CN110780281A - Optical phased array laser radar system - Google Patents
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- CN110780281A CN110780281A CN201911087564.2A CN201911087564A CN110780281A CN 110780281 A CN110780281 A CN 110780281A CN 201911087564 A CN201911087564 A CN 201911087564A CN 110780281 A CN110780281 A CN 110780281A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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Abstract
The invention provides an optical phased array laser radar system, wherein a laser, an optical phased array and a photoelectric detector are sequentially connected with three ports of a circulator according to a preset sequence, so that a laser signal emitted by the laser can be transmitted to the optical phased array through the circulator, all or part of the laser signal is emitted outwards by the optical phased array, and a laser return signal irradiated to a scanned object is collected; then the laser return signal is sent to a photoelectric detector through a circulator; and finally, calculating the distance of the scanned object by the control unit according to the time corresponding to the laser return signal received by the photoelectric detector or the converted electric signal. The system can be used for pulse or coherent detection laser radars, and the optical phased array can receive laser signals and transmit outwards, can also receive laser return signals and send to photoelectric detector, and compared with the structure that the transmission and the reception are respectively realized through two optical phased arrays in the prior art, the structure is smaller in size and lower in cost.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to an optical phased array laser radar system.
Background
The laser radar system has remarkable advantages in the aspects of directivity, stability, resolution, detection distance and the like. With the development of science and technology, laser radar systems are widely applied to the military field and the civil field. For example, laser radar directed communication, intelligence collection, weapon tracking, identification guidance are employed; the laser radar is adopted to carry out atmospheric detection, urban detection, ocean detection, autonomous driving, robotics, laser television, laser three-dimensional imaging, industrial robots, GPS positioning and the like.
The conventional chip-type lidar, please refer to fig. 1, includes two optical phased arrays, which are respectively used for Transmitting (TX) and Receiving (RX). However, the chip-type lidar shown in fig. 1 requires a tunable laser and two optical phased arrays, and therefore, the chip-type lidar has a large overall size and requires a high cost.
Disclosure of Invention
In view of this, an embodiment of the present invention provides an optical phased array laser radar system to solve the problems of a laser radar system in the prior art, such as large overall size and high cost.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the invention discloses an optical phased array laser radar system, which comprises: the device comprises a laser, an optical phased array, a photoelectric detector, a control unit and a circulator; wherein,
the laser, the optical phased array and the photoelectric detector are sequentially connected with three ports of the circulator according to a preset sequence;
the laser is used for sending out a laser signal;
the optical phased array is used for emitting all or part of the laser signals outwards and collecting laser return signals irradiated to the scanned object;
the photoelectric detector is used for receiving the laser return signal output by the optical phased array;
the circulator is used for transmitting the received signal to a next port;
the control unit is connected with the laser, the optical phased array and the photoelectric detector and used for calculating the distance of the scanned object according to the laser return signal.
Optionally, in the above optical phased array lidar system, the laser is connected to a first port of the circulator, the optical phased array is connected to a second port of the circulator, and the photodetector is connected to a third port of the circulator;
the laser signal is a pulse light signal;
when the control unit is used for calculating the distance of the scanned object according to the laser return signal, the control unit is specifically used for: and determining the time corresponding to the laser signal, and the time corresponding to the laser return signal received by the photoelectric detector, and calculating the distance between the scanned objects according to the two times.
Optionally, in the above optical phased array lidar system, further comprising: and the partial reflector is arranged between the circulator and the optical phased array and is used for partially reflecting the laser signal output by the circulator and transmitting the reflected partially reflected laser signal to the photoelectric detector through the circulator.
Optionally, in the above optical phased array lidar system, the photodetector is a coherent photodetector; the photoelectric detector is also used for receiving the partial reflection laser signal through the circulator and converting a composite signal of the partial reflection laser signal and the laser return signal into an electric signal.
Optionally, in the above optical phased array lidar system, further comprising: and the circulator is arranged between the partial reflector and the optical phased array and is used for transmitting the laser signal output by the partial reflector to the optical phased array and transmitting the laser return signal collected by the optical phased array to the photoelectric detector.
