阅读说明：本技术 相控阵发射阵列、相控阵接收阵列、雷达和智能感应设备 (Phased array transmitting array, phased array receiving array, radar and intelligent induction equipment ) 是由 牛犇 于 2019-04-22 设计创作，主要内容包括：本申请涉及雷达技术领域,公开了一种相控阵发射阵列、雷达和智能感应设备,相控阵发射阵列,包括：输出源；N个发射单元；M个分束器,所述M个分束器逐级设置,并且与所述输出源连接,用于对所述输出源输出的光进行逐级分束,得到N路探测介质,每一路探测介质入射至一所述发射单元；P个调相器,一所述调相器的输入端与一所述分束器的输出端连接,至少一个所述调相器的输出端与一个分束器的输入端连接,其余所述调相器的输出端分别与所述发射单元的输入端连接,所述P个调相器用于对分束器输出的探测介质进行调相,以使所述N路探测介质满足预设干涉条件。通过上述方式,降低相控阵发射阵列中调相器所需要调相的相位总和,从而降低调相器所需要的总功率。(The application relates to the technical field of radars, and discloses an phased array transmitting array, a radar and an intelligent induction device, wherein the phased array transmitting array comprises an output source, N transmitting units, M beam splitters, P phase modulators and a phase modulator, wherein the M beam splitters are arranged step by step and are connected with the output source and used for splitting beams of light output by the output source step by step to obtain N paths of detection media, each paths of detection media are incident to of the transmitting unit, the input ends of the phase modulators are connected with the output ends of the beam splitters, the output ends of at least phase modulators are connected with the input ends of beam splitters, the output ends of the rest phase modulators are respectively connected with the input ends of the transmitting units, and the P phase modulators are used for phase modulating the detection media output by the beam splitters to enable the N paths of detection media to meet preset interference conditions.)

An phased array transmit array (20), comprising:

an output source (21);

j transmitting units (24);

the M beam splitters (22) are arranged in a step-by-step mode, are connected with the output source (21) and are used for splitting the detection medium output by the output source (21) step by step to obtain J paths of detection media, and each paths of detection media are incident to the transmitting unit (24);

p phase modulators (23), the input of phase modulator (23) with the output of beam splitter (22) is connected, at least the output of phase modulator (23) is connected with the input of beam splitter (22), the output of remaining phase modulator (23) respectively with the input of emission unit (24) is connected, P phase modulator (23) are used for carrying out the phase modulation to the detection medium of beam splitter (22) output, so that the detection medium of J way satisfies and predetermines the interference condition, wherein, J and M are the natural number that is greater than 2, P is the natural number that is greater than 1.

2. The phased array transmit array (20) of claim 1,

every , K-1 output ends of K output ends of the beam splitter (22) are respectively connected with input ends of K-1 phase modulators (23), and K is a natural number larger than 1.

3. The phased array transmit array (20) of claim 1,

the M beam splitters (22) are arranged in a cascade mode, specifically, except for the beam splitter (22) which receives the detection medium of the output source (21), the input ends of part of the beam splitters (22) in the rest of the beam splitters (22) are connected with the output end of another beam splitter (22), and the input ends of part of the beam splitters (22) are connected with the output end of another beam splitter (22) through the phase modulators.

4. The phased array transmit array (20) of claim 3,

the number of beam splitters (22) per stages is K^T-1-T is the order of the splitter (22) and is a natural number greater than 1, K is the number of outputs of the splitter (22).

5. The phased array transmit array (20) of any of of claims 1-4,

the preset interference condition is that the phase difference of the J-path detection medium is 0 to 0 in sequence

6. The phased array transmit array (20) of any of of claims 1-4,

the J transmitting units (24) are arranged in an array, and the distance between any two adjacent transmitting units (24) is the same.

7. The phased array transmit array (20) of claim 6, further comprising a base (25) and J thermally conductive pads (26);

the J emitting units (24) are all fixed on the base (25), and each heat-conducting gasket (26) is arranged between emitting units (24) and the base (25).

