CN115291194B - Light receiving and dispatching module, laser radar, automatic driving system and movable equipment - Google Patents

Light receiving and dispatching module, laser radar, automatic driving system and movable equipment Download PDF

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Publication number
CN115291194B
CN115291194B CN202211219208.3A CN202211219208A CN115291194B CN 115291194 B CN115291194 B CN 115291194B CN 202211219208 A CN202211219208 A CN 202211219208A CN 115291194 B CN115291194 B CN 115291194B
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China
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optical signal
waveguide
optical
mode
signal
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CN115291194A (en
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汪敬
朱琳
邱纯鑫
刘乐天
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Suteng Innovation Technology Co Ltd
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Suteng Innovation Technology Co Ltd
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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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/10—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type

Abstract

The embodiment of the application discloses optical transceiver module, laser radar, automatic driving system and mobile equipment. The optical transceiver module comprises a light source module and a silicon optical chip. The light source module is used for generating a first optical signal for detecting a target to be detected and a second optical signal transmitted to the silicon optical chip. The silicon optical chip comprises a light receiving module, a polarization conversion module and a photoelectric detection module. The optical receiving module includes at least two waveguides or multimode waveguides for receiving the first reflected optical signal, and is configured to output the received first reflected optical signal as at least two second reflected optical signals, the second reflected optical signals being fundamental mode optical signals. The polarization conversion module is used for receiving each second reflected light signal and outputting a third reflected light signal with the same polarization state as the second light signal. The photoelectric detection module is used for receiving the third reflected light signal and at least part of the second light signal. The optical transceiver module can improve the current situation of low receiving efficiency when the first reflected optical signal is currently received.

Description

Light receiving and dispatching module, laser radar, automatic driving system and movable equipment
Technical Field
The application relates to the technical field of laser radars, in particular to a light receiving and transmitting module, a laser radar, an automatic driving system and movable equipment.
Background
The frequency modulation continuous wave laser radar has the advantages of strong anti-interference capability, high ranging accuracy and the like, is widely applied to an automatic driving scene, is one of core sensors in the automatic driving scene, and can be used for collecting three-dimensional information of an external environment. In general, a laser radar includes an optical transceiver module and a beam scanning module. The optical transceiving module is used for transmitting a first optical signal for detecting a target to be detected and a second optical signal for performing beat frequency with the reflected optical signal. The light beam scanning module is used for deflecting the first light signal to a target to be detected and comprises a rotatable scanning component, so that the first light signal is scanned outside the laser radar to form a detection view field. The first optical signal is reflected by the target to be detected to form the reflected optical signal, and the light beam scanning module is further used for receiving the reflected optical signal and deflecting the reflected optical signal to the optical transceiver module so that the optical transceiver module receives the reflected optical signal, and the reflected optical signal and the second optical signal are subjected to beat frequency to form beat frequency signals, so that detection information of the target to be detected, such as distance, speed and reflectivity, can be conveniently acquired.
Disclosure of Invention
Currently, the optical transceiver module generally receives the reflected optical signal through one optical fiber (e.g., a single mode optical fiber) or a waveguide, which makes the receiving efficiency of the optical transceiver module when receiving the reflected optical signal as a whole low.
The embodiment of the application provides an optical transceiver module, a laser radar, an automatic driving system and a mobile device, and aims to improve the current situation that the receiving efficiency of the current optical transceiver module is lower when the current optical transceiver module receives a reflected light signal.
In a first aspect, an embodiment of the present application provides a laser radar, which includes a light source module and a silicon optical chip. The light source module is used for generating a first optical signal and a second optical signal, the first optical signal is used for detecting a target to be detected, the second optical signal is used for transmitting to the silicon optical chip, and the silicon optical chip is used for receiving the second optical signal and a first reflected optical signal formed by the target to be detected reflecting the first optical signal. The silicon optical chip comprises a light receiving module, a polarization conversion module and a photoelectric detection module. The optical receiving module comprises a multimode waveguide or at least two waveguides for receiving the first reflected optical signal, the optical receiving module being configured to output the received first reflected optical signal as at least two second reflected optical signals, wherein the second reflected optical signals are fundamental mode optical signals. The polarization conversion module is configured to receive each of the second reflected optical signals and output a third reflected optical signal having the same polarization state as the second optical signal. The photoelectric detection module is used for receiving at least part of the third reflected light signal and the second light signal.
In some embodiments, the light receiving module includes at least two waveguides including a first waveguide and a second waveguide. The first waveguide includes a first coupling region extending along a first direction for receiving the first reflected optical signal. The second waveguide and the first coupling region are arranged at intervals along a second direction, the second waveguide is used for receiving the first reflected light signal, the second waveguide and the first waveguide are configured to enable the light signal in the second waveguide to be coupled into the first coupling region, and the second direction is a direction perpendicular to the first direction. The optical receiving module further comprises a mode demultiplexer, wherein the mode demultiplexer is used for receiving the first reflected optical signal output by the first waveguide and converting the first reflected optical signal into at least two second reflected optical signals to be output.
In some embodiments, the first coupling region includes a first input end and a first output end opposite to each other, the first input end is used for receiving the first reflected optical signal, and the cross-sectional profile of the first coupling region gradually expands from the first input end to the first output end. The second waveguide includes a second input end and a second output end opposite to each other, the second input end is used for receiving the first reflected optical signal, and the cross-sectional profile of the second waveguide gradually shrinks from the second input end to the second output end, so that the first reflected optical signal entering the second waveguide through the second input end can be coupled into the first waveguide.
In some embodiments, the at least two waveguides include one of the first waveguides and two of the second waveguides. Along the second direction, the two second waveguides are respectively arranged on two sides of the first waveguide.