Optionally, in the above optical phased array lidar system, the photodetector is a coherent photodetector; the photodetector is also used for receiving the partially reflected laser signal through a circulator in front of the partial reflector and converting a composite signal of the partially reflected laser signal and the laser return signal into an electric signal.
Optionally, in the above optical phased array lidar system, the partial reflector and the optical phased array may be integrated on the same chip;
the partial reflector is a waveguide with a grating, or an optical waveguide with a directional coupler, or a partial reflector with adjustable distribution ratio;
the laser signal is a pulse light signal or a modulated laser signal.
Optionally, in the above optical phased array lidar system, further comprising: and the beam splitter is arranged between the laser and the optical phased array and used for splitting the laser signal, transmitting a first split laser signal to the optical phased array and transmitting a second split laser signal to the photoelectric detector.
Optionally, in the above optical phased array lidar system, the beam splitter is disposed between the laser and the circulator, or between the circulator and the optical phased array.
Optionally, in the above optical phased array lidar system, the photodetector is a coherent photodetector; the photoelectric detector is also used for receiving the second beam splitting laser signal and converting a composite signal of the second beam splitting laser signal and the laser return signal into an electric signal.
Optionally, in the above optical phased array lidar system, the laser signal is a modulated continuous wave signal;
when the control unit is used for calculating the distance of the scanned object according to the laser return signal, the control unit is specifically used for: and detecting the difference frequency signal of the electric signal, and calculating the distance of the scanned object according to the difference frequency signal.
Based on the above optical phased array lidar system provided by the embodiment of the present invention, the system includes: the device comprises a laser, an optical phased array, a photoelectric detector, a control unit and a circulator; the laser, the optical phased array and the photoelectric detector are sequentially connected with three ports of the circulator according to a preset sequence, so that a laser signal emitted by the laser can be transmitted to the optical phased array through the circulator, all or part of the laser signal is emitted outwards by the optical phased array, and a laser return signal irradiated to a scanned object is collected; then the laser return signal is sent to a photoelectric detector through a circulator; and finally, calculating the distance of the scanned object by the control unit according to the time corresponding to the laser return signal received by the photoelectric detector or the converted electric signal. The system can be used for a pulse or coherent detection laser radar, an optical phased array in the system can receive laser signals of a laser and transmit the laser signals outwards, and can also receive laser return signals and send the laser return signals to a photoelectric detector, namely, the transmission and the reception are completed by one optical phased array.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a conventional lidar system;
fig. 2 to fig. 3 are schematic structural diagrams of two optical phased array lidar systems provided in the embodiments of the present application;
4a, 4b, 4c are schematic structural diagrams of three partial reflectors provided in the embodiments of the present application;
fig. 5 to 7 are schematic structural diagrams of three optical phased array lidar systems according to embodiments of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the invention provides an optical phased array laser radar system, which aims to solve the problems of large overall size and high cost of a laser radar system in the prior art.
Referring to fig. 2, the optical phased array lidar system includes:
a laser 101, an optical phased array 103, a photodetector 104, a control unit (not shown), and a circulator 102; wherein,
the laser 101, the optical phased array 103 and the photodetector 104 are sequentially connected to three ports of the circulator 102 in a preset sequence.
Specifically, the laser 101 is connected to a first port of the circulator 102, the optical phased array 103 is connected to a second port of the circulator 102, and the photodetector 104 is connected to a third port of the circulator 102.
And a laser 101 for emitting a laser signal.
Specifically, the laser 101 may be a pigtailed semiconductor laser, an optical fiber amplifier and its amplifier, or other devices with laser signal emitting function in the prior art. The selection of the laser 101 may be determined according to the application environment, and the present application is not limited specifically, and all of the applications fall within the scope of the present application.
And the optical phased array 103 is used for emitting all or part of the laser signals outwards and collecting the laser return signals after the laser signals irradiate the scanned object.
Specifically, when the optical phased array lidar system is not provided with a beam splitter or a partial reflector, the optical phased array 103 is used to emit all of the laser signal outward. Otherwise, part of the laser signal is emitted outwards.
