技术领域technical field
本公开涉及雷达技术领域，尤其涉及一种免调制的相干激光雷达及设备。The present disclosure relates to the technical field of radar, in particular to a modulation-free coherent laser radar and equipment.
背景技术Background technique
激光雷达对无人驾驶、光学传感、工程动力学监控等各个领域有着重要意义，而相干激光雷达体制具有成像精度高的优点。Lidar is of great significance to various fields such as unmanned driving, optical sensing, and engineering dynamics monitoring, and the coherent lidar system has the advantage of high imaging accuracy.
相干激光雷达的分辨率受激光信号带宽的影响，因此高分辨率的相干激光雷达依赖大带宽的微波信号，或者需要借助于高速直调激光器或外调制器等来进行带宽调制。这样增加了调制器件的成本，大带宽的微波信号通常需要复杂的电路进行生成，例如有的需要多级锁相元件结合隔离器件、放大器件和滤波器件等来通过复杂的电路设计来实现。The resolution of coherent lidar is affected by the bandwidth of the laser signal. Therefore, high-resolution coherent lidar relies on microwave signals with large bandwidth, or requires bandwidth modulation by means of high-speed directly modulated lasers or external modulators. This increases the cost of modulation devices, and microwave signals with large bandwidths usually require complex circuits to be generated. For example, some require multi-level phase-locked elements combined with isolation devices, amplifier devices, and filter devices to achieve complex circuit design.
发明内容Contents of the invention
为了解决上述技术问题或者至少部分地解决上述技术问题，本公开的实施例提供了一种免调制的相干激光雷达及设备。In order to solve the above technical problems or at least partly solve the above technical problems, embodiments of the present disclosure provide a modulation-free coherent lidar and equipment.
第一方面，本公开的实施例提供了一种免调制的相干激光雷达。上述相干激光雷达包括：免调制激光源模块。上述免调制激光源模块包括光频梳激光源，与上述光频梳激光源的输出端连接的色散模块。上述光频梳激光源用于产生周期性光脉冲序列；上述色散模块用于对输入光信号进行时域展宽处理；上述免调制激光源模块用于输出啁啾光信号形式的激光信号。In a first aspect, embodiments of the present disclosure provide a modulation-free coherent lidar. The above-mentioned coherent lidar includes: a modulation-free laser source module. The modulation-free laser source module includes an optical frequency comb laser source and a dispersion module connected to the output end of the optical frequency comb laser source. The above-mentioned optical frequency comb laser source is used to generate a periodic optical pulse sequence; the above-mentioned dispersion module is used to perform time domain widening processing on the input optical signal; the above-mentioned modulation-free laser source module is used to output a laser signal in the form of a chirped optical signal.
根据本公开的实施例，上述相干激光雷达还包括：整形模块。在一些实施例中，上述整形模块连接于上述光频梳激光源的输出端和上述色散模块的输入端之间，上述整形模块用于将上述周期性光脉冲序列的谱整形成频域方波信号；上述色散模块的输入光信号为频域呈方波的整形后周期性光脉冲序列，上述色散模块输出时域包络呈方波函数的啁啾光信号，所述色散模块的输出端作为所述免调制激光源模块的输出端；或者，According to an embodiment of the present disclosure, the above-mentioned coherent lidar further includes: a shaping module. In some embodiments, the above-mentioned shaping module is connected between the output end of the above-mentioned optical frequency comb laser source and the input end of the above-mentioned dispersion module, and the above-mentioned shaping module is used to shape the spectrum of the above-mentioned periodic optical pulse sequence into a square wave in the frequency domain signal; the input optical signal of the above-mentioned dispersion module is a periodic optical pulse sequence after shaping in a square wave in the frequency domain, and the above-mentioned dispersion module outputs a chirped optical signal whose time-domain envelope is a square wave function, and the output of the dispersion module is used as The output end of the modulation-free laser source module; or,
另一些实施例中，上述整形模块的输入端与上述色散模块的输出端连接，上述整形模块的输出端作为上述免调制激光源模块的输出端；上述色散模块的输入光信号为上述周期性光脉冲序列；上述整形模块用于对上述色散模块进行时域展宽处理后的输出光信号进行整形处理，得到时域包络呈方波函数的啁啾光信号。In some other embodiments, the input end of the above-mentioned shaping module is connected to the output end of the above-mentioned dispersion module, and the output end of the above-mentioned shaping module is used as the output end of the above-mentioned modulation-free laser source module; the input optical signal of the above-mentioned dispersion module is the above-mentioned periodic light A pulse sequence; the above-mentioned shaping module is used for shaping the output optical signal after the time-domain stretching processing of the above-mentioned dispersion module, so as to obtain a chirped optical signal whose time-domain envelope is a square wave function.
在一些实施例中，相干激光雷达还包括：光分束器、光学发射单元、光学接收单元、光合束器、光电探测器、数字信号采集与处理模块。光分束器与上述免调制激光源模块连接，包括两个输出端。光学发射单元与上述光分束器的一个输出端连接。光合束器的两个输入端分别与上述光学接收单元、上述光分束器的另一个输出端连接。光电探测器与上述光合束器的输出端连接。数字信号采集与处理模块与上述光电探测器的输出端连接，用于将上述光电探测器输出的光电流信号转换成数字信号并进行数字信号处理，得到目标的距离信息和反射强度信息。In some embodiments, the coherent lidar further includes: an optical beam splitter, an optical transmitting unit, an optical receiving unit, an optical beam combiner, a photodetector, and a digital signal acquisition and processing module. The optical beam splitter is connected with the above-mentioned modulation-free laser source module, and includes two output ends. The optical transmitting unit is connected with an output end of the above-mentioned optical beam splitter. The two input ends of the optical beam combiner are respectively connected with the optical receiving unit and the other output end of the optical beam splitter. The photodetector is connected with the output end of the above-mentioned optical beam combiner. The digital signal acquisition and processing module is connected to the output end of the photodetector, and is used to convert the photocurrent signal output by the photodetector into a digital signal and perform digital signal processing to obtain distance information and reflection intensity information of the target.