In some embodiments, the mode demultiplexer comprises a third waveguide and a fourth waveguide. The third waveguide extends along a third direction and is used for receiving the first reflected light signal output by the first waveguide and outputting a fundamental mode transverse electric mode optical signal, and the third waveguide comprises a first coupling part, a second coupling part and a third coupling part. The fourth waveguide includes a fourth coupling portion, the fourth coupling portion is disposed opposite to the first coupling portion along a fourth direction, and the first coupling portion and the fourth coupling portion are configured to couple the non-fundamental-mode transverse electric-mode optical signal in the first coupling portion into the fourth coupling portion and convert the non-fundamental-mode transverse electric-mode optical signal into a fundamental-mode transverse electric-mode optical signal, so that the fourth waveguide outputs the fundamental-mode transverse electric-mode optical signal. The fifth waveguide comprises a fifth coupling part, the fifth coupling part and the second coupling part are oppositely arranged along the fourth direction, and the second coupling part and the fifth coupling part are configured to couple the non-fundamental mode transverse magnetic mode optical signal in the second coupling part into the fifth coupling part and convert the non-fundamental mode transverse magnetic mode optical signal entering the fifth coupling part into a fundamental mode transverse magnetic mode optical signal, so that the fifth waveguide outputs the fundamental mode transverse magnetic mode optical signal. The sixth waveguide includes a sixth coupling portion, the sixth coupling portion and the third coupling portion are disposed opposite to each other along the fourth direction, and the third coupling portion and the sixth coupling portion are configured to couple the fundamental-mode transverse magnetic mode optical signal in the third coupling portion into the sixth coupling portion, so that the fourth waveguide outputs the fundamental-mode transverse magnetic mode optical signal. The light receiving module is configured to output one of the second reflected light signals through the third waveguide, the fourth waveguide, the fifth waveguide, and the sixth waveguide, respectively.
In some embodiments, the polarization conversion module includes a seventh waveguide, an eighth waveguide, a first polarization rotator, and a second polarization rotator. The seventh waveguide is configured to receive the fundamental-mode transverse electric-mode optical signal output by the third waveguide, and output the fundamental-mode transverse electric-mode optical signal to the photodetection module. The eighth waveguide is configured to receive the fundamental-mode transverse electric-mode optical signal output by the fourth waveguide, and output the fundamental-mode transverse electric-mode optical signal to the photodetection module. The first polarization rotator is used for receiving the fundamental mode transverse magnetic mode optical signal output by the fifth waveguide, converting the fundamental mode transverse magnetic mode optical signal into a transverse electric mode optical signal, and outputting the transverse electric mode optical signal to the photoelectric detection module. The second polarization rotator is used for receiving the fundamental mode transverse magnetic mode optical signal output by the sixth waveguide, converting the fundamental mode transverse magnetic mode optical signal into a transverse electric mode optical signal, and outputting the transverse electric mode optical signal to the photoelectric detection module. The polarization conversion module is configured to output one third reflected light signal through each of the seventh waveguide, the eighth waveguide, the first polarization rotator, and the second polarization rotator.
In some embodiments, the at least two waveguides include more than two first waveguides. The first waveguide is a single-mode waveguide, and includes a first input end and a first output end that are opposite to each other, where the first input end is configured to receive a first reflected light signal, and the first output end is configured to output a second reflected light signal. The first waveguide includes a first portion including opposing first and second ends, the first end being a first input end. Between two adjacent first waveguides, two first portions are arranged oppositely, and the distance between the two first portions from the first end to the second end is gradually increased.
In some embodiments, the cross-sectional profile of the first portion gradually expands from the first end to the second end.
In some embodiments, the first waveguide further comprises a second portion connected to the second end. The cross-sectional profile of the second portion remains constant along the extension of the first waveguide.
In some embodiments, the polarization conversion module includes more than two polarization beam splitter rotators. Each polarization beam splitting rotator corresponds to one first waveguide, so as to receive the second reflected light signal output by the first waveguide and output two third reflected light signals with the same polarization state as the second light signal.
In some embodiments, the photodetection module comprises an optical mixer and a second balanced photodetector. The optical mixers and the polarization conversion module output the same number of third reflected optical signals, and each optical mixer is configured to receive at least a part of the second optical signals and one of the third reflected optical signals, so as to beat at least a part of the second optical signals and the third reflected optical signals to generate a beat signal. And the second balanced photoelectric detector is connected with the optical mixer and is used for carrying out balanced detection on the beat frequency signal.
In a second aspect, an embodiment of the present application further provides a lidar. The laser radar comprises the optical transceiver module.
In some embodiments, the lidar further includes a circulator and a beam scanning module. The circulator is provided with a first port, a second port and a third port, the circulator is configured to enable the optical beam signal received by the first port to be output by the second port and enable the optical beam signal received by the second port to be output by the third port, and the first port is used for receiving the first optical signal output by the optical transceiver module. The light beam scanning module is used for receiving the first light signal output by the second port and deflecting the first light signal to the outside of the laser radar so as to detect a target to be detected, and the light beam scanning module is also used for receiving the first reflected light signal reflected back by the target to be detected and deflecting the first reflected light signal to the second port. The silicon optical chip is used for receiving the first reflected light signal output through the third port.
In a third aspect, an embodiment of the present application further provides an automatic driving system. The automatic driving system comprises the laser radar.
In a fourth aspect, an embodiment of the present application further provides a mobile device. The mobile device includes the lidar or autopilot system described above.
The beneficial effects that technical scheme that this application embodiment brought include at least:
the optical transceiver module receives the first reflected optical signal through the multimode waveguide or at least two waveguides, so that the optical power during receiving can be improved. That is, the optical transceiver module can improve the current situation of low receiving efficiency when the first reflected optical signal is currently received. In addition, the optical transceiver module is matched with the polarization conversion module through the optical receiving module, converts the received first reflected optical signal into a third reflected optical signal which has the same polarization state as the second optical signal and takes the optical mode as a basic mode, and couples the third reflected optical signal into the photoelectric detection module; thus, the originally received optical signal of the non-fundamental mode can be utilized, and the utilization efficiency of the first reflected optical signal can be improved.