8. The phased array transmit array (20) of claim 7, further comprising a fan (27);

the base (25) is provided with a heat dissipation channel (251), the fan (27) is arranged at the end of the heat dissipation channel (251), and the other end of the heat dissipation channel (251) is communicated with the outside.

A phased array receive array of the type 9, ,

a receiver;

x receiving units;

the Y beam combiners are arranged step by step, are connected with the receiver and are used for combining the detection media received by the X receiving units;

the output ends of the Z phase modulators are connected with the input ends of the beam combiners, the input ends of at least phase modulators are connected with the output ends of beam combiners, the input ends of the other phase modulators are respectively connected with the output ends of the receiving units, and the Z phase modulators are used for phase modulating the detection medium received by the X receiving units.

10. The phased array receive array of claim 9,

and each , Q-1 input ends of Q input ends of the beam combiner are respectively connected with output ends of Q-1 phase modulators, and Q is a natural number greater than 1.

11. The phased array receiving array according to claim 9, wherein said Y combiners are arranged in stages such that, in addition to the combiners connected to said receivers, the inputs of some of said combiners are connected to the outputs of another combiners, and some of said combiners are connected to the outputs of another combiners through said phase modulators.

12. The phased array receive array of claim 9,

the number of beam combiners per stages is H^G-1And G is the level of the beam combiner, G is a natural number greater than 1, and G is the number of input ends of the beam combiner.

A radar (100) of type, comprising a phased array transmit array (20) according to any of claims 1-8 and a phased array receive array (30), the phased array receive array (30) being arranged to receive a reflection probe medium reflected from an object to be measured.

A smart sensor device, comprising a radar (100) as claimed in claim 13.

Technical Field

The application relates to the technical field of radars, in particular to phased array transmitting arrays, phased array receiving arrays, radars and intelligent induction equipment.

Background

The laser radar is a radar system for emitting laser beams to detect characteristic vectors such as the position, the speed and the like of a target, and is widely applied to the technical fields of atmospheric detection, urban surveying and mapping, ocean detection, automatic driving, robotics, laser televisions, laser three-dimensional imaging and the like.

At present, laser radars are further classified into Mechanical laser radars, phased array laser radars and MEMS (Micro-Electro-Mechanical systems, Micro Electro-Mechanical systems) laser radars, the Mechanical laser radars push a radar System to rotate 360 degrees through a Mechanical rotating structure, so that 360-degree detection is realized, and the detection precision and reliability of the laser radars are influenced by the Mechanical rotating structure. The phased array laser radar does not need a mechanical rotating structure, interference is generated in space through light beams emitted by a plurality of emission units to form far-field light beams, object detection is achieved through the far-field light beams, then the direction of the far-field light beams is adjusted by adjusting the phase difference of the light emitted by the emission units, and therefore 360-degree scanning is achieved. Because the laser radar based on the optical phased array can be produced in batches by a semiconductor process, the unit cost is much lower than that of a mechanical laser radar, and the mechanical laser radar can cause the problem of reliability due to rotation in use, the phased array laser radar is used as an object detection tool in more and more industries.

However, in the process of the inventor of the present application to realize the present application, it was found that: as shown in fig. 1, in order to achieve a phase difference of a plurality of transmitting units 14 of a phased array lidar, a phase modulator 13 is usually disposed in front of each transmitting unit 14, and a phase modulation is performed before the light beam is incident on the transmitting unit 14, but the phase modulation is performed in such a manner that the sum of the phase modulations of the phase modulators 13 reaches a predetermined phase difference

When N is large, the number of transmission units is large, the sum of phase modulation by phase modulator 13 is large, and the power required by phase modulator 13 is large.

Disclosure of Invention

The purpose of this application embodiment is to provide phased array transmission array, phased array receiving array, radar and intelligent induction equipment, reduces the required phase summation of phase modulation ware in phased array transmission array or the phased array receiving array to reduce the required total power of phase modulation ware.