在一些实施例中，上述光分束器用于将上述啁啾光信号按照预设功率比分为两路；其中一路啁啾光信号通过上述光学发射单元进行辐射；另一路啁啾光信号作为参考啁啾光信号输入至上述光合束器中；辐射的啁啾光信号和参考啁啾光信号之间的预设功率比的取值范围介于1:99～20:80之间。In some embodiments, the above-mentioned optical beam splitter is used to divide the above-mentioned chirped optical signal into two paths according to a preset power ratio; wherein one path of the chirped optical signal is radiated through the above-mentioned optical transmitting unit; the other path of the chirped optical signal is used as a reference chirp The chirped optical signal is input into the optical beam combiner; the preset power ratio between the radiated chirped optical signal and the reference chirped optical signal ranges from 1:99 to 20:80.
在一些实施例中，相干激光雷达还包括：光滤波器。光滤波器连接于上述光学接收单元和上述光合束器之间，用于对上述光学接收单元接收的回波啁啾光信号进行滤波处理。上述光合束器对滤波后的回波啁啾光信号和上述参考啁啾光信号进行耦合处理，输出耦合光电场。In some embodiments, the coherent lidar further includes: an optical filter. The optical filter is connected between the optical receiving unit and the optical beam combiner, and is used for filtering the echo chirped optical signal received by the optical receiving unit. The optical beam combiner performs coupling processing on the filtered echo chirped optical signal and the reference chirped optical signal, and outputs a coupled optical field.
在一些实施例中，上述光合束器输出的耦合光电场的表达式为：In some embodiments, the expression of the coupled optical field output by the above-mentioned optical beam combiner is:
ETotal(t)＝αloss1EMLL(t)+αloss2ΓEMLL(t+Δt)，ETotal (t)＝αloss1 EMLL (t)+αloss2 ΓEMLL (t+Δt),
其中，ETotal(t)表示耦合光电场，t表示时间，EMLL(t)表示参考啁啾光信号的光电场，αloss1表示参考啁啾光信号的传输损耗常数，EMLL(t+Δt)表示回波啁啾光信号的光电场，Δt表示激光信号从光学发射单元传输到目标再反射到光学接收单元对应的延时时间，αloss2表示回波啁啾光信号的传输损耗常数；Γ表示目标反射系数。Among them, ETotal (t) represents the coupled optical field, t represents time,EMLL (t) represents the optical field of the reference chirped optical signal, αloss1 represents the transmission loss constant of the reference chirped optical signal, andEMLL (t+Δt ) represents the optical field of the echo chirped optical signal, Δt represents the corresponding delay time for the laser signal to be transmitted from the optical transmitting unit to the target and then reflected to the optical receiving unit, αloss2 represents the transmission loss constant of the echo chirped optical signal; Γ Indicates the target reflection coefficient.
在一些实施例中，上述光电探测器输出的光电流信号中的参考啁啾光信号与回波啁啾光信号在重叠时间内的高频振荡项的表达为：In some embodiments, the expression of the high-frequency oscillation term of the reference chirped optical signal and the echo chirped optical signal in the photocurrent signal output by the above photodetector within the overlapping time is:
其中，I(t)表示参考啁啾光信号与回波啁啾光信号在重叠时间内的高频振荡项，Γ表示目标反射系数，Δt表示激光信号从光学发射单元传输到目标再反射到光学接收单元对应的延时时间，Φ表示色散模块的色散系数。Among them, I(t) represents the high-frequency oscillation term of the reference chirped optical signal and the echo chirped optical signal within the overlapping time, Γ represents the target reflection coefficient, and Δt represents the laser signal transmitted from the optical transmitting unit to the target and then reflected to the optical The delay time corresponding to the receiving unit, Φ represents the dispersion coefficient of the dispersion module.
在一些实施例中，上述啁啾光信号为一个线性调频率与色散模块的色散系数负相关、带宽为色散模块的输入光信号的光谱宽、时域包络形状与输入光信号的光谱形状一致的光信号，上述啁啾光信号的光电场的表达式如下：In some embodiments, the above-mentioned chirped optical signal is a chirp frequency negatively correlated with the dispersion coefficient of the dispersion module, the bandwidth is the spectral width of the input optical signal of the dispersion module, and the shape of the envelope in the time domain is consistent with the spectral shape of the input optical signal The optical signal of the above-mentioned chirped optical signal is expressed as follows:
其中，EMLL(t)表示啁啾光信号的光电场，X(jω)为上述色散模块的输入光信号的光谱，jω为复频域，j为复数，ω为频率，t为时间，AMLL为光频梳激光源输出的周期性光脉冲序列的振幅常数项，ω0为周期性光脉冲序列的中心频率，即光载波频率，Φ为色散模块的色散系数。Among them,EMLL (t) represents the optical field of the chirped optical signal, X(jω) is the spectrum of the input optical signal of the above-mentioned dispersion module, jω is the complex frequency domain, j is a complex number, ω is the frequency, t is the time, AMLL is the amplitude constant item of the periodic optical pulse sequence output by the optical frequency comb laser source,ω0 is the center frequency of the periodic optical pulse sequence, that is, the optical carrier frequency, and Φ is the dispersion coefficient of the dispersion module.
在一些实施例中，上述数字信号处理包括数字滤波处理和快速傅里叶变换；上述整形模块为可编程光滤波器或触发器，上述触发器为单稳态触发器或施密特触发器；上述色散模块为色散元件。In some embodiments, the above-mentioned digital signal processing includes digital filter processing and fast Fourier transform; the above-mentioned shaping module is a programmable optical filter or a trigger, and the above-mentioned trigger is a monostable trigger or a Schmitt trigger; The dispersion module mentioned above is a dispersion element.
第二方面，本公开的实施例提供了一种支持目标探测的设备。上述设备包括如上所述的相干激光雷达。In a second aspect, embodiments of the present disclosure provide a device supporting target detection. The device described above includes a coherent lidar as described above.
在一些实施例中，上述设备为以下中的一种：车辆、飞行器、智能机器人。In some embodiments, the above-mentioned device is one of the following: a vehicle, an aircraft, and an intelligent robot.