Drawings
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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view illustrating an optical transceiver module according to an embodiment of the present disclosure when applied to a laser radar for detection;
FIG. 2 is a schematic diagram of one embodiment of the optical transceiver module of FIG. 1;
FIG. 3 is a schematic diagram of another embodiment of the light amplification module of FIG. 2;
fig. 4 is a schematic view of a light coupling unit in the light receiving module of fig. 2;
fig. 5 is a schematic diagram of a mode demultiplexer in the light receiving module of fig. 2;
FIG. 6 is a schematic diagram of the polarization conversion module of FIG. 2;
FIG. 7 is a schematic diagram of another embodiment of the light receiving module of FIG. 2;
FIG. 8 is a schematic diagram of another embodiment of the polarization conversion module of FIG. 2;
FIG. 9 is a schematic diagram of a lidar provided by an embodiment of the present application;
FIG. 10 is a schematic diagram of an autopilot system provided by one embodiment of the present application;
FIG. 11 is a schematic diagram of a mobile device provided by an embodiment of the present application.
In the figure:
100. an optical transceiver module;
110. a light source module; 111. a laser; 112. a light splitting unit; 113. a light guide unit; 114. a first collimating lens; 115. a first isolator; 116. a first focusing lens;
120. a light amplification module; 121. a semiconductor amplifier chip; 122. a first optical fiber; 123. a second focusing lens;
130. a silicon optical chip; 131. a spot size converter; 132. a first beam splitter; 133. a second beam splitter; 1331. an optical delay line; 1332. an optical transmission line; 1333. a fiber coupler; 1334. a first balanced photodetector; 134. a third optical splitter; 135. a light receiving module; 136. a polarization conversion module; 137. a photoelectric detection module; 135a, a light coupling unit; 135b, a mode demultiplexer; 1351. a first waveguide; 13511. a first coupling region; 13522. a first extension region; 1352. a second waveguide; 1353. a third waveguide; 13531. a first coupling part; 13532. a second coupling part; 13533. a third coupling part; 13534. a first extension portion; 13535. a second extension portion; 13536. a third extension portion; 1354. a fourth waveguide; 13541. a fourth coupling part; 13542. a fourth extension portion; 1355. a fifth waveguide; 13551. a fifth coupling part; 13552. a fifth extension portion; 1356. a sixth waveguide; 13561. a sixth coupling part; 13562. a sixth extension; 1361. a seventh waveguide; 1362. an eighth waveguide; 1363. a first polarization rotator; 1364. a second polarization rotator; 1371. an optical mixer; 1372. a second balanced photodetector;
140. a housing case;
200. a circulator; 210. a second reflector;
300. a light beam scanning module;
400. a target to be measured;
120', a light amplification module; 121', an optical fiber amplifier; 122', a first optical fiber;
135', a light receiving module; 136', and a polarization conversion module; 1351', a first waveguide; 13511', first part; 13512', second part; 1361', a first polarizing beam splitter; 1362 ", a second polarization beam splitter;
1. a laser radar;
2. an automatic driving system;
3. a mobile device; 31. a device body.
Detailed Description
In order to make the objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all 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 application.
In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, it is noted that, unless explicitly stated or limited otherwise, "including" and "having" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
In the related art, the light receiving module of the laser radar may use a single mode fiber, a multimode fiber, and a few-mode fiber to receive a reflected light signal reflected by a target to be detected. Because coherent detection of the lidar is usually performed only under a single-mode condition, a single-mode fiber or a single waveguide is often used by a light receiving module of the lidar to receive a reflected light signal. On one hand, the mode field diameter of the single-mode optical fiber is small, so that the receiving efficiency of a receiving system is low; on the other hand, when the reflected light signal passes through the light beam scanning module, a period of time has elapsed relative to the first light signal when the reflected light signal passes through the light beam scanning module, and the position of a scanning component in the light beam scanning module changes, so that the reflected light signal falls on the light receiving module and may deviate from the position of the single-mode optical fiber to a certain extent, which further reduces the receiving efficiency of the single-mode optical fiber on the reflected light signal.
Before describing the embodiments of the present application more clearly, some concepts in the present application will be described in detail to facilitate better understanding of the present application.
The non-fundamental mode optical signal may refer to an optical signal of a high-order mode having an order greater than or equal to 1.
The fundamental mode optical signal may refer to an optical signal of a low order mode with an order of 0.
The fundamental mode transverse electric mode optical signal (shown as TE0 in the drawing) may refer to a transverse electric mode optical signal with an electric field direction perpendicular to the propagation direction and an order of 0.
The non-fundamental mode transverse electric mode optical signal (shown as TE1 in the drawing) may refer to a transverse electric mode optical signal in which the electric field direction is perpendicular to the propagation direction and the order is greater than or equal to 1.
The fundamental mode transverse magnetic mode optical signal (shown as TM0 in the drawing) may refer to a transverse magnetic mode optical signal in which the magnetic field direction is perpendicular to the propagation direction and the order is 0.
The non-fundamental mode transverse magnetic mode optical signal (shown as TM1 in the drawing) may refer to a transverse electric mode optical signal in which the magnetic field direction is perpendicular to the propagation direction and the order is greater than or equal to 1.
The present application will be described in detail with reference to specific examples.