The optical phased array 103 is a chip or a device having an optical phased array function. Specifically, the optical phased array chip may be an SOI-based optical phased array chip, and of course, other existing chips may also be used.
And the photoelectric detector 104 is used for receiving the laser return signal output by the optical phased array.
In practical applications, the photodetector 104 may be an InGaAs avalanche photodiode, or a coherent photodetector; of course, other existing devices may also be used, and the present application is not limited specifically and all of them fall within the scope of the present application.
A circulator 102 for transmitting the received signal to a next port.
Specifically, the circulator 102 is a device having a unidirectional ring transmission function.
If the circulator 102 has three ports, the transmission path is generally: the signal is transmitted from the first port to the second port or from the second port to the third port.
The control unit is connected with the laser 101, the optical phased array 103 and the photoelectric detector 104 in a wired or wireless connection mode, and can control the laser 101 to emit laser signals by enabling the laser 101 and calculate the distance of the scanned object according to the laser return signals.
When the laser 101 is connected to the first port of the circulator 102, the optical phased array 103 is connected to the second port of the circulator 102, the photodetector 104 is connected to the third port of the circulator 102, and the laser signal is a pulse light signal, the control unit is configured to calculate a distance to the scanned object according to the laser return signal, specifically: the time corresponding to the laser signal emission and the time corresponding to the laser return signal received by the photoelectric detector 104 are determined, and then the distance of the scanned object is calculated according to the two times.
Specifically, the control unit is a control center of the optical phased array laser radar system, and can control corresponding devices in the optical phased array 103 to execute actions and control the laser 101 to emit pulsed light signals or modulated laser signals; and then determines the time corresponding to the laser return signal received by the photodetector 104 by communicating with the photodetector 104.
It should be noted that the modulated laser signal is a modulated pulsed light signal, or the modulated laser signal may be a frequency modulated continuous wave signal, in which the frequency changes in a time-linear cycle.
If the laser 101 is a semiconductor laser with a pigtail, the generated laser is 1550 nm; the circulator 102 is a fiber circulator and has three ports A, B, C (corresponding to a first port, a second port, and a third port, respectively), and the signal transmission sequence of the ports is: a → B, B → C; the optical phased array 103 is an optical phased array chip based on SOI; the photodetector 104 is an InGaAs avalanche photodiode, and the specific connection relationship and working process of the optical phased array laser radar system are as follows:
the tail fiber of the laser is in butt joint with the port A of the optical fiber circulator, the port B of the optical fiber circulator is in butt joint with the incident optical fiber of the optical phased array chip, and the port C of the optical fiber circulator is in butt joint with the avalanche photodiode.
The control unit applies a pulse signal to the semiconductor laser, i.e., the laser 101 can generate a laser pulse signal of 5 nanoseconds, and records the time at which the laser pulse signal is generated. The semiconductor laser amplifies the laser pulse signal and transmits the amplified laser pulse signal to the optical phased array chip through an A port and a B port of the optical fiber circulator; the optical phased array chip radiates the signal to the space, and when the laser pulse signal irradiates a target object, the laser pulse signal is reflected back to the optical phased array chip, namely the optical phased array collects a laser return signal; the returned laser return signal enters a port B of the optical fiber circulator and enters the avalanche photodetector through a port C; after the avalanche photodetector detects the laser return signal, recording the time corresponding to the detected laser return signal; the control unit compares the time of generating the laser pulse signal with the time of returning the laser signal to obtain the flight time of the laser pulse signal, and then multiplies the flight time by the light speed to obtain the distance of the target object, namely the distance of the scanned object.
Note that the angle of the radiated light can be adjusted by controlling the phase of the optical phased array chip.
In this embodiment, through the above principle, the optical phased array 103 in the system can receive the laser signal of the laser to emit outward, and can receive the laser return signal to send to the photodetector, and compared with the structure that realizes emitting and receiving respectively through two optical phased arrays in the prior art, the volume is smaller, the cost is lower, and the whole volume of the whole system is smaller and the cost is lower. Moreover, if the photodetector 104 is a coherent photodetector, a weaker optical signal can be detected, which increases the detection distance.