本公开实施例提供的上述技术方案至少具有如下优点的部分或全部：The above-mentioned technical solutions provided by the embodiments of the present disclosure have at least some or all of the following advantages:
上述相干激光雷达中，通过在免调制激光源模块中设置光频梳激光源和色散模块，光频梳激光源产生窄时宽的周期性光脉冲序列(也可以描述为周期性光脉冲串)，基于色散模块的色散作用，对输入光信号实现时域展宽，得到啁啾光信号，由于不同频率的谱分量在色散模块中传输速度不一样，经过色散作用实现时域展宽的激光信号为一个线性调频率与色散模块的色散系数相关、带宽为色散模块的输入光信号的光谱宽且时域包络形状与上述输入光信号的光谱形状一致的光信号，该啁啾光信号等价于通过宽带线性调频信号调制得到的激光信号；在免调制的情况下产生所需的激光信号，节约调制器件的成本以及能够节约大带宽的微波信号的产生电路的设计和制作成本。In the above-mentioned coherent laser radar, by setting the optical frequency comb laser source and the dispersion module in the modulation-free laser source module, the optical frequency comb laser source generates a periodic optical pulse train with a narrow duration (also can be described as a periodic optical pulse train) , based on the dispersion effect of the dispersion module, the time-domain broadening of the input optical signal is realized, and the chirped optical signal is obtained. Since the spectral components of different frequencies have different transmission speeds in the dispersion module, the time-domain broadening of the laser signal through the dispersion effect is a The chirp frequency is related to the dispersion coefficient of the dispersion module, the bandwidth is the spectral width of the input optical signal of the dispersion module, and the time-domain envelope shape is consistent with the spectral shape of the above-mentioned input optical signal. The chirped optical signal is equivalent to passing through A laser signal modulated by a broadband linear frequency modulation signal; the required laser signal is generated without modulation, saving the cost of the modulation device and the design and production cost of a microwave signal generation circuit with a large bandwidth.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or related technologies. Obviously, for those of ordinary skill in the art , on the premise of not paying creative labor, other drawings can also be obtained based on these drawings.
图1示意性地示出了根据本公开一些实施例的免调制的相干激光雷达的结构框图。Fig. 1 schematically shows a structural block diagram of a modulation-free coherent lidar according to some embodiments of the present disclosure.
图2A示意性地示出了根据本公开一些实施例的包含整形模块的免调制的相干激光雷达的结构框图。Fig. 2A schematically shows a structural block diagram of a modulation-free coherent lidar including a shaping module according to some embodiments of the present disclosure.
图2B示意性地示出了根据本公开另一些实施例的包含整形模块的免调制的相干激光雷达的结构框图。Fig. 2B schematically shows a structural block diagram of a modulation-free coherent lidar including a shaping module according to other embodiments of the present disclosure.
图3示意性地示出了根据本公开又一些实施例的包含滤波模块的免调制的相干激光雷达的结构框图。Fig. 3 schematically shows a structural block diagram of a modulation-free coherent lidar including a filtering module according to some other embodiments of the present disclosure.
图4示意性地示出了根据本公开一些实施例的光频梳激光源产生的(a)周期性光脉冲序列的时域包络的示意图，(b)为(a)图的局部放大图。Figure 4 schematically shows a schematic diagram of the time-domain envelope of (a) a periodic optical pulse sequence generated by an optical frequency comb laser source according to some embodiments of the present disclosure, and (b) is a partially enlarged view of (a) .
图5示意性地示出了根据本公开一些实施例的光频梳激光源产生的(a)周期性光脉冲序列的频谱示意图，(b)为(a)图的局部放大图。Fig. 5 schematically shows a schematic spectrum diagram of (a) a periodic optical pulse sequence generated by an optical frequency comb laser source according to some embodiments of the present disclosure, and (b) is a partial enlarged view of (a).
图6示意性地示出了根据本公开一些实施例的(a)整形模块对周期性光脉冲序列进行频谱整形后的频谱示意图，(b)为色散模块对输入光信号进行时域展宽处理后得到的啁啾光信号包络的示意图。Fig. 6 schematically shows a schematic diagram of the frequency spectrum after (a) the shaping module performs spectrum shaping on the periodic optical pulse sequence according to some embodiments of the present disclosure, and (b) is after the dispersion module performs time-domain widening processing on the input optical signal Schematic representation of the resulting chirped optical signal envelope.
具体实施方式Detailed ways
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。本公开的实施例中，X～Y的数值范围包括端点值A和B。In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments It is a part of embodiments of the present disclosure, but not all embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present disclosure. In the embodiments of the present disclosure, the numerical range of X to Y includes endpoints A and B.
本公开的第一个示例性实施例提供了一种免调制的相干激光雷达。The first exemplary embodiment of the present disclosure provides a modulation-free coherent lidar.
图1示意性地示出了根据本公开一些实施例的免调制的相干激光雷达的结构框图。Fig. 1 schematically shows a structural block diagram of a modulation-free coherent lidar according to some embodiments of the present disclosure.
参照图1所示，本公开实施例提供的相干激光雷达包括：免调制激光源模块10、光分束器20、光学发射单元30、光学接收单元40、光合束器50、光电探测器60以及数字信号采集与处理模块70。参照图1中虚线框所示，上述免调制激光源模块10包括光频梳激光源11和色散模块13，色散模块13的输入端131与上述光频梳激光源11的输出端连接。上述光频梳激光源11用于产生周期性光脉冲序列；上述色散模块13用于对输入光信号进行时域展宽处理。上述免调制激光源模块10用于输出啁啾光信号形式的激光信号。Referring to FIG. 1, the coherent laser radar provided by the embodiment of the present disclosure includes: a modulation-free laser source module 10, an optical beam splitter 20, an optical transmitting unit 30, an optical receiving unit 40, an optical beam combiner 50, a photodetector 60 and A digital signal acquisition and processing module 70 . 1, the modulation-free laser source module 10 includes an optical frequency comb laser source 11 and a dispersion module 13, and the input end 131 of the dispersion module 13 is connected to the output end of the optical frequency comb laser source 11. The above-mentioned optical frequency comb laser source 11 is used to generate a periodic optical pulse sequence; the above-mentioned dispersion module 13 is used to perform time-domain stretch processing on the input optical signal. The modulation-free laser source module 10 is used to output a laser signal in the form of a chirped optical signal.
在一些实施例中，色散模块13与光频梳激光源11之间的连接形式可以是直接连接或者通过其他中间元件进行间接连接的形式。In some embodiments, the connection form between the dispersion module 13 and the optical frequency comb laser source 11 may be a direct connection or an indirect connection through other intermediate components.
在一些实施例中，上述色散模块13为色散元件。In some embodiments, the dispersion module 13 is a dispersion element.