Referring to fig. 1, a schematic diagram of an optical transceiver module 100 provided in an embodiment of the present invention when the optical transceiver module 100 is applied to a laser radar 1 for detection is shown, where the optical transceiver module 100 includes a light source module 110 and a silicon optical chip 130. The light source module 110 is configured to generate a first optical signal and a second optical signal, where the first optical signal is used to detect the target outside the optical transceiver module 100, and the second optical signal is used to transmit to the silicon optical chip 130. The silicon optical chip 130 is configured to receive the second optical signal and a first reflected optical signal formed by reflecting the first optical signal by the target to be detected, and obtain related detection information of the target to be detected, such as distance, speed, reflectivity, and the like, according to the second optical signal and the first reflected optical signal.
Referring to fig. 2 to 9, the silicon optical chip 130 includes a light receiving module 135, a polarization conversion module 136 and a photo detection module 137. Wherein the light receiving module 135 comprises at least two waveguides for receiving the first reflected light signal, the light receiving module 135 being configured to output the received first reflected light signal as at least two second reflected light signals; wherein the second reflected light signal is a fundamental mode light signal. The polarization conversion module 136 is configured to receive the second reflected light signals, and output the received second reflected light signals as third reflected light signals having the same polarization state as the second light signals. The photodetection module 137 is configured to receive the third reflected light signal and at least a part of the second light signal, and obtain the related information according to the third reflected light signal and at least a part of the second light signal. It is to be noted that a component described in this document as being adapted to receive a certain light beam means that the component is adapted to receive all or part of the light beam, e.g. an undivided photosynthetic or a divided light beam.
Next, the optical transceiver module provided in the present application will be described with reference to the drawings. Referring to fig. 2, a schematic diagram of an embodiment of the optical transceiver module 100 in fig. 1 is shown. In this embodiment, the optical transceiver module 100 includes a housing 140, a light source module 110, an optical amplifier module 120, and a silicon optical chip 130, and the above structure is described in detail in the following.
Referring to fig. 2, the housing 140 has a housing cavity to house the light source module 110 and the silicon optical chip 130, and the housing 140 is provided with a housing cavity. In this embodiment, the accommodating case 140 is made of metal, that is, the accommodating case 140 is a metal accommodating case 140; it is understood that, in other embodiments of the present application, the housing 140 may be made of other materials, such as plastic, and the present application is not limited thereto.
With reference to the light source module 110, please continue to refer to fig. 2, the light source module 110 includes a laser 111, a light splitting unit 112, and a light guiding unit 113. The laser 111 is configured to generate an optical signal and transmit the optical signal to the optical splitting unit 112; for example, the laser 111 is used to generate a frequency modulated continuous wave optical signal, i.e. the optical transceiver module is applicable to a frequency modulated continuous wave lidar 1. The laser 111 may be in the form of a chip, or may be integrated with other structures on the chip. The optical splitting unit 112 is configured to receive the optical signal and split the optical signal into a first optical signal and a second optical signal; the first optical signal is used for detecting the target to be detected, and the second optical signal is emitted to the silicon optical chip 130. Optionally, the light splitting unit 112 includes a beam splitter; it is understood that in other embodiments of the present application, the light splitting unit 112 may also be other light splitting devices such as a fiber coupler 1333. The light guide unit 113 is configured to receive the first optical signal and transmit the first optical signal to the optical amplifying module 120. In this embodiment, the light guide unit 113 includes a first mirror for receiving the first optical signal and reflecting the first optical signal to the optical amplifying module 120. The light guide unit 113 is arranged to facilitate adjustment of the light path, so that the direction of the first optical signal emitted to the light amplification module 120 through the light guide unit is the same as the direction of the second optical signal emitted to the silicon optical chip 130 through the light splitting unit 112, thereby facilitating the substantially parallel arrangement of the light amplification module 120 and the silicon optical chip 130 as shown in fig. 2, facilitating the output end of the light amplification module 120 and the input end of the corresponding emitted optical signal of the silicon optical chip 130 to be located at the same end of the transceiver module, and facilitating the transceiver module to transmit and receive the detection light at the same end. It is understood that, even though the light guide unit 113 in the present embodiment is described by taking the first reflector as an example, the present application is not limited thereto, and the specific structural composition thereof may be various; for example, in some other embodiments of the present application, the light guide unit 113 may also include a lens set located between the light splitting unit 112 and the first reflector; for another example, in other embodiments of the present application, the light guide unit 113 includes a combination of a plurality of mirrors; for example, the light guide unit 113 is an optical fiber for guiding light, which is not described in detail herein.
Further, the light source module 110 further includes a first collimating lens 114 and a first isolator 115. Along the optical path from the laser 111 to the light splitting unit 112, the first collimating lens 114 and the first isolator 115 are sequentially disposed between the laser 111 and the light splitting unit 112. The first collimating lens 114 is configured to collimate an optical signal emitted by the laser 111 and transmit the collimated optical signal to the first isolator 115. The first isolator 115 is configured to isolate the light reflected by the optical splitting unit 112 while transmitting the collimated optical signal to the optical splitting unit 112, so as to prevent the reflected light from entering the laser 111, and further affecting the normal operation of the laser 111.
Further, to improve the efficiency of coupling the second optical signal into the silicon optical chip 130, the light source module 110 further includes a first focusing lens 116. Specifically, the first focusing lens 116 is disposed between the light splitting unit 112 and the silicon optical chip 130, and is configured to receive the second optical signal emitted through the light splitting unit 112 and focus and couple the second optical signal into a corresponding light receiving structure on the silicon optical chip 130.
It should be understood that, even though the light source module 110 in the embodiment splits the optical signal emitted by the laser 111 by the light splitting unit 112 to obtain the first optical signal and the second optical signal, the present application is not limited thereto as long as the light source module 110 can generate the first optical signal and the second optical signal; for example, in other embodiments, the light source module 110 may include two lasers 111, wherein one laser 111 is used to generate the first optical signal and the other laser 111 is used to generate the second optical signal.