It is worth mentioning that the optical phased array laser radar system provided by the application is an all-solid-state laser radar, and because no mechanical transmission part is arranged, the volume of the system is far smaller than that of a mechanical laser radar, the system is lighter in weight, faster in scanning speed and lower in energy consumption, and the system can also be used for pulse or coherent detection laser radars.
On the basis of fig. 2, please refer to fig. 3. Another embodiment of the present application further provides an optical phased array lidar system, which further includes: and the partial reflector 105 is arranged between the circulator 102 and the optical phased array 103 and is used for partially reflecting the laser signal output by the circulator 102 and transmitting the reflected partially reflected laser signal to the photoelectric detector 104 through the circulator 102.
Specifically, the partially reflected laser signal is a signal of the laser signal after being reflected by the partial reflector.
It should be noted that the partial reflector 105 may be a waveguide with a grating, or an optical waveguide with a directional coupler (as shown in fig. 4 a), or a partial reflector with a directional coupler having an adjustable splitting ratio (as shown in fig. 4 b), or a partial reflector with an MMI (multi-mode interference ) having an adjustable splitting ratio (as shown in fig. 4 c). In practical applications, the partial reflector 105 may have other structures, and the structures capable of implementing the corresponding functions are within the scope of the present application.
If the optical phased array laser system further comprises: a partial reflector 105 disposed between the circulator 102 and the optical phased array 103, and the photodetector 104 is a coherent photodetector, the photodetector 104 in the system is further configured to receive the partially reflected laser light signal via the circulator 102 and convert a combined signal of the partially reflected laser light signal and the laser return signal into an electrical signal.
The coherent photodetector is a photodetector having a function of receiving two optical signals. The received partially reflected laser signal may be combined with the laser return signal received from the optical phased array 103 and the combined signal converted into an electrical signal.
If the laser signal emitted by the laser is a modulated laser signal, the paths of two beams of optical signals of the partially reflected laser signal and the laser return signal are different, the flight time is different, and the frequencies corresponding to the electrical signals obtained after the conversion by the coherent photoelectric detector are different. The control unit can detect the difference frequency signal of the electric signal, calculate the time difference of flight according to the difference frequency signal and further calculate the distance of the scanned object.
It is further noted that the partial reflector 105 and the optical phased array 103 may be integrated on the same chip. In the optical phased array lidar system with the partial reflector 105, the laser signal emitted by the laser 101 may be a pulsed light signal or a modulated laser signal.
In this embodiment, after the partial reflector 105 is added to the optical phased array lidar system, in addition to determining the time when the laser signal is emitted and the time when the photodetector 104 receives the laser return signal, and then calculating the distance to the scanned object according to the two times, the characteristic that the modulated laser signal changes in a time linear cycle can be utilized, an electrical signal is obtained by conversion of a coherent photodetector, and then the difference frequency signal in the electrical signal is utilized to calculate the distance to the scanned object, so that the determination of the time when the control unit emits the laser signal and the determination of the time when the photodetector 104 receives the laser return signal are avoided, and the control difficulty of the control unit is reduced. Furthermore, since the partial reflector 105 and the optical phased array 103 can be integrated on the same chip, the overall size of the system is not increased.
On the basis of fig. 3, referring to fig. 5, the optical phased array lidar system further includes: and another circulator 106 arranged between the partial reflector 105 and the optical phased array 103 and used for transmitting the laser signal output by the partial reflector 105 to the optical phased array 103 and transmitting the laser return signal collected by the optical phased array 103 to the photodetector 104.
In practical applications, if the photodetector 104 is a coherent photodetector, the photodetector 104 is further configured to receive the partially reflected laser light signal via the circulator 102 in front of the partial reflector 105, and convert a combined signal of the partially reflected laser light signal and the laser return signal into an electrical signal.
If the photodetector 104 is a coherent photodetector, the laser return signal does not need to pass through the partial reflector 105 after the addition of the another circulator 106, but directly enters the coherent photodetector through the added another circulator 106, so that the path of the return laser signal is shortened, delay caused by an excessively long path is avoided, and the scanning speed of the system is increased.