图4示意性地示出了根据本公开一些实施例的光频梳激光源产生的(a)周期性光脉冲序列的时域包络的示意图，(b)为(a)图的局部放大图。图5示意性地示出了根据本公开一些实施例的光频梳激光源产生的(a)周期性光脉冲序列的频谱示意图，(b)为(a)图的局部放大图。Figure 4 schematically shows a schematic diagram of the time-domain envelope of (a) a periodic optical pulse sequence generated by an optical frequency comb laser source according to some embodiments of the present disclosure, and (b) is a partially enlarged view of (a) . Fig. 5 schematically shows a schematic spectrum diagram of (a) a periodic optical pulse sequence generated by an optical frequency comb laser source according to some embodiments of the present disclosure, and (b) is a partial enlarged view of (a).
参照图4中(a)和(b)所示，周期性光脉冲序列的脉冲周期为20ns(纳秒)，该周期性光脉冲序列的时域包络为高斯型，3dB时宽Δt约为1ps(皮秒)。参照图5中(a)和(b)所示，该周期性光脉冲序列的光载波频率为200THz(太赫兹)，其3dB谱宽约为1THz，频率梳齿的间隔为50MHz(兆赫兹)。Referring to (a) and (b) in Figure 4, the pulse period of the periodic light pulse sequence is 20ns (nanosecond), the time domain envelope of the periodic light pulse sequence is Gaussian, and the 3dB time width Δt is about 1ps (picosecond). Referring to (a) and (b) in Figure 5, the optical carrier frequency of the periodic optical pulse sequence is 200THz (terahertz), its 3dB spectral width is about 1THz, and the frequency comb interval is 50MHz (megahertz) .
值得注意的是，上述光频梳激光源的具体参数和波形形式均作为示例，本公开的实施例中，周期性光脉冲序列为窄时宽的周期性光脉冲串可以是各种波形形式对应的周期性光脉冲串。在一些实施例中，上述周期性光脉冲串需要满足以下两个条件：(1)为了实现波长在时间域上的映射，该周期性光脉冲序列的时宽Δt需满足(<<为远小于的含义)的关系；(2)此外为了防止时域混叠，还需要满足ΦBmll≤Tmll的关系，其中，Φ为色散模块的色散系数，Bmll为光频梳激光源的谱宽(或者描述为带宽)，Tmll为光频梳激光源的周期(或者描述为采样间隔)。It is worth noting that the specific parameters and waveform forms of the above-mentioned optical frequency comb laser source are used as examples. In the embodiments of the present disclosure, the periodic optical pulse train with a narrow time width can be in various waveform forms corresponding to periodic light pulse train. In some embodiments, the above-mentioned periodic optical pulse train needs to meet the following two conditions: (1) In order to realize the mapping of the wavelength in the time domain, the duration Δt of the periodic optical pulse train needs to satisfy (<< means far less than); (2) In addition, in order to prevent time domain aliasing, it is also necessary to satisfy the relationship of ΦBmll ≤ Tmll , where Φ is the dispersion coefficient of the dispersion module, and Bmll is the optical frequency comb The spectral width of the laser source (or described as a bandwidth), Tm11 is the period of the optical frequency comb laser source (or described as a sampling interval).
在一些实施例中，上述免调制激光源模块10输出的啁啾光信号形式的激光信号的光电场表达式如下：In some embodiments, the optical field expression of the laser signal in the form of a chirped optical signal output by the modulation-free laser source module 10 is as follows:
其中，EMLL(t)表示啁啾光信号的光电场，X(jω)为色散模块的输入光信号的光谱，jω为复频域，j为复数，ω为频率，t为时间，AMLL为光频梳激光源输出的周期性光脉冲序列的振幅常数项，ω0为光频梳激光源输出的周期性光脉冲序列的中心频率，即光载波频率；Φ为色散模块的色散系数。Among them,EMLL (t) represents the optical field of the chirped optical signal, X(jω) is the spectrum of the input optical signal of the dispersion module, jω is the complex frequency domain, j is the complex number, ω is the frequency, t is the time, AMLL is the amplitude constant item of the periodic optical pulse sequence output by the optical frequency comb laser source,ω0 is the center frequency of the periodic optical pulse sequence output by the optical frequency comb laser source, that is, the optical carrier frequency; Φ is the dispersion coefficient of the dispersion module.
该啁啾光电场的瞬时频率为ω0+t/Φ，即频率与时间呈线性关系，即通过色散的方法等价地得到了宽带线性调频信号调制的激光信号；也就是说，该啁啾光信号等价于通过宽带线性调频信号调制得到的激光信号，通过光频梳激光源和色散模块的结合，实现了免调制的激光信号产生，无需借助于高速直调激光器或外调制器等，节约调制器件的成本以及能够节约大带宽的微波信号的产生电路的设计和制作成本。The instantaneous frequency of the chirped optical field is ω0 +t/Φ, that is, the frequency has a linear relationship with time, that is, the laser signal modulated by the broadband chirp signal is equivalently obtained by the method of dispersion; that is, the chirped The optical signal is equivalent to the laser signal modulated by the broadband linear frequency modulation signal. Through the combination of the optical frequency comb laser source and the dispersion module, the modulation-free laser signal generation is realized without resorting to high-speed direct modulation lasers or external modulators. The cost of the modulation device and the design and production cost of the microwave signal generating circuit with large bandwidth can be saved.
通过在免调制激光源模块10中设置光频梳激光源11和色散模块13，光频梳激光源产生窄时宽的周期性光脉冲序列，基于色散模块的色散作用，对输入光信号实现时域展宽，得到啁啾光信号，由于不同频率的谱分量在色散模块中传输速度不一样，经过色散作用实现时域展宽的激光信号为一个线性调频率与色散模块的色散系数相关、带宽为色散模块的输入光信号的光谱宽且时域包络形状与上述输入光信号的光谱形状一致的光信号，该啁啾光信号等价于通过宽带线性调频信号调制得到的激光信号；在免调制的情况下产生所需的激光信号，节约调制器件的成本以及能够节约大带宽的微波信号的产生电路的设计和制作成本。By setting the optical frequency comb laser source 11 and the dispersion module 13 in the modulation-free laser source module 10, the optical frequency comb laser source generates a periodic optical pulse sequence with a narrow duration, and based on the dispersion effect of the dispersion module, the input optical signal is realized when The chirped optical signal is obtained by widening the domain. Since the spectral components of different frequencies have different transmission speeds in the dispersion module, the laser signal that is broadened in the time domain through dispersion is a chirp. The frequency is related to the dispersion coefficient of the dispersion module, and the bandwidth is the dispersion The input optical signal of the module has a wide spectrum and an optical signal whose time-domain envelope shape is consistent with the spectral shape of the above-mentioned input optical signal. The chirped optical signal is equivalent to a laser signal modulated by a broadband chirp signal; Under the circumstances, the required laser signal can be generated, the cost of the modulation device can be saved, and the design and production cost of the generation circuit of the microwave signal with large bandwidth can be saved.