According to aspects of the embodiment of the application, an phase-control array emitting array is provided and comprises an output source, J emitting units, M beam splitters, P phase modulators and a phase modulator, wherein the M beam splitters are arranged step by step and connected with the output source and used for splitting beams of detection media output by the output source step by step to obtain J detection media, each paths of detection media are incident to the emitting unit, the input end of the phase modulator is connected with the output end of the beam splitter, the output ends of at least phase modulators are connected with the input ends of beam splitters, the output ends of the rest phase modulators are respectively connected with the input ends of the emitting units, the P phase modulators are used for phase modulating the detection media output by the beam splitters to enable the N paths of detection media to meet preset interference conditions, wherein J and M are natural numbers larger than 2, and P is a natural number larger than 1.

In alternative mode, K-1 output ends of K output ends of every of the beam splitters are respectively connected with input ends of K-1 phase modulators, and K is a natural number larger than 1.

In optional modes, the M beam splitters are arranged in stages, specifically, except for the beam splitter receiving the detection medium of the output source, input ends of some of the remaining beam splitters are connected to output ends of another beam splitter, and input ends of some of the beam splitters are connected to output ends of another beam splitter through a phase modulator.

In alternative, the number of beam splitters is K per stages^T-1The T is the level of the beam splitter, the T is a natural number larger than 1, and the K is the number of output ends of the beam splitter.

In alternative modes, the preset interference condition is the J-path probeThe phase difference of the measured medium is 0 to

The N is the number of levels of the beam splitter (22).

In alternative, the J transmitting units are arranged in an array and the distance between any two adjacent transmitting units is the same.

In alternative, the phased array transmit array further comprises a base and J heat-conducting pads, wherein the J transmit elements are fixed on the base, and each of the heat-conducting pads is arranged between a transmit element and the base.

In alternative, the base is provided with a heat dissipation channel, the fan is arranged at the end of the heat dissipation channel, and the other end of the heat dissipation channel is communicated with the outside.

According to another aspects of the embodiment of the application, the phased array receiving array comprises a receiver, X receiving units, Y beam combiners, and Z phase modulators, wherein the Y beam combiners are arranged step by step and connected with the receiver and used for performing beam combination processing on detection media received by the X receiving units, the output end of the phase modulator is connected with the input end of the beam combiner, the input ends of at least phase modulators are connected with the output ends of beam combiners, the input ends of the rest phase modulators are respectively connected with the output ends of the receiving units, and the Z phase modulators are used for performing phase modulation on the detection media received by the X receiving units.

In alternative mode, Q-1 input terminals of Q input terminals of each beam combiner are respectively connected with output terminals of Q-1 phase modulators, and Q is a natural number larger than 1.

In optional manners, the step-by-step setting of the Y beam combiners is specifically that, except for the beam combiner connected to the receiver, the input ends of some of the beam combiners in the other beam combiners are connected to the output end of another beam combiner, and the input ends of some of the beam combiners are connected to the output end of another beam combiner through the phase modulator.

In kindsIn an alternative mode, the number of beam combiners per stages is H^G-1And G is the level of the beam combiner, G is a natural number greater than 1, and G is the number of input ends of the beam combiner.

According to still aspects of embodiments of the present application, radars are provided, including a phased array transmit array and a phased array receive array as described above.

According to still another aspects of embodiments of the present application, there are provided smart sensor devices, including the radar described above.

In this embodiment of the present application, at least phase modulators in the phased array transmit array are disposed in front of two beam splitters, and at least phase modulators of the phase modulators perform phase adjustment on the detection medium transmitted from beam splitters to beam splitters, so that the detection medium entering the beam splitters has a phase modulated by the phase modulators, and thus the detection medium separated by the beam splitters has a phase adjusted by the phase modulators, and the detection medium separated by the beam splitters is subjected to phase adjustment of , and when the detection medium separated by the beam splitters is subjected to phase adjustment again, the detection medium can be adjusted based on the phase adjusted by the phase modulators, and the amplitude of the phase to be adjusted by the subsequent phase modulators is greatly reduced, which is beneficial for reducing the power of the subsequent phase modulators and further reducing the total power required by all the phase modulators.

Drawings

the various embodiments are illustrated by way of example in the accompanying drawings and not by way of limitation, in which elements having the same reference number designation may be referred to by similar elements in the drawings and, unless otherwise indicated, the drawings are not to scale.