It should be noted that, for the description of each device in the optical phased array lidar system, reference may be made to the embodiment corresponding to fig. 2, and details are not repeated here.
On the basis of fig. 2, please refer to fig. 6 or fig. 7, another embodiment of the present application further provides an optical phased array lidar system, further comprising: and the beam splitter 107 is arranged between the laser 101 and the optical phased array 103, and is used for splitting the laser signal, transmitting the split first split laser signal to the optical phased array 103, and transmitting the second split laser signal to the photodetector 104.
The first split laser signal and the second split laser signal are signals obtained by splitting a laser signal.
Specifically, the beam splitter 107 may be disposed between the laser 101 and the circulator 102 (as shown in fig. 6), or disposed between the circulator 102 and the optical phased array 103 (as shown in fig. 7). In practical applications, the position of the beam splitter 107 may depend on the application environment, and the present application is not particularly limited and falls within the scope of the present application.
Taking fig. 6 as an example, the optical signal transmission path of the optical phased array lidar system is: a laser 101 emits a modulated laser signal, and after passing through a beam splitter 107, a part of the modulated laser signal directly enters a coherent photodetector, that is, a split second split laser signal is transmitted to a photodetector 104; the other part passes through the circulator 102 and enters the optical phased array 103, namely, the first split laser signal is transmitted to the optical phased array 103; the optical phased array 103 emits the first split laser signal to the space, and when the first split laser signal irradiates on a target object, a laser return signal is returned, and the laser return signal passes through the optical phased array 103 and enters the coherent photodetector through the circulator 102.
It should be noted that the transmission paths of the optical signals in fig. 7 are similar to those in fig. 6, and they can be referred to each other, and are not described herein again.
It should also be noted that the photodetector 104 in the optical phased array lidar system provided with the beam splitter 107 is typically a coherent photodetector.
If the system further comprises: and a beam splitter 107 arranged between the laser 101 and the optical phased array 103, wherein the photodetector 104 in the system is further configured to receive the second split laser signal and convert a composite signal of the split second split laser signal and the laser return signal into an electrical signal.
Similarly, the control unit can detect a difference frequency signal between the second split laser signal and the laser return signal after being converted into the electric signal, and calculate the distance of the scanned object according to the difference frequency signal.
It should be noted that the control unit may detect a difference frequency signal between the second split laser signal and the laser return signal after being converted into the electrical signal, and then calculate a correlation description of a distance to a scanned object according to the difference frequency signal, which is the same as that in the embodiment corresponding to fig. 3, and the optical phased array laser radar system after the beam splitter 107 is provided, and the actions that the photodetector 104 and the control unit are further configured to perform are the same as those in the embodiment corresponding to fig. 3, which may refer to the correlation description in the embodiment corresponding to fig. 3, and thus, are not described again.
In this embodiment, after the beam splitter 107 is added to the optical phased array lidar system, in addition to determining the time corresponding to the laser signal emission and the time corresponding to the laser return signal received by the photodetector 104, the distance of the scanned object is calculated according to the two times, the characteristic that the modulated laser signal is in time linear periodic variation can be utilized, an electrical signal is obtained through conversion by the coherent photodetector, the difference frequency signal in the electrical signal is utilized to calculate the distance of the scanned object, thereby avoiding the determination of the time corresponding to the laser signal emission by the control unit and the determination of the time when the laser return signal is received by the photodetector 104, and reducing the control difficulty of the control unit.
Finally, it is worth explaining that, in practical application, a CMOS process may be applied, and the optical phased array 103, the partial reflector 105, the beam splitter 107, the photodetector 104, and the control unit may be integrated on the same chip, which not only further reduces the overall size of the optical phased array lidar system and lowers the required cost, but also makes the coupling and packaging of the chip easier, and has higher integration level, smaller size, stable performance, mass production, and lower cost, and meets the requirements of miniaturization and low cost. In addition, a large number of optical communication devices which are developed by utilizing the silicon-based photoelectronic technology and work near the wavelength of-1.55 mu m can be conveniently connected with an optical fiber network to realize networking, and the band belongs to a human eye safe band and has good safety performance. Moreover, the silicon-based optoelectronic integration technology is completely compatible with an integrated circuit, can complete the manufacture of an electronic control unit and a logic circuit while integrating optoelectronic devices, is easy to realize the integration with an intelligent circuit control unit, and provides convenient conditions for realizing intelligent control on a chip.