在上述相干激光雷达中，上述光分束器20与免调制激光源模块10的输出端连接，例如参照图1所示，上述色散模块13的输出端132作为上述免调制激光源模块10的输出端，则光分束器20的输入端201与该色散模块13的输出端132连接。光分束器20包括两个输出端，分别为输出端211和输出端212。光分束器20的一个输出端例如第一输出端211与光学发射单元30的输入端301连接，光分束器20的另一个输出端例如为第二输出端212与光合束器50的输入端501连接。In the above-mentioned coherent laser radar, the above-mentioned optical beam splitter 20 is connected to the output end of the modulation-free laser source module 10, for example, as shown in FIG. terminal, the input terminal 201 of the optical beam splitter 20 is connected to the output terminal 132 of the dispersion module 13 . The optical beam splitter 20 includes two output terminals, namely an output terminal 211 and an output terminal 212 . An output end of the optical beam splitter 20, such as the first output end 211, is connected to the input end 301 of the optical emission unit 30, and the other output end of the optical beam splitter 20 is, for example, the second output end 212 and the input of the optical beam combiner 50 Terminal 501 is connected.
在一些实施例中，上述光分束器用于将上述啁啾光信号按照预设功率比分为两路；其中一路啁啾光信号(例如经由第一输出端211传输的啁啾光信号)通过上述光学发射单元30进行辐射；另一路啁啾光信号(例如经由第二输出端212传输的啁啾光信号)作为参考啁啾光信号输入至上述光合束器50中。在一些实施例中，上述预设功率比的取值范围为：1:99～20:80，即，用于辐射的啁啾光信号的功率的比例范围是：99％～80％，相应的参考啁啾光信号的功率比例范围是1％～20％，由于激光在自由空间中传输损耗大，通过设置用于辐射的啁啾光信号的功率比例不低于80％，能够保证光学发射单元具有相对较大的发射光功率，从而保证接收到的回波啁啾光信号的信号强度。In some embodiments, the above-mentioned optical beam splitter is used to divide the above-mentioned chirped optical signal into two paths according to a preset power ratio; one of the chirped optical signals (for example, the chirped optical signal transmitted through the first output port 211) passes through the above-mentioned The optical transmitting unit 30 performs radiation; another chirped optical signal (for example, the chirped optical signal transmitted through the second output terminal 212 ) is input into the optical beam combiner 50 as a reference chirped optical signal. In some embodiments, the value range of the above-mentioned preset power ratio is: 1:99-20:80, that is, the ratio range of the power of the chirped optical signal used for radiation is: 99%-80%, correspondingly The power ratio range of the reference chirped optical signal is 1% to 20%. Due to the large transmission loss of the laser in free space, by setting the power ratio of the chirped optical signal used for radiation to not less than 80%, the optical transmitting unit can be guaranteed It has a relatively large transmit optical power, so as to ensure the signal strength of the received echo chirped optical signal.
光学发射单元30的输出端302用于将沿着第一输出端211对应支路传输的激光信号辐射至自由空间。在一些实施例中，上述光学发射单元30可以包括光学发射天线。The output end 302 of the optical emitting unit 30 is used to radiate the laser signal transmitted along the corresponding branch of the first output end 211 to free space. In some embodiments, the above-mentioned optical transmitting unit 30 may include an optical transmitting antenna.
激光信号碰到目标后形成回波啁啾信号，回波啁啾信号被光学接收单元40的输入端401接收。在一些实施例中，光学接收单元40可以包括光学接收天线。After the laser signal hits the target, an echo chirp signal is formed, and the echo chirp signal is received by the input terminal 401 of the optical receiving unit 40 . In some embodiments, the optical receiving unit 40 may include an optical receiving antenna.
光合束器50的两个输入端分别为：501和502，其中一个输入端例如为第一输入端502与光学接收单元40的输出端402连接；另一个输入端例如为第二输入端501与上述光分束器20的第二输出端212连接。输入至光合束器50中的两路光信号中，一路为参考啁啾光信号，另一路为回波啁啾光信号。The two input ends of the optical beam combiner 50 are respectively: 501 and 502, wherein one input end is, for example, the first input end 502 connected to the output end 402 of the optical receiving unit 40; the other input end is, for example, the second input end 501 and The second output end 212 of the above-mentioned optical beam splitter 20 is connected. Among the two optical signals input to the optical beam combiner 50 , one is a reference chirped optical signal, and the other is an echo chirped optical signal.
图3示意性地示出了根据本公开又一些实施例的包含滤波模块的免调制的相干激光雷达的结构框图。Fig. 3 schematically shows a structural block diagram of a modulation-free coherent lidar including a filtering module according to some other embodiments of the present disclosure.
在一些实施例中，参照图3所示，上述相干激光雷达还包括：设置于回波信号接收路径上的光滤波器80。光滤波器80连接于上述光学接收单元和上述光合束器之间，例如光滤波器80的输入端801与光学接收单元40的输出端402连接，光滤波器80的输出端802与合束器50的输入端502连接。光滤波器80用于对上述光学接收单元40接收的回波啁啾光信号进行滤波处理，以滤除带外杂波。该实施例中，上述光合束器50对滤波后的回波啁啾光信号和上述参考啁啾光信号进行耦合处理，输出耦合光电场。可以理解的是，在其他实施例中，也可以不设置光滤波器。In some embodiments, as shown in FIG. 3 , the above-mentioned coherent lidar further includes: an optical filter 80 disposed on the echo signal receiving path. The optical filter 80 is connected between the above-mentioned optical receiving unit and the above-mentioned optical beam combiner, for example, the input end 801 of the optical filter 80 is connected with the output end 402 of the optical receiving unit 40, and the output end 802 of the optical filter 80 is connected with the beam combiner The input terminal 502 of 50 is connected. The optical filter 80 is used for filtering the echo chirped optical signal received by the optical receiving unit 40 to filter out-of-band clutter. In this embodiment, the above-mentioned optical beam combiner 50 performs coupling processing on the filtered echo chirped optical signal and the above-mentioned reference chirped optical signal, and outputs a coupled optical field. It can be understood that, in other embodiments, no optical filter may be provided.