FIG. 1 is a schematic diagram of a phased array transmit array in the prior art;

FIG. 2 is a schematic diagram of an embodiment of a phased array transmit array of the present application;

FIG. 3 is a schematic diagram of secondary beam splitting in an embodiment of a phased array transmit array of the present application;

FIG. 4 is a schematic diagram of three-stage beam splitting in an embodiment of a phased array transmit array of the present application;

FIG. 5 is a schematic diagram of another embodiment of a phased array transmit array of the present application;

FIG. 6 is a schematic diagram of the connection between the base and the transmit unit in the phased array transmit array embodiment of the present application;

FIG. 7 is a schematic diagram of an embodiment of a phased array receive array of the present application;

fig. 8 is a schematic diagram of an embodiment of the radar of the present application.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.

Referring to fig. 2, fig. 2 is a schematic diagram of an embodiment of a phased array transmit array 20 of the present application, where the phased array transmit array 20 includes an output source 21, M beam splitters 22, P phase modulators 23, and J transmit units 24, J and M are both natural numbers greater than 2, and P is a natural number greater than 1, the output source 21 is configured to output a detection medium, M beam splitters 22 are configured to perform beam splitting processing on the detection medium output by the output source 21 to obtain J paths of detection media, each paths of detection media are incident on the transmit unit 24 and are transmitted by the transmit unit 24, and P phase modulators 23 are configured to perform phase modulation on at least J-1 paths of detection media, so that the J paths of detection media satisfy a preset interference condition, and thus the detection media transmitted by the J transmit units 24 interfere with each other in space to form a beam far-field detection medium.

For the above-mentioned output source 21, the output source 21 can be a laser source, and the detection medium is a light beam, and the laser source can be a ruby laser, a neodymium-doped yttrium aluminum garnet laser, a helium-neon laser, an argon ion laser, a laser integrated on a chip, etc. in other embodiments, the output source 21 can be a sound source, and the detection medium is a sound wave, or the output source 21 can be an electromagnetic wave generator, and the detection medium is an electromagnetic wave.

For the M beam splitters 22, are connected to the input end of the beam splitter 22 and the output end of another beam splitter 22, and some beam splitters 22 are connected to the output end of another 0 beam splitter 22 through phase modulators 23, so that the M beam splitters 22 are arranged in stages, wherein the beam splitter 22 connected to the output source 21 is a 1 st-stage beam splitter, the beam splitter connected to the th beam splitter is a second-stage beam splitter, the beam splitter 22 connected to the second-stage beam splitter is a third-stage beam splitter, and so on, and last-stage beam splitter is connected to the emission unit 24, so that the number of each -stage beam splitter is increased from the nd stage backward step by step, the number of the separated detection media is also increased from the th stage backward step by step, for example, when the two-stage beam splitters are two-stage beam splitters, -path light output from the output source 21 enters the th-stage beam splitter, the -stage beam splitters process the fourth-stage detection media, and the eight-stage detection media are sequentially detected and transmitted to the eighth-stage beam splitters, and then processed by the eighth-stage detection media.

It should be noted that the M beam splitters 22 can be selected as beam splitters for separating the same number of detection media, such as two-way beam splitters, three-way beam splitters, four-way beam splitters, etc. in this embodiment, the M beam splitters 22 are preferably two-way beam splitters because the performance of the two detection media separated by the two beam splitters is relatively good at , and when the M beam splitters 22 are beam splitters for separating the same number of detection media, the number of beam splitters per is K^T-1T is the level of the beam splitter 22, N is a natural number greater than 1, K is the number of the detection mediums that can be separated by the beam splitter 22, and K is a natural number greater than 1, for example, when the beam splitter 22 is a two-way beam splitter, i.e., K is 2, the number of th-level beam splitters is , the number of second-level beam splitters is 2, the number of third-level beam splitters is 8, and the number of Tth-level beam splitters is 2^T-1Two paths output by each beam splitterThe phases to be adjusted for detecting the medium are respectively as follows: the Nth level is: 0.

the penultimate stage is: 0.

the penultimate stage is: 0..., grades are 0,

When the beam splitter is a three-way beam splitter, that is, K is 3, the number of th-stage beam splitters is , the number of second-stage beam splitters is 3, the number of third beam splitters is 9, and the number of T-th-stage beam splitters is 3^T-1The phases of the three detection media output by each beam splitter, which need to be adjusted, are respectively: the Nth level is: 0.

the penultimate stage is: 0.

the penultimate stage is: 0.