As for the optical amplification module 120, please refer to fig. 2, which is configured to receive the first optical signal, more specifically, the first optical signal emitted from the light guide unit 113, amplify the first optical signal, and output the amplified first optical signal; the amplified first optical signal is used for detecting a target to be detected. In this embodiment, the Optical amplifying module 120 includes a Semiconductor Optical Amplifier (SOA) chip and a first Optical fiber 122. The SOA chip 121 is disposed on the optical path downstream of the optical guiding unit 113, and the SOA chip 121 is configured to receive the first optical signal output by the optical guiding unit 113 and amplify the first optical signal to output an amplified first optical signal. The first optical fiber 122 is arranged on the optical path downstream of the SOA chip 121, one end of the first optical fiber 122 is accommodated in the accommodating shell 140 and arranged toward the SOA chip 121, and the other end extends out of the accommodating shell 140; the first optical fiber 122 is configured to receive the first optical signal output by the SOA chip 121, and output the first optical signal to the outside of the optical transceiver module 100. It should be understood that even though the optical amplification module 120 includes the SOA chip 121 and the first optical fiber 122 in this embodiment, in other embodiments of the present application, the first optical fiber 122 may be omitted; accordingly, the first optical signal amplified by the SOA chip is directly output to the outside of the optical amplification module 120.
Further, to facilitate the efficiency of coupling the first optical signal into the SOA chip 121, the optical amplifying module 120 further includes a second focusing lens 123. Specifically, the second focusing lens 123 is disposed between the light guiding unit 113 and the SOA chip 121, and is configured to receive the second optical signal output through the light guiding unit 113 and to be focused and coupled into the SOA chip 121.
It should be understood that, even though the above-mentioned embodiment takes the SOA chip 121 as an example of the optical amplification device to describe the optical amplification module 120, the application is not limited thereto. For example, referring to fig. 3, which shows a schematic diagram of another specific embodiment of the optical transceiver module 100 in fig. 2, in this embodiment, the optical amplification module 120 ' includes an optical fiber amplifier 121 ' and a first optical fiber 122 '. One end of the first optical fiber 122' is located inside the receiving casing 140 and is disposed toward the light guiding unit 113, and the other end thereof may be received inside the receiving casing 140 or may also extend out of the receiving casing 140; the first optical fiber 122 'is configured to receive the first optical signal output by the light guiding unit 113 and transmit the first optical signal to the optical fiber amplifier 121'. The fiber amplifier 121 "is located outside the containment shell 140, and it is located downstream of the optical path of the first optical fiber 122'; the optical fiber amplifier 121 'is configured to receive the first optical signal output by the first optical fiber 122', amplify the first optical signal, and output the amplified first optical signal, so that the amplified first optical signal can be used to detect an object to be detected. Optionally, the fiber amplifier 121' is an erbium-doped fiber amplifier. Preferably, the first optical fiber 122' is a lensed fiber, thereby to some extent improving the efficiency with which the first optical signal is coupled into the first optical fiber.
With reference to the silicon optical chip 130, please refer to fig. 2, in which the silicon optical chip 130 includes a substrate, a spot size converter 131, a first beam splitter 132, a second beam splitter 133, an optical delay line 1331, an optical transmission line 1332, an optical fiber coupler 1333, a first balanced photodetector 1334, a third beam splitter 134, a photodetection module 137, a light receiving module 135, and a polarization conversion module 136. The spot size converter 131 is disposed corresponding to the optical splitting unit 112 and the first focusing lens 116, and is configured to receive the second optical signal and couple the second optical signal into other devices in the silicon optical chip 130, for example, in this embodiment, the second optical signal may enter the first optical splitter 132 after being coupled by the spot size coupler, so as to improve a mode field matching degree, reduce a mode mismatch loss, and improve a coupling efficiency of light. The first optical splitter 132 is connected to an output end of the spot size converter 131, and the first optical splitter 132 is configured to receive a second optical signal and split the second optical signal into a first local oscillation optical signal and a second local oscillation optical signal.
The second optical splitter 133 is connected to the first optical splitter 132, and is configured to receive the first local oscillation optical signal and split the first local oscillation optical signal into a third local oscillation optical signal and a fourth local oscillation optical signal. Fiber coupler 1333 has a first input port and a second input port; the first input port is connected to the second optical splitter 133 through an optical delay line 1331 to receive the third local oscillator optical signal; the second input port is connected to the second optical splitter 133 through an optical transmission line 1332 to receive the fourth local oscillator optical signal; the optical fiber coupler 1333 is configured to mix the delayed third local oscillator optical signal and the undelayed fourth local oscillator optical signal, and obtain a first beat signal and a second beat signal. The fiber coupler 1333 further has a first output port for outputting the first beat signal and a second output port for outputting the second beat signal. Optionally, fiber coupler 1333 is a 3Db coupler; the first beat signal and the second beat signal are 180 degrees out of phase. The first balanced photodetector 1334 is connected to the fiber coupler 1333; specifically, the first balance photodetector 1334 is connected to the first output port and the second output port, respectively, to receive the first beat signal and the second beat signal, and perform balance detection on the first beat signal and the second beat signal. The second optical splitter 133, the fiber coupler 1333, the optical delay line 1331, the optical transmission line 1332 and the first balanced photodetector 1334 form a signal calibration path of the laser radar 1.
The third optical splitter 134 is connected to the first optical splitter 132, and is configured to receive the second local oscillation optical signal and split the second local oscillation optical signal into a plurality of fifth local oscillation optical signals, where the fifth local oscillation optical signals are used to be transmitted to the photodetection module 137.