在一些实施例中，上述光合束器输出的耦合光电场的表达式为：In some embodiments, the expression of the coupled optical field output by the above-mentioned optical beam combiner is:
ETotal(t)＝αloss1EMLL(t)+αloss2ΓEMLL(t+Δt)， (2)ETotal (t)＝αloss1 EMLL (t)+αloss2 ΓEMLL (t+Δt), (2)
其中，ETotal(t)表示耦合光电场，t表示时间，EMLL(t)表示参考啁啾光信号的光电场，αloss1表示参考啁啾光信号的传输损耗常数，EMLL(t+Δt)表示回波啁啾光信号的光电场，Δt表示激光信号从光学发射单元传输到目标再反射到光学接收单元对应的延时时间，αloss2表示回波啁啾光信号的传输损耗常数；Γ表示目标反射系数。Among them, ETotal (t) represents the coupled optical field, t represents time,EMLL (t) represents the optical field of the reference chirped optical signal, αloss1 represents the transmission loss constant of the reference chirped optical signal, andEMLL (t+Δt ) represents the optical field of the echo chirped optical signal, Δt represents the corresponding delay time for the laser signal to be transmitted from the optical transmitting unit to the target and then reflected to the optical receiving unit, αloss2 represents the transmission loss constant of the echo chirped optical signal; Γ Indicates the target reflection coefficient.
应该理解的是，在不含光滤波器的实施例中，EMLL(t+Δt)表示光学接收单元输入至合束器的回波啁啾光信号对应的光电场；在包含光滤波器的实施例中，EMLL(t+Δt)表示光学接收单元经光滤波器进行滤波处理后输入至合束器的回波啁啾光信号对应的光电场。It should be understood that, in an embodiment without an optical filter,EMLL (t+Δt) represents the optical field corresponding to the echo chirped optical signal input from the optical receiving unit to the beam combiner; In the embodiment,EMLL (t+Δt) represents the optical field corresponding to the echo chirped optical signal input to the beam combiner after the optical receiving unit is filtered by the optical filter.
光电探测器60的输入端601与上述光合束器50的输出端502连接。光合束器50的输出端511输出的耦合光电场在光电探测器60中被转换成电信号，光电探测器60的输出端602输出光电流信号。The input terminal 601 of the photodetector 60 is connected to the output terminal 502 of the above-mentioned optical beam combiner 50 . The coupled photoelectric field output by the output terminal 511 of the optical beam combiner 50 is converted into an electrical signal in the photodetector 60, and the output terminal 602 of the photodetector 60 outputs a photocurrent signal.
数字信号采集与处理模块70的输入端与上述光电探测器60的输出端602连接。该数字信号采集与处理模块70用于将上述光电探测器60输出的光电流信号转换成数字信号并进行数字信号处理，得到目标的距离信息和反射强度信息(例如包括目标反射系数)。在一些实施例中，上述数字信号处理包括数字滤波处理和快速傅里叶变换(FFT)，对光电流信号转换成的数字信号进行数字滤波处理，然后对数字滤波之后的信号进行快速傅里叶变换处理得到上述目标距离该相干激光雷达的距离以及目标的反射强度信息。The input end of the digital signal acquisition and processing module 70 is connected to the output end 602 of the photodetector 60 . The digital signal acquisition and processing module 70 is used to convert the photocurrent signal output by the photodetector 60 into a digital signal and perform digital signal processing to obtain distance information and reflection intensity information of the target (for example, including target reflection coefficient). In some embodiments, the above-mentioned digital signal processing includes digital filtering and fast Fourier transform (FFT), digital filtering is performed on the digital signal converted from the photocurrent signal, and then fast Fourier transform is performed on the digitally filtered signal. The transformation process obtains the distance between the target and the coherent lidar and the reflection intensity information of the target.
在上述各个实施例中，免调制激光源模块10中色散模块13与光频梳激光源11之间的连接形式可以是直接连接或者通过其他中间元件进行间接连接的形式。相应的，色散模块的输入光信号可以是上述光频梳激光源产生窄时宽的周期性光脉冲序列；也可以是由其他连接的中间元件输出至色散模块的光信号。In the above-mentioned embodiments, the connection form between the dispersion module 13 and the optical frequency comb laser source 11 in the modulation-free laser source module 10 may be a direct connection or an indirect connection through other intermediate components. Correspondingly, the input optical signal of the dispersion module may be a periodic optical pulse sequence with a narrow duration generated by the above-mentioned optical frequency comb laser source; it may also be an optical signal output to the dispersion module by other connected intermediate components.
图2A示意性地示出了根据本公开一些实施例的包含整形模块的免调制的相干激光雷达的结构框图。图2B示意性地示出了根据本公开另一些实施例的包含整形模块的免调制的相干激光雷达的结构框图。Fig. 2A schematically shows a structural block diagram of a modulation-free coherent lidar including a shaping module according to some embodiments of the present disclosure. Fig. 2B schematically shows a structural block diagram of a modulation-free coherent lidar including a shaping module according to other embodiments of the present disclosure.
例如，参照图2A和图2B所示，在一些实施例中，上述相干激光雷达中，免调制激光源模块10除了包括光频梳激光源11和色散模块13之外，还包括整形模块12。For example, referring to FIG. 2A and FIG. 2B , in some embodiments, in the above-mentioned coherent lidar, the modulation-free laser source module 10 includes a shaping module 12 in addition to the optical frequency comb laser source 11 and the dispersion module 13 .
在一些实施例中，上述整形模块12为可编程光滤波器或触发器，上述触发器为单稳态触发器或施密特触发器。In some embodiments, the above-mentioned shaping module 12 is a programmable optical filter or a trigger, and the above-mentioned trigger is a monostable trigger or a Schmitt trigger.
通过引入整形模块来进行脉冲整形，设置目的至少包括：使得光脉冲的谱信号振幅一致，如果不进行频谱整形，谱信号振幅的不一致会投影到时域上，进而对后续光电探测器输出的基带电信号进行调制，从而使得基带信号的谱展宽，影响系统的分辨率。另外，由于色散与频谱整形都属于线性操作，二者的执行先后顺序并不影响最终宽带线性调频信号调制激光信号的生成，因此在一些实施例中，将整形模块12设置于色散模块13之前，在另一些实施例中，将整形模块12设置于色散模块13之后。Pulse shaping is performed by introducing a shaping module. The purpose of setting at least includes: making the spectral signal amplitude of the optical pulse consistent. If no spectral shaping is performed, the inconsistency of the spectral signal amplitude will be projected on the time domain, and then the baseband output of the subsequent photodetector will be affected. The electrical signal is modulated, so that the spectrum of the baseband signal is broadened, which affects the resolution of the system. In addition, since dispersion and spectrum shaping are both linear operations, the execution order of the two does not affect the generation of the final broadband chirp modulated laser signal, so in some embodiments, the shaping module 12 is arranged before the dispersion module 13, In other embodiments, the shaping module 12 is arranged after the dispersion module 13 .