It should be noted that, a specific implementation process of integrating all or part of the optical phased array 103, the partial reflector 105, the beam splitter 107, the photodetector 104, and the control unit on the same chip by using a CMOS process can be referred to in the prior art, and details of this application are not described herein.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. An optical phased array lidar system, comprising: the device comprises a laser, an optical phased array, a photoelectric detector, a control unit and a circulator; wherein,
the laser, the optical phased array and the photoelectric detector are sequentially connected with three ports of the circulator according to a preset sequence;
the laser is used for sending out a laser signal;
the optical phased array is used for emitting all or part of the laser signals outwards and collecting laser return signals irradiated to the scanned object;
the photoelectric detector is used for receiving the laser return signal output by the optical phased array;
the circulator is used for transmitting the received signal to a next port;
the control unit is connected with the laser, the optical phased array and the photoelectric detector and used for calculating the distance of the scanned object according to the laser return signal.
2. The optical phased array lidar system of claim 1, wherein the laser is coupled to a first port of the circulator, the optical phased array is coupled to a second port of the circulator, and the photodetector is coupled to a third port of the circulator;
the laser signal is a pulse light signal;
when the control unit is used for calculating the distance of the scanned object according to the laser return signal, the control unit is specifically used for: and determining the time corresponding to the laser signal, and the time corresponding to the laser return signal received by the photoelectric detector, and calculating the distance between the scanned objects according to the two times.
3. The optical phased array lidar system of claim 1, further comprising: and the partial reflector is arranged between the circulator and the optical phased array and is used for partially reflecting the laser signal output by the circulator and transmitting the reflected partially reflected laser signal to the photoelectric detector through the circulator.
4. The optical phased array lidar system of claim 3, wherein the photodetector is a coherent photodetector; the photoelectric detector is also used for receiving the partial reflection laser signal through the circulator and converting a composite signal of the partial reflection laser signal and the laser return signal into an electric signal.
5. The optical phased array lidar system of claim 3, further comprising: and the circulator is arranged between the partial reflector and the optical phased array and is used for transmitting the laser signal output by the partial reflector to the optical phased array and transmitting the laser return signal collected by the optical phased array to the photoelectric detector.
6. The optical phased array lidar system of claim 5, wherein the photodetector is a coherent photodetector; the photodetector is also used for receiving the partially reflected laser signal through a circulator in front of the partial reflector and converting a composite signal of the partially reflected laser signal and the laser return signal into an electric signal.
7. The optical phased array lidar system according to any of claims 3-6, wherein the partial reflector and the optical phased array are integrated on the same chip;
the partial reflector can be a waveguide with a grating, or an optical waveguide with a directional coupler, or a partial reflector with adjustable distribution ratio;
the laser signal is a pulse light signal or a modulated laser signal.
8. The optical phased array lidar system of claim 1, further comprising: and the beam splitter is arranged between the laser and the optical phased array and used for splitting the laser signal, transmitting a first split laser signal to the optical phased array and transmitting a second split laser signal to the photoelectric detector.
9. The optical phased array lidar system of claim 8, wherein the beam splitter is disposed between the laser and the circulator or between the circulator and the optical phased array.
10. The optical phased array lidar system of claim 9, wherein the photodetector is a coherent photodetector; the photoelectric detector is also used for receiving the second beam splitting laser signal and converting a composite signal of the second beam splitting laser signal and the laser return signal into an electric signal.
11. The optical phased array lidar system according to any of claims 4, 6, and 10, wherein the laser signal is a frequency modulated continuous wave;
when the control unit is used for calculating the distance of the scanned object according to the laser return signal, the control unit is specifically used for: and detecting the difference frequency signal of the electric signal, and calculating the distance of the scanned object according to the difference frequency signal.
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