.

[0091] In an exemplary embodiment provided in the present application, the specific steps of obtaining the matching relationship between the optical frequency comb laser and the preset shape condition may include:

[0092] Obtaining the spectral shape of the optical frequency comb laser, and detecting the flatness and quantity of the spectral shape;

[0093] When the flatness and the number reach corresponding preset thresholds, the matching relationship between the optical frequency comb laser and the preset shape condition is characterized as a match;

[0094] When the flatness and the quantity do not reach the corresponding preset thresholds, the matching relationship between the optical frequency comb laser and the preset shape condition is characterized as mismatch.

[0095] In this embodiment, after obtaining the optical frequency comb laser, a spectrometer is used to observe the spectral shape of the output optical frequency comb, and detect its flatness and quantity. If the flatness and quantity reach the corresponding preset thresholds, it is determined that the spectral flatness reaches the highest and the number of comb teeth reaches the largest. Otherwise, the parameters of the dual electro-optical comb generator subsystem are reconfigured until the matching relationship between the generated optical frequency comb laser and the preset shape condition is characterized as a match.

[0096] In addition, the process of generating optical frequency comb laser by the dual electro-optical comb generator subsystem may include the following steps:

[0097] High-power frequency-modulated optical frequency comb laser is obtained by adjusting the input to the phase shifter and the electrical amplifier corresponding to each electro-optical modulator;

[0098] By adjusting the phase shifter and the electric amplifier corresponding to each intensity modulator, a frequency modulated optical frequency comb laser with higher spectral flatness is obtained;

[0099] A second single-mode optical fiber, a third single-mode optical fiber, first high nonlinear optical fiber parameters, and a second high nonlinear optical fiber of appropriate length are selected, and the parameters of the second optical amplifier and the third optical amplifier are adjusted to obtain a high-power, wide-flat frequency-modulated optical frequency comb laser as the optical frequency comb laser output by the dual electro-optical comb generator subsystem.

[0100] In an exemplary embodiment provided by the present application, the specific steps of measuring the object to be measured may include:

[0101] The angle and angular resolution of the scanning galvanometer in the beam transceiver subsystem are reduced, and the slow axis scanning of the object to be measured is performed using the adjusted scanning galvanometer based on the optical frequency comb laser;

[0102] Using a single lens that meets a preset focal length requirement and a transmission grating that meets a preset spatial frequency requirement in a beam transceiver subsystem, fast-axis scanning of the object to be measured is performed based on an optical frequency comb laser;

[0103] A laser feedback signal based on slow axis scanning and fast axis scanning feedback is obtained, and measurement data is calculated based on the laser feedback signal, where the measurement data includes a distance value and a speed value.

[0104] In this embodiment, the angle and angular resolution of the scanning galvanometer in the beam transceiver subsystem are adjusted to achieve slow axis scanning of the beam, and a single lens with a suitable focal length and a transmission grating with a spatial frequency are selected to achieve fast axis scanning of the beam. Then, the beam transceiver subsystem calculates the distance R of the μ-th order comb light measurement target corresponding to the target position of the current object to be measured according to the following formula: μ and speed V μ :

[0105]

[0106] Among them, R μ is the distance of the target measured by the μth order comb light, V μ is the speed of the target measured by the μth order comb light, θ μ is the speed V μ The angle between the μth order comb light measurement path, c is the speed of light, Δf is the frequency detuning of the dual optical comb, B μ is the sweep bandwidth of the μth order comb, T is the sweep period of the linear sweep light, f up μ and f down μ represent the beat frequency of the μth order comb light when measuring the up and down chirps of the optical signal, f sig μ is the starting frequency of the μth-order comb tooth of the signal light comb.

[0107] Therefore, the data processing subsystem counts the distance values ​​and speed values ​​included in all the measurement data to form a laser point cloud image, and the digital signal processing unit displays the three-dimensional surface morphology of the target by processing the laser point cloud image.

[0108] It should be noted that the new frequency modulated continuous wave laser radar measurement device provided in the above embodiment and the new frequency modulated continuous wave laser radar measurement method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In practical applications, the new frequency modulated continuous wave laser radar measurement device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0109] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by one or more processors, the electronic device implements the new frequency modulated continuous wave lidar measurement method provided in the above-mentioned embodiments.

[0110] Figure 8 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 8 The computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 to the random access memory (RAM) 803, such as executing the method in the above embodiment. Various programs and data required for system operation are also stored in the RAM 803. The CPU 801, ROM 802 and RAM 803 are connected to each other through a bus 804. The input / output (I / O) interface 805 is also connected to the bus 804.

[0112] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed.

[0113] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 809, and / or installed from a removable medium 811. When the computer program is executed by a central processing unit (CPU) 801, various functions defined in the system of the present application are executed.

[0114] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier, in which a computer-readable computer program is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0115] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0116] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0117] Another aspect of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the novel frequency modulated continuous wave laser radar measurement method as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0118] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the novel frequency modulated continuous wave laser radar measurement method provided in each of the above embodiments.

[0119] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A novel frequency modulated continuous wave laser radar measurement device, characterized in that: The device comprises a high-quality frequency-sweeping laser emission subsystem, a first optical amplifier, a first beam splitter, a dual electro-optical comb generator subsystem, a second beam splitter, a beam transceiver subsystem, a third beam splitter, a coupler and a data processing subsystem which are connected in sequence; Two input ends of the dual electro-optical comb generator subsystem are connected to the first beam splitter, one output end of the dual electro-optical comb generator subsystem is connected to the beam transceiver subsystem through the second beam splitter, one output end of the second beam splitter is connected to the beam transceiver subsystem, and another output end of the second beam splitter is connected to the data processing subsystem through the coupler; Another output end of the dual electro-optical comb generator subsystem is connected to the third beam splitter, one output end of the third beam splitter is connected to the data processing subsystem, and another output end of the third beam splitter is connected to the data processing subsystem through the coupler; The high-quality linear swept-frequency laser emitted by the high-quality swept-frequency laser emission subsystem is amplified by the first optical amplifier and then transmitted to the first beam splitter. The first beam splitter sends the high-quality linear swept-frequency laser after the beam splitting process to the dual electro-optical comb generator subsystem. The dual electro-optical comb generator subsystem sends the optical frequency comb laser generated based on the high-quality linear swept-frequency laser after the beam splitting process to the beam transceiver subsystem and the data processing subsystem, so that the beam transceiver subsystem measures the object to be measured and obtains the measurement data; the data processing subsystem obtains the three-dimensional surface morphology image of the object to be measured based on the measurement data and the optical frequency comb laser transmitted by the dual electro-optical comb generator subsystem; The high-quality frequency-sweeping laser emission subsystem includes a continuous wave laser, an electro-optic modulator, an optical filter, a first sub-beam splitter, and a signal correction structure; The electro-optic modulator is connected to the continuous wave laser and the signal correction structure, and after being driven by the signal correction structure, is used to modulate the single-frequency continuous wave laser emitted by the continuous wave laser into a multi-sideband linear frequency sweeping laser; The optical filter is connected to the electro-optic modulator and the first sub-beam splitter, one output end of the first sub-beam splitter is connected to the signal correction structure, and the other output end serves as the output end of the high-quality swept-frequency laser emission subsystem, and the optical filter is used to perform high-order sideband filtering on the multi-sideband linear swept-frequency laser, so that the high-quality swept-frequency laser emission subsystem outputs high-quality linear swept-frequency laser through the first sub-beam splitter; The signal correction structure includes an unbalanced Mach-Zehnder interferometer, a photodetector, a digital storage filter, a computer, a first signal source, a digital frequency and phase detector, a loop filter, an adder, an arbitrary function generator, and a voltage-controlled oscillator; The unbalanced Mach-Zehnder interferometer comprises a second sub-beam splitter, an acousto-optic modulator, a first single-mode optical fiber and a sub-coupler, wherein the second sub-beam splitter is connected to the first beam splitter, one end of the acousto-optic modulator and the first single-mode optical fiber is connected to the second sub-beam splitter, and the other end is connected to the sub-coupler, and the sub-coupler is connected to the photodetector; The other end of the photodetector is connected to the digital storage filter and the digital frequency and phase detector, the digital storage filter is connected to the adder through the computer, the input end of the digital frequency and phase detector is also connected to the first signal source, and the output end is connected to the adder through the loop filter; The adder is connected to the voltage-controlled oscillator through the arbitrary function generator, and the voltage-controlled oscillator is connected to the electro-optical modulator, and is used to drive the electro-optical modulator by sending a high-quality driving signal.

2. The device according to claim 1, characterized in that The dual electro-optical comb generator subsystem comprises a parallel signal electro-optical comb and a local oscillator electro-optical comb, which are respectively arranged between two input terminals and two output terminals of the dual electro-optical comb generator subsystem; The signal electro-optic comb comprises a second signal source, a first power divider, a preset number of modulation structures, a second single-mode optical fiber, a first highly nonlinear optical fiber, and a second optical amplifier connected in sequence, and the modulation structure is also connected to the input end of the dual electro-optic comb generator subsystem; The local oscillator electro-optical comb includes a third signal source, a second power divider, a preset number of modulation structures, a third single-mode optical fiber, a second high nonlinear optical fiber and a third optical amplifier which are connected in sequence.

3. The device according to claim 1, characterized in that The light beam transceiver subsystem comprises a fiber circulator, a collimator, a scanning galvanometer, a single lens and a transmission grating which are connected in sequence.

4. The device according to claim 1, characterized in that The data processing subsystem includes a tunable optical filter, a 90° optical mixer, a first balanced photodetector, a second balanced photodetector, a third balanced photodetector and a digital signal processing unit; The first balanced photodetector, the second balanced photodetector and the third balanced photodetector are connected to the digital signal processing unit through corresponding low-pass filters and analog-to-digital converters, and the other end of the first balanced photodetector is connected to the coupler; The output end of the 90° optical mixer is connected to the second balanced photodetector and the third balanced photodetector, one input end is connected to the beam transceiver subsystem, and the other input end is connected to the tunable optical filter and then connected to the third beam splitter.

5. A novel frequency modulated continuous wave laser radar measurement method, characterized in that: The novel frequency modulated continuous wave laser radar measurement device according to any one of claims 1 to 4, the method comprising: Acquire high-quality linear frequency-sweep lasers that meet preset error requirements emitted by a high-quality frequency-sweep laser emission subsystem; Performing beam splitting processing on the high-quality linear frequency-sweep laser through a first beam splitter, and inputting the high-quality linear frequency-sweep laser after the beam splitting processing into a dual electro-optical comb generator subsystem; Using the dual electro-optical comb generator subsystem to generate an optical frequency comb laser based on the high-quality linear frequency-sweep laser after the beam splitting process; Acquiring a matching relationship between the optical frequency comb laser and a preset shape condition; When the matching relationship indicates that the optical frequency comb laser satisfies the preset shape condition, the optical frequency comb laser is used to measure the object to be measured by the optical beam transceiver subsystem to obtain measurement data; A data processing subsystem is used to obtain a three-dimensional surface topography image of the object to be measured based on the measurement data.

6. The method according to claim 5, characterized in that The method of obtaining high-quality linear frequency-sweep laser light emitted by the high-quality frequency-sweep laser emission subsystem and meeting a preset error requirement comprises: Acquire an output electrical signal of a photodetector in the high-quality frequency-sweeping laser emission subsystem and a first signal output by a first signal source; Determine whether the signal frequency of the output electrical signal is the same as that of the first signal and whether the difference in signal phase meets the difference requirement, and if so, determine that the high-quality linear frequency sweeping laser meets the preset error requirement; If not, a frequency error signal is obtained based on the output electrical signal and the first signal, and a signal correction is performed on the high-quality swept-frequency laser emission subsystem based on the frequency error signal until the high-quality linear swept-frequency laser meets the preset error requirement.

7. The method according to claim 5, characterized in that The obtaining of a matching relationship between the optical frequency comb laser and a preset shape condition comprises: Acquiring a spectrum shape of the optical frequency comb laser, and detecting the flatness and quantity of the spectrum shape; When the flatness and the number reach corresponding preset thresholds, the matching relationship between the optical frequency comb laser and the preset shape condition is characterized as matching; When the flatness and the number do not reach corresponding preset thresholds, the matching relationship between the optical frequency comb laser and the preset shape condition is characterized as mismatch.

8. The method according to claim 5, characterized in that The optical frequency comb laser is used to measure the object to be measured by the optical beam transceiver subsystem to obtain measurement data, including: Adjusting the angle and angular resolution of a scanning galvanometer in a beam transceiver subsystem, and using the adjusted scanning galvanometer to perform slow-axis scanning of an object to be measured based on the optical frequency comb laser; Using a single lens that meets a preset focal length requirement and a transmission grating that meets a preset spatial frequency requirement in the beam transceiver subsystem, fast-axis scanning of the object to be measured is performed based on the optical frequency comb laser; A laser feedback signal based on the slow axis scanning and the fast axis scanning feedback is acquired, and measurement data is calculated based on the laser feedback signal, wherein the measurement data includes a distance value and a speed value.

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