例如，在一些实施例中，参照图2A所示，上述整形模块12连接于上述光频梳激光源11的输出端和上述色散模块13的输入端131之间，上述整形模块12用于将光频梳激光源11输出的周期性光脉冲序列整形为频域方波信号。上述色散模块13的输入端131的输入光信号为频域呈方波的整形后周期性光脉冲序列，上述色散模块13的输出端作为上述免调制激光源模块10的输出端，输出时域包络呈方波函数的啁啾光信号。则在本实施例中，光频梳激光源输出的周期性光脉冲序列先进行频域整形，得到频域呈方波的整形后周期性光脉冲序列；然后色散模块13通过对频域呈方波的整形后周期性光脉冲序列进行时域展宽处理，得到时域包络呈方波函数的啁啾光信号。For example, in some embodiments, as shown in FIG. 2A , the above-mentioned shaping module 12 is connected between the output end of the above-mentioned optical frequency comb laser source 11 and the input end 131 of the above-mentioned dispersion module 13, and the above-mentioned shaping module 12 is used to transform the light The periodic optical pulse sequence output by the frequency comb laser source 11 is shaped into a square wave signal in the frequency domain. The input optical signal of the input terminal 131 of the above-mentioned dispersion module 13 is a shaped periodic optical pulse sequence in the frequency domain as a square wave, and the output terminal of the above-mentioned dispersion module 13 is used as the output terminal of the above-mentioned modulation-free laser source module 10, and outputs time-domain packets A chirped optical signal whose network is a square wave function. Then in this embodiment, the periodic optical pulse sequence output by the optical frequency comb laser source is first subjected to frequency-domain shaping to obtain the shaped periodic optical pulse sequence in the frequency domain as a square wave; After wave shaping, the periodic optical pulse sequence is processed in time domain to obtain a chirped optical signal whose time domain envelope is a square wave function.
或者，在另一些实施例中，参照图2B所示，上述整形模块12的输入端121与上述色散模块13的输出端132连接，上述整形模块12的输出端122作为上述免调制激光源模块10的输出端。上述色散模块13的输入端131的输入光信号为上述周期性光脉冲序列；上述整形模块12用于对上述色散模块进行时域展宽处理后的输出光信号的谱整形成频域方波信号，得到时域包络呈方波函数的啁啾光信号。则在本实施例中，光频梳激光源输出的周期性光脉冲序列先进行时域展宽，然后通过对时域展宽后的周期性光脉冲序列的谱整形成频域方波信号，得到时域包络呈方波函数的啁啾光信号。Or, in some other embodiments, as shown in FIG. 2B, the input end 121 of the above-mentioned shaping module 12 is connected to the output end 132 of the above-mentioned dispersion module 13, and the output end 122 of the above-mentioned shaping module 12 is used as the above-mentioned modulation-free laser source module 10 output terminal. The input optical signal of the input terminal 131 of the above dispersion module 13 is the above periodic optical pulse sequence; the above shaping module 12 is used to shape the spectrum of the output optical signal after the time domain widening processing of the above dispersion module into a frequency domain square wave signal, A chirped optical signal whose time-domain envelope is a square wave function is obtained. Then in this embodiment, the periodic optical pulse sequence output by the optical frequency comb laser source is first stretched in the time domain, and then the spectrum of the periodic optical pulse sequence after time domain broadening is shaped into a square wave signal in the frequency domain to obtain a time domain A chirped optical signal whose domain envelope is a square wave function.
图6示意性地示出了根据本公开一些实施例的(a)整形模块对周期性光脉冲序列进行频谱整形后的频谱示意图，(b)为色散模块对输入光信号进行时域展宽处理后得到的啁啾光信号包络的示意图。Fig. 6 schematically shows a schematic diagram of the frequency spectrum after (a) the shaping module performs spectrum shaping on the periodic optical pulse sequence according to some embodiments of the present disclosure, and (b) is after the dispersion module performs time-domain widening processing on the input optical signal Schematic representation of the resulting chirped optical signal envelope.
对比图5中(a)和图6中(a)所示，通过整形模块对周期性光脉冲序列进行频谱整形后，呈频域方波信号的形式，例如可以通过合理设计的滤波器(作为整形模块的一种示例)将光频梳激光源产生的高斯型谱(例如参照图5中(a))整形成方波(参照图6中(a)所示)。参照图6中(b)所示，示意了经过色散模块进行时域展宽处理后得到的啁啾光信号的包络示意图，经过色散展宽后，整形后的激光谱投影到了时域上，形成了时域上的周期性方波光脉冲序列，3dB时宽Δt由光频梳激光源初始的1ps(皮秒)变为了10ns(纳秒)，生成了时域展宽的啁啾光信号，该啁啾光信号形式的激光信号为一个线性调频率与色散模块的色散系数相关(例如为呈负相关关系)、带宽为色散模块的输入光信号的光谱宽且时域包络形状与上述输入光信号的光谱形状一致的光信号(例如可以参照公式(1)的表示形式进行理解)，该啁啾光信号等价于通过宽带线性调频信号调制得到的激光信号。Comparing Fig. 5 (a) with Fig. 6 (a), after the periodic optical pulse sequence is shaped by the shaping module, it is in the form of a square wave signal in the frequency domain. For example, it can be passed through a reasonably designed filter (as An example of the shaping module) shaping the Gaussian spectrum generated by the optical frequency comb laser source (for example, referring to (a) in FIG. 5 ) into a square wave (shown in (a) referring to FIG. 6 ). Referring to (b) in Figure 6, it shows the schematic diagram of the envelope of the chirped optical signal obtained after the time-domain broadening processing by the dispersion module. After the dispersion broadening, the shaped laser spectrum is projected onto the time domain, forming a Periodic square-wave optical pulse sequence in the time domain, the 3dB time width Δt is changed from the initial 1ps (picosecond) of the optical frequency comb laser source to 10ns (nanosecond), generating a chirped optical signal that is extended in the time domain. The laser signal in the form of an optical signal is a linear modulation frequency related to the dispersion coefficient of the dispersion module (for example, in a negative correlation), the bandwidth is the spectral width of the input optical signal of the dispersion module, and the time domain envelope shape is related to the above-mentioned input optical signal. An optical signal with a consistent spectral shape (for example, it can be understood by referring to the expression form of formula (1)), the chirped optical signal is equivalent to a laser signal modulated by a broadband chirp signal.