.., grades are 0,

For any K, the phases of the detection media output by the beam splitters which need to be adjusted are respectively as follows: the Nth level is: 0.……、

the penultimate stage is: 0.

……、

… …, grades are 0,

……、

It should be noted that in other embodiments, the number of detection mediums separated by each beam splitter 22 may also be different, for example, beam splitters 22 may separate 3 detection mediums, beam splitters 22 may separate 2 detection mediums, beam splitters 22 may separate 4 detection mediums, etc., when the number of detection mediums separated by the beam splitters 22 is different, the number of beam splitters 22 required for obtaining a J-path detection medium is different, and one skilled in the art can calculate the number of beam splitters 22 required according to the required J-path detection medium.

For the above P phase modulators 23, , the input end of the phase modulator 23 is connected to the output end of the beam splitter 22, the output ends of at least phase modulators 23 are connected to the input ends of beam splitters 22, and the output ends of the remaining phase modulators 23 are connected to the input ends of the emission unit 24, in other words, at least phase modulators 23 are located between two beam splitters 22, the remaining phase modulators 23 are located between the remaining beam splitters 22 and the emission unit 24, and the P phase modulators 23 are used for phase modulating the detection medium output by the beam splitters 22, so that the J-path detection medium meets the preset interference condition.

Since at least phase modulators 23 are disposed in front of the two beam splitters 22, the phase of the detection medium transmitted from 0 beam splitters 22 to 1 beam splitters 22 in the two beam splitters 22 is adjusted by the at least phase modulators 23, so that the detection medium received by the other beam splitters 22 has the phase adjusted by the phase modulators 23 after beam splitting, and the phase system of the separated detection medium is adjusted, so that the phase of the detection medium is adjusted by the system before the detection medium is incident on the transmitting unit 24, and when the phase of the detection medium is adjusted to satisfy the predetermined phase difference, the phase of the detection medium can be adjusted by the at least phase modulators 23, and the phase modulators 23 are adjusted by the phase modulators steps.

In the embodiments, the preset interference condition refers to a condition that the detection mediums emitted by the J emission units 24 interfere spatially to form a far-field detection medium, for example, the phase difference of the detection mediums emitted by the J emission units 24 is 0 to 0

N is the number of levels of the beam splitter 22, for example: when the M beam splitters 22 are divided into three stages, N is 3. While following with

The phase difference of the detection medium emitted by each emission unit is changed according to rules, so that the direction of the far-field detection medium is changed, and the scanning of the far-field detection medium is realized. Of course,

and

may be equivalent, k is an integer.

It should be noted that: the number of the phase modulators 23 is not limited, and the specific positions of the phase modulators 23 are not limited, and those skilled in the art can set the phase modulators according to actual situations, but when the number of the phase modulators 23 is different and the positions are different, the number of the phase modulators 23 required is different, the amplitude of the phase to be adjusted by each phase modulator 23 is different, and the adjusted J-path detection medium satisfies the preset interference condition.

For the reader's convenience to better understand the inventive concept of the present invention, two examples of pre-phase modulators are presented below.

(1) Referring to fig. 2 again, at least K-1 output ends of the K output ends of each beam splitter 22 are respectively connected to the input ends of the K-1 phase modulators 23, that is, the K-path beam splitter 22 mounts the K-1 phase modulators 23, the K-path detection media separated by the K-path beam splitter 22 are directly input to the emission unit 24 or other beam splitters 22 only in paths, and the K-1-path detection media are input to other beam splitters 22 or emission units 24 after being subjected to phase modulation.

The following will describe the modulation of the beam splitter 22, which is a splitter with K equal to 2 and input and output, and the specific phases to be adjusted by the respective phase modulators 23 located in front of the beam splitter 22:

v is the level of the beam splitter 22 corresponding to the phase modulator 23, and the phases of the phase modulator 23 at the front end of the transmitting unit 24 that need to be adjusted are all the same

Total phase to be adjusted

As shown in fig. 3, when the beam splitter 22 is divided into two stages, the phase difference of the detection medium at each emission unit 24 is respectively: 0.

the phase modulation required is respectively

altogether

I.e. only phase modulation is required

It is possible to achieve co-phasing directly at each transmit unit 24The effect of (1); still alternatively, as shown in fig. 4, when the beam splitter 22 is divided into three levels, the phase difference at each emission unit 24 is to be: 0.

...,

then the phase modulation is required to be

altogether

That is, only phase modulation is required

It is possible to achieve co-phasing directly at each transmit unit 24

The same effect as that of (1).

(2) As shown in fig. 5, phase modulators 23 are advanced to the front of the last -stage beam splitter 22, and the positions of the other phase modulators 23 are as shown in fig. 5, where J-1 phase modulators 23 are required, and the phase of the advanced phase modulator 23 needs to be adjusted to be J-1

The phases to be adjusted by the other phase modulators 23 are: 0.

………、

the sum of the total phase modulations is:……+

compared with the phase modulation mode in the prior art, the phase modulation method has the following phase modulation ratios: (2^N-1N)/(2^N-1(2^N-1))＝N/(2^N-1)。

In , as shown in FIG. 6, the phased array transmitter array 20 further includes a base 25 and a thermal pad 26. J transmitter elements 24 are arranged in an array, such as a circular array, a square array, etc., with the same distance between any two adjacent transmitter elements to ensure that the detection media output from the antennas of J transmitter elements 24 interfere with each other to form a far-field detection medium.

J emitting units 24 are all fixed on base 25, every heat conduction gasket 26 is set between emitting unit 24 and base 25, the heat radiation generated by emitting unit 24 during operation is transmitted to base 25 through heat conduction gasket 26, and heat radiation is performed by base 25, so that heat is prevented from accumulating in the antenna for a long time, and the temperature of emitting unit 24 is too high, and the performance of emitting unit 24 is affected.

, in order to better dissipate heat from the emitter unit 24, the phased array emitter array 20 further includes a fan 27, the base 25 is provided with a heat dissipation channel 251, the fan 27 is disposed at the end of the heat dissipation channel 251, the other end of the heat dissipation channel 251 is communicated with the outside, and the fan 27 drives the air in the heat dissipation channel 251 to interact with the outside air, so as to dissipate the heat transferred from the emitter unit 24 to the heat dissipation channel of the base 25 into the outside environment, thereby improving the heat dissipation effect.

In the embodiment of the present application, at least phase modulators 24 are disposed in front of two beam splitters 22, and phase adjustment is performed on the detection medium transmitted from beam splitters 22 to another beam splitters 22, so that the detection medium entering the another beam splitters 22 has a phase modulated by the phase modulator 23, and thus the detection medium separated by the another beam splitters 22 has a phase adjusted by the phase modulator 23, so that phase adjustment of the system is performed on the detection medium separated by the beam splitters 22, and when phase adjustment is performed on the detection medium separated by the beam splitters 22 again, adjustment can be performed on the basis of the phase adjusted by the phase modulator, and the amplitude of the phase adjusted by the subsequent phase modulators is greatly reduced, which is beneficial to reducing the power of the subsequent phase modulators 23.

The present application further provides phased array receive array embodiments. Phased array receive array 30 includes a processor 31, Y combiners 32, Z phase modulators 33, and X receive units 34. The X receiving units 34 are configured to receive the returned detection medium, and the Y beam combiners 32 combine the X detection medium and output the combined detection medium to the processor 31. The Z phase modulators 33 are used to phase modulate the detection medium.

For the above Y beam combiners 32, the Y beam combiners 32 are arranged in a cascade, and are connected to the processor 31, and are configured to perform beam combining processing on the detection medium received by the X receiving units 34, where the number of beam combiners 32 per stages is H^G-1G is the level of the combiner 32, G is a natural number greater than 1, and G is the number of input ends of the combiner 32.