The light receiving module 135 is configured to receive a first reflected light signal, where the first reflected light signal is a light signal formed after the target reflects the first light signal. The light receiving module 135 includes at least two waveguides, which receive the first reflected light signal through the at least two waveguides; the light receiving module 135 outputs the received first reflected light signal as at least one second reflected light signal of the fundamental mode state after receiving the first reflected light signal; that is, the second reflected light signal is a fundamental mode light signal. In this embodiment, the light receiving module 135 includes the at least two waveguides and the mode demultiplexer 135b. Wherein, the at least two waveguides constitute an optical coupling unit 135a, and the optical coupling unit 135a is configured to multiplex the received first reflected optical signal into one of the waveguides therein; the mode demultiplexer 135b is used to demultiplex the multiplexed first reflected optical signal into at least two fundamental mode optical signals, i.e., the at least two second reflected optical signals.
Referring first to fig. 4, a schematic diagram of the optical coupling unit 135a is shown, the optical coupling unit 135a including a first waveguide 1351 and a second waveguide 1352 disposed adjacent to each other. The first waveguide 1351 comprises a first coupling region 13511 extending along the illustrated first direction X, said first coupling region 13511 being adapted to receive the first reflected light signal. The second waveguide 1352 is spaced apart from the first coupling region 13511 along the second direction Y and is disposed adjacent to the first waveguide 1352, and the second waveguide 1352 is also configured to receive the first reflected light signal; the second direction Y is perpendicular to the first direction X. The second waveguide 1352 and the first waveguide 1351 are configured to couple an optical signal in the second waveguide 1352 into the first coupling region 13511.
Specifically, the first coupling region 13511 includes a first input end and a first input end disposed opposite to each other along the first direction. A first input end, which is arranged away from the polarization conversion module 136 and the photodetection module 137, is used for receiving the first reflected light signal; the first output terminal is disposed closer to the polarization conversion module 136 and the photo detection module 137 with respect to the first input terminal. The first coupling region 13511 is generally wedge-shaped, with the cross-sectional profile of the first coupling region 13511 gradually expanding from the first input to the first output. The second waveguide 1352 also extends along the first direction X and includes a second input end and a second output end opposite to the first input end. A second input terminal disposed proximate to the first input terminal for receiving a first reflected light signal; the second output end is arranged close to the first output end. The second waveguide 1352 is also generally wedge-shaped, with the cross-sectional profile of the second waveguide 1352 gradually narrowing from the second input end to the second output end. As such, a first reflected optical signal entering the second waveguide 1352 via the second input end is gradually coupled into the first waveguide 1351 during transmission from the second input end to the second output end in the second waveguide 1352.
Generally, in order to achieve better coupling between the first coupling region 13511 and the second waveguide 1352, the first waveguide 1351 and the second waveguide 1352 satisfy: 0<G 1 <W 11 ，0<G 2 <W 11 (ii) a Wherein G is 1 Is the gap between the first input terminal and the second input terminal, G 2 Is the gap between the first output terminal and the second output terminal, W 11 For the first input in the second direction as shownWidth. The arrangement can ensure a better coupling effect between the second waveguide 1352 and the first waveguide 1351; on the other hand, the distance between the first waveguide 1351 and the second waveguide 1352 can be made smaller, so that when the first reflected light signal enters the light coupling unit 135a in a manner deviating from the first waveguide 1351 to a small extent, a portion of the first reflected light signal deviating from the first waveguide 1351 can enter the light coupling unit 135a via the second waveguide 1352, thereby improving the coupling efficiency of the first reflected light signal to some extent. Further, the length L of the first coupling region 13511 and the second waveguide 1352 along the first direction X 1 The longer arrangement is also advantageous for improving the above coupling efficiency.
In this embodiment, the width of the second input end along the second direction is W 21 Width of single mode waveguide being W 0 (ii) a The first waveguide 1351 and the second waveguide 1352 satisfy: w is a group of 11 And W 21 Are all close to the size of a single mode waveguide. For example, 0.8<W 11 /W 0 <1.2，0.8<W 21 /W 0 <1.2. This arrangement facilitates the first and second waveguides 1351 and 1352 to receive the first reflected light signal returning in space through an adapted mode field.
Optionally, the light coupling unit 135a includes one first waveguide 1351 and two second waveguides 1352. The two second waveguides 1352 are respectively disposed on two sides of the first waveguide 1351 along the second direction, so that the receiving efficiency of the light coupling unit 135a for receiving the first reflected light can be improved. It is understood that, in other embodiments of the present application, the light coupling unit 135a may also include more than three second waveguides; for example, along the second direction Y, one side of the first waveguide is provided with two or more second waveguides, and the other side is provided with one or more second waveguides. In addition, the optical coupling unit may also include more than two first waveguides, and accordingly, each first waveguide is correspondingly provided with a second waveguide capable of realizing optical signal coupling.
In this embodiment, the first waveguide 1351 further includes a first extension region 13512. A first extension portion 13512 connected to the first output end and extending along a first direction; i.e., the first extended region 13512 is disposed beyond the second waveguide 1352. The first extension region 13512 coincides with the cross-section of the first coupling region 13511 at the intersection; also, from the end near the first coupling region 13511 to the end away from the first coupling region 13511, the cross-sectional profile of the first extension region 13512 gradually expands, i.e., the size of the end of the first extension region 13512 facing away from the first coupling region 13511 is larger. In this embodiment, the first extension region 13512 and the first coupling region 13511 have the same tilt angle, so that the first waveguide 1351 has a single wedge-shaped structure. The optical coupling unit 135a outputs the received first reflected optical signal through an end of the first extension region 13512 facing away from the first coupling region 13511. It is worth mentioning that the first waveguide 1351 and the second waveguide 1352 are arranged such that the optical coupling unit 135a may have four modes of optical signals, i.e., a fundamental mode transverse electric mode optical signal, a fundamental mode transverse magnetic mode optical signal, a non-fundamental mode transverse electric mode optical signal, and a non-fundamental mode transverse magnetic mode optical signal when outputting the first reflected optical signal.