不论是将光频梳激光源输出的周期性光脉冲序列先进行整形，然后进行色散；还是先进行色散，然后进行整形；进行整形操作影响公式(1)中的X(jω)这一项，进行色散操作影响的是公式(1)中的这一项，由于色散与频谱整形都属于线性操作，即对应于公式(1)中示例的两个乘积项中独立的两项，二者的执行先后顺序并不影响最终宽带线性调频信号调制激光信号的生成。Whether the periodic optical pulse sequence output by the optical frequency comb laser source is first shaped and then dispersed; or the dispersion is first performed and then shaped; the shaping operation affects the item X(jω) in formula (1), What is affected by the dispersion operation is the formula (1) This item, since dispersion and spectrum shaping are both linear operations, corresponds to the independent two items in the two product items in the example in formula (1), the order of execution of the two does not affect the final broadband chirp signal modulation laser Signal generation.
需要说明的是，在不含整形模块的实施例中，X(jω)这一项对应的色散模块的输入光信号对应的是光频梳激光源输出的周期性光脉冲序列，那么这种情况下免调制激光源模块10输出的啁啾光信号的时域包络形状是和周期性光脉冲序列的光谱形状一致的光信号，例如图5中(a)示例的高斯型谱的形式。It should be noted that, in the embodiment without the shaping module, the input optical signal of the dispersion module corresponding to X(jω) corresponds to the periodic optical pulse sequence output by the optical frequency comb laser source, then in this case The time-domain envelope shape of the chirped optical signal output by the lower modulation-free laser source module 10 is an optical signal consistent with the spectral shape of the periodic optical pulse sequence, such as the Gaussian spectrum illustrated in (a) in FIG. 5 .
本公开的第二个示例性实施例提供了一种支持目标探测的设备。上述设备包括如上所述的相干激光雷达。A second exemplary embodiment of the present disclosure provides an apparatus supporting object detection. The device described above includes a coherent lidar as described above.
在一些实施例中，上述设备为以下中的一种：车辆、飞行器、智能机器人(诸如测绘机器人、搜救机器人、导航机器人、物流搬运机器人等)。In some embodiments, the above-mentioned equipment is one of the following: vehicles, aircraft, intelligent robots (such as surveying and mapping robots, search and rescue robots, navigation robots, logistics handling robots, etc.).
车辆例如包括但不限于是：支持自动驾驶/辅助驾驶的车辆、普通车辆等。Examples of vehicles include but are not limited to: vehicles that support automatic driving/assisted driving, ordinary vehicles, and the like.
飞行器例如包括但不限于是：无人机、飞机等。Examples of aircraft include but are not limited to: drones, airplanes, and the like.
智能机器人例如包括但不限于是：测绘机器人、搜救机器人、导航机器人、物流搬运机器人等。Intelligent robots include, but are not limited to: surveying and mapping robots, search and rescue robots, navigation robots, logistics handling robots, etc.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。需要说明的是，在附图或说明书正文中，未绘示或描述的实现方式，均为所属技术领域中普通技术人员所知的形式，并未进行详细说明。此外，上述对各元件的定义并不仅限于实施例中提到的各种具体形式，本领域普通技术人员可对其进行简单地更改或替换。需要说明的是，在附图或说明书描述中，相似或相同的部分都使用相同的图号。附图中未绘示或描述的实现方式，为所属技术领域中普通技术人员所知的形式。另外，虽然本文可提供包含特定值的参数的示范，但应了解，参数无需确切等于相应的值，而是可在可接受的误差容限或设计约束内近似于相应的值。It should be noted that, in this document, the terms "comprising", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element. It should be noted that, in the accompanying drawings or in the text of the specification, implementations that are not shown or described are forms known to those of ordinary skill in the art, and are not described in detail. In addition, the above definition of each element is not limited to the various specific forms mentioned in the embodiments, and those skilled in the art can easily modify or replace them. It should be noted that, in the drawings or descriptions of the specification, similar or identical parts all use the same figure numbers. Implementations not shown or described in the accompanying drawings are forms known to those of ordinary skill in the art. Additionally, while illustrations of parameters including particular values may be provided herein, it should be understood that the parameters need not be exactly equal to the corresponding values, but rather may approximate the corresponding values within acceptable error margins or design constraints.
并且，为实现图面整洁的目的，一些习知惯用的结构与组件在附图可能会以简单示意的方式绘示之。另外，本案的附图中部分的特征可能会略为放大或改变其比例或尺寸，以达到便于理解与观看本公开的技术特征的目的，但这并非用于限定本公开。依照本公开所公开的内容所制造的产品的实际尺寸与规格应是可依据生产时的需求、产品本身的特性、及搭配本公开如下所公开的内容据以调整，于此先进行声明。Moreover, in order to achieve the purpose of tidy drawing, some conventionally used structures and components may be shown in a simple schematic way in the accompanying drawings. In addition, some features in the drawings of this application may be slightly enlarged or their proportions or dimensions may be changed to facilitate understanding and viewing of the technical features of the present disclosure, but this is not intended to limit the present disclosure. The actual size and specifications of the products manufactured according to the content disclosed in this disclosure should be adjusted according to the requirements during production, the characteristics of the product itself, and the content disclosed in this disclosure as follows, which is hereby stated in advance.
以上所述仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下，在其它实施例中实现。因此，本公开将不会被限制于本文所示的这些实施例，而是要符合与本文所申请的原理和新颖特点相一致的最宽的范围。The above descriptions are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.
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| CN202310478308.6ACN116520291A (en) | 2023-04-28 | 2023-04-28 | Modulation-free coherent lidar and apparatus |
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| CN202310478308.6ACN116520291A (en) | 2023-04-28 | 2023-04-28 | Modulation-free coherent lidar and apparatus |
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| CN202310478308.6APendingCN116520291A (en) | 2023-04-28 | 2023-04-28 | Modulation-free coherent lidar and apparatus |
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