For the above Z phase modulators, the output ends of the Z phase modulators 33, of the phase modulators 33 are connected to the input end of the beam combiner 32 of , the input ends of at least of the phase modulators 33 are connected to the output ends of the beam combiners 32, the input ends of the remaining phase modulators 33 are respectively connected to the output ends of the receiving units 34, and the Z phase modulators 34 are used for phase modulating the detection medium received by the X receiving units.

In , in each of the Q inputs of the beam combiner 32, Q-1 inputs are respectively connected to the outputs of Q-1 phase modulators 33, where Q is a natural number greater than 1, and the Y beam combiners 32 are arranged in stages such that, except for the beam combiner 32 connected to the processor 31, the inputs of some of the beam combiners 32 in the remaining beam combiners 32 are connected to the outputs of another beam combiner 32, and the inputs of some of the beam combiners 32 are connected to the outputs of another beam combiner 32 through the phase modulators 33.

In , if the detection medium may be a laser, the beam combiner 32, the receiving unit 34, and the processor 31 are all used to process light, if the detection medium may be an acoustic wave, the beam combiner 32, the receiving unit 34, and the processor 31 are all used to process acoustic wave, and if the detection medium may be an electromagnetic wave, the beam combiner 32, the receiving unit 34, and the processor 31 are all used to process electromagnetic wave.

It should be noted that, the phased array receiving array 30 and the above phased array transmitting array 20 are used for realizing the receiving function, realize the transmitting function, realize the transmitting function, and the two are arranged oppositely, and for other functions of the phased array receiving array 30, the setting can be performed by referring to the phased array transmitting array 20, and the details are not repeated here in .

In the embodiment of the present application, the detection mediums received by the X receiving units 34 are combined by the Y beam combiners 32 to form beams of detection mediums, and the beams of detection mediums are input to the processor 31, wherein the phase adjustment of the detection mediums is realized by advancing at least phase modulators 33 between the two beam combiners 32.

As shown in fig. 7, a radar 100 includes a phased array transmitting array 20 and a phased array receiving array 30, where the structure and function of the phased array transmitting array 20 of this embodiment are the same as those of the phased array transmitting array 20 of the above embodiments, and for the specific structure and function of the phased array transmitting array 20, reference may be made to the above embodiments, and details are not repeated here for , the structure and function of the phased array receiving array 30 of this embodiment are the same as those of the phased array receiving array 30 of the above embodiments, reference may be made to the above embodiments for the specific structure and function of the phased array receiving array 30, and details are not repeated here for .

The application also provides embodiments of intelligent sensing equipment, and the intelligent sensing equipment includes a radar, the structure and function of the radar of this embodiment are the same as those of the radar of the above embodiments, and for the specific structure and function of the radar, reference may be made to the above embodiments, and details are not repeated here in .

For the intelligent sensing device, the device can detect the orientation and distance of the surrounding object and make a decision based on the orientation and distance of the surrounding object, for example: intelligent robots, intelligent cars, intelligent airplanes, and the like.

It should be noted that technical terms or scientific terms used in the embodiments of the present application should be understood as having a common meaning as understood by those skilled in the art to which the embodiments of the present application belong, unless otherwise specified.

In the description of the present embodiments, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations and positional relationships that are based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the embodiments of the present application and for simplicity in description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the embodiments of the present application.

Furthermore, the technical terms "", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

In the description of the embodiments of the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like shall be construed , and for example, they may be fixedly connected, detachably connected, or integral bodies, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, connected between two elements, or in an interaction relationship between two elements.

In describing the novel embodiments of this embodiment, unless expressly specified or limited otherwise, the th feature being "on" or "under" the second feature can be either and the second feature being in direct contact, or and the second feature being in indirect contact through an intervening medium, further, the th feature being "on," "above" and "above" the second feature can be th feature being directly above or obliquely above the second feature, or merely indicating that the th feature is at a higher level than the second feature, the th feature being "under," "below" and "beneath" the second feature can be th feature being directly below or obliquely below the second feature, or merely indicating that the th feature is at a lower level than the second feature.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein but is to cover all embodiments that may fall within the scope of the appended claims.