Referring again to fig. 5, a schematic diagram of the mode demultiplexer 135b is shown, wherein the mode demultiplexer 135b is configured to receive the first reflected light signal output by the first waveguide 1351 and output the received first reflected light signal as at least two second reflected light signals in a fundamental mode. Specifically, the mode demultiplexer 135b includes a third waveguide 1353, a fourth waveguide 1354, a fifth waveguide 1355, and a sixth waveguide 1356. The third waveguide 1353 extends along the illustrated third direction U, and is configured to receive the first reflected optical signal output by the first waveguide 1351 and output a transverse electric mode signal of the fundamental mode, and the third waveguide 1353 includes a first coupling portion 13531, a second coupling portion 13532, and a third coupling portion 13533, which are sequentially disposed along an optical path. It should be noted that the "third direction" described in this document is the extending direction of the third waveguide 1353; in this embodiment, the third direction U is parallel to or collinear with the first direction X, but in other embodiments of the present application, the third direction U may also have an included angle with the first direction X, and the present application is not limited thereto.
The fourth waveguide 1354 includes a fourth coupling portion 13541, and the fourth coupling portion 13541 and the first coupling portion 13531 are disposed opposite to each other along a fourth direction V shown in the figure(ii) a The fourth direction V is a direction perpendicular to the third direction U. The first coupling portion 13531 and the fourth coupling portion 13541 are configured to couple the non-fundamental mode transverse electrical mode optical signal in the first coupling portion 13531 into the fourth coupling portion 13541 and convert the non-fundamental mode transverse electrical mode optical signal into a fundamental mode transverse electrical mode signal, so that the fourth waveguide 1354 outputs a fundamental mode transverse electrical mode signal. Specifically, in a direction in which the optical path upstream end of the first coupling portion 13531 is directed toward the downstream end thereof, the cross-sectional profile of the first coupling portion 13531 gradually contracts, and the cross-sectional profile of the fourth coupling portion 13541 gradually expands; by appropriately setting the shapes and distances of the first coupling portion 13531 and the fourth coupling portion 13541, the non-fundamental-mode transverse electric-mode optical signal can be coupled into the fourth coupling portion 13541. In addition, the width of the downstream end of the fourth coupling portion 13541 in the optical path is W 42 Width W of the single-mode waveguide 0 Close to, for example, the fourth coupling portion 13541 satisfies: 0.8<W 42 /W 0 <1.2; in this way, the optical signal coupled into the fourth coupling portion 13541 can be controlled to be further a fundamental mode transverse electric mode signal.
Further, fourth waveguide 1354 also includes a fourth extension portion 13542. With continued reference to fig. 5, one end of the fourth extending portion 13542 is connected to the downstream section of the optical path of the fourth coupling portion 13541, and the other end extends to be substantially aligned with the end of the third waveguide 1353 away from the first waveguide 1351. In this embodiment, the fourth extending portion 13542 includes a first region and a second region. One end of the first region is connected to the fourth coupling portion 13541, and the other end extends away from the third waveguide 1353, so as to increase the distance between the first region and the third waveguide 1353 and further reduce crosstalk therebetween; the second region extends along the third direction U, and has one end connected to the first region and the other end extending to be aligned with the output end of the third waveguide 1353. The width of the fourth extension portion 13542 coincides with the width of the fourth coupling portion 13541 so that the fourth waveguide 1354 outputs the above-described fundamental-mode transverse electric mode optical signal therethrough away from the first waveguide 1351.
The fifth waveguide 1355 includes a fifth coupling portion 13551, and the fifth coupling portion 13551 and the second coupling portion 13532 are oppositely disposed along a fourth direction shown in the figure. The second coupling portion 13532 and the fifth coupling portion 13551 are configured to enable the second couplingThe non-fundamental-mode transverse magnetic mode optical signal in the section 13532 is coupled into the fifth coupling section 13551 and converted into a fundamental-mode transverse magnetic mode optical signal, so that the fifth waveguide 1355 outputs the fundamental-mode transverse magnetic mode optical signal. Specifically, in a direction in which the optical path upstream end of the second coupling portion 13532 is directed toward the downstream end thereof, the cross-sectional profile of the second coupling portion 13532 gradually contracts, and the cross-sectional profile of the fifth coupling portion 13551 gradually expands; by properly setting the shapes and distances of the second coupling portion 13532 and the fifth coupling portion 13551, the non-fundamental mode transverse magnetic mode optical signal can be coupled into the fifth coupling portion 13551. Further, the width of the optical path downstream end of the fifth coupling portion 13551 is W 52 Width W of the single-mode waveguide 0 Close to this, for example, the fifth coupling portion 13551 satisfies: 0.8<W 52 /W 0 <1.2; in this way, the optical signal coupled into the fifth coupling portion 13551 can be controlled to be a fundamental mode transverse magnetic mode optical signal.
In addition, the fifth waveguide 1355 also includes a fifth extension portion 13552. With continued reference to fig. 5, one end of the fifth extending portion 13552 is connected to the downstream portion of the optical path of the fifth coupling portion 13551, and the other end extends to be substantially aligned with the end of the third waveguide 1353 away from the first waveguide 1351. In this embodiment, the fifth extending portion 13552 includes a third region and a fourth region. One end of the third region is connected to the fifth coupling portion 13551, and the other end extends away from the third waveguide 1353, so as to increase the distance between the third region and the third waveguide 1353, thereby reducing crosstalk therebetween; the fourth region extends along the third direction U, and has one end connected to the third region and the other end extending to be aligned with the output end of the third waveguide 1353. The fifth extension portion 13552 has a width corresponding to that of the fifth coupling portion 13551, and the fifth waveguide 1355 outputs the above-described fundamental-mode transverse magnetic mode optical signal through it away from the first waveguide 1351.
The sixth waveguide 1356 includes a sixth coupling portion 13561, and the sixth coupling portion 13561 and the third coupling portion 13533 are disposed opposite to each other along a fourth direction shown in the figure. The third and sixth couplers 13533 and 13561 are configured to couple the fundamental-mode transverse magnetic-mode optical signal in the third coupler 13533 into the sixth coupler 13561, so that the sixth waveguide 1356 outputs the fundamental-mode transverse magnetic-mode optical signal. In particular, the amount of the solvent to be used,in the direction from the upstream end of the second coupling portion 13532 to the downstream end thereof, the cross-sectional profile of the second coupling portion 13532 gradually shrinks, and the cross-sectional profile of the sixth coupling portion 13561 gradually expands; by appropriately setting the shapes and distances of the third coupling portion 13533 and the sixth coupling portion 13561, the fundamental-mode transverse magnetic mode optical signal can be coupled into the sixth coupling portion 13561. Further, the width of the optical path downstream end of the sixth coupling portion 13561 is W 62 Width W of the single-mode waveguide 0 Close to this, for example, the sixth coupling portion 13561 satisfies: 0.8<W 62 /W 0 <1.2; in this way, the optical signal coupled into the sixth coupling portion 13561 can be controlled to remain as the fundamental mode transverse magnetic mode signal.
In addition, the sixth waveguide 1356 also includes a sixth extension portion 13562. With continued reference to fig. 5, one end of the sixth extension portion 13562 is connected to the downstream section of the optical path of the sixth coupling portion 13561, and the other end extends to be substantially aligned with the end of the third waveguide 1353 away from the first waveguide 1351. In this embodiment, the sixth extending portion 13562 includes a fifth region and a sixth region. One end of the fifth region is connected to the sixth coupling portion 13561, and the other end extends away from the third waveguide to increase the distance between the fifth region and the third waveguide 1353, thereby reducing crosstalk between the fifth region and the third waveguide; the sixth region extends along the third direction U, and has one end connected to the third region and the other end extending to be aligned with the output end of the third waveguide 1353. The sixth extension portion 13562 has a width corresponding to that of the sixth coupling portion 13561, and the sixth waveguide 1356 outputs the fundamental-mode transverse magnetic mode optical signal therethrough away from the first waveguide 1351.
In addition, the third waveguide 1353 further includes a first extension portion 13534, a second extension portion 13535, and a third extension portion 13536. Therein, the first extending portion 13534 is connected between the first coupling portion 13531 and the second coupling portion 13532, and a cross-sectional profile thereof gradually shrinks from the first coupling portion 13531 to the second coupling portion 13532. The second extension portion 13535 is connected between the second coupling portion 13532 and the third coupling portion 13533, and has a cross-sectional profile gradually converging from the second coupling portion 13532 to the third coupling portion 13533. The third extension portion 13536 is connected to an end of the third coupling portion 13533 facing away from the second coupling portion 13532, and its cross-sectional profile is kept constant.The third extension portion 13536 has a width dimension W along the fourth direction 32 Width W of the single-mode waveguide 0 Close together, further ensuring that the third extension portion 13536 outputs a single mode of optical signal, e.g., the third extension portion 13536 satisfies: 0.8<W 32 /W 0 <1.2。
In this way, the light receiving module 135 outputs the second reflected light signal of one fundamental mode through each of the third waveguide 1353, the fourth waveguide 1354, the fifth waveguide 1355, and the sixth waveguide 1356, which is the fundamental mode transverse electric mode optical signal, the fundamental mode transverse magnetic mode optical signal, and the fundamental mode transverse magnetic mode optical signal.
It should be noted that although the first coupling portion 13531, the second coupling portion 13532 and the third coupling portion 13533 are sequentially disposed along the optical path transmission direction of the third waveguide 1353 in this embodiment, the present application is not limited thereto; for example, in other embodiments of the present disclosure, the first coupling portion 13531 may also be disposed between the second coupling portion 13532 and the third coupling portion 13533, or the third coupling portion 13533 may be disposed between the first coupling portion 13531 and the second coupling portion 13532.
Referring to fig. 6, the polarization conversion module 136 is shown in a schematic view of the polarization conversion module 136, in this embodiment, the second optical signal is a transverse electric mode optical signal; the polarization conversion module 136 is configured to receive the second reflected light signals and output the received second reflected light signals as third reflected light signals with the optical mode being a fundamental mode transverse electric mode optical signal. Specifically, the polarization conversion module 136 includes a seventh waveguide 1361, an eighth waveguide 1362, a first polarization rotator 1363, and a second polarization rotator 1364.
The seventh waveguide 1361 is configured to receive the second reflected light signal output by the third waveguide 1353 and output the second reflected light signal to the photodetection module 137. Since the second reflected optical signal output by the third waveguide 1353 is a fundamental mode transverse electric mode optical signal, which has the same polarization state as the above second optical signal; therefore, the seventh waveguide 1361 only needs to function to transmit the second reflected light signal, and the output light signal is the third reflected light signal. Optionally, the seventh waveguide 1361 is a straight waveguide; of course, in other embodiments, the seventh waveguide 1361 may be an arc-shaped waveguide or other waveguides.
The eighth waveguide 1362 is configured to receive the second reflected light signal output by the fourth waveguide 1354 and output the second reflected light signal to the photodetection module 137. Since the second reflected optical signal output by the fourth waveguide 1354 is the fundamental-mode transverse electric-mode optical signal, the seventh waveguide 1361 only needs to function to transmit the second reflected optical signal, and the output optical signal is the third reflected optical signal. Optionally, the eighth waveguide 1362 is a straight waveguide; of course, in other embodiments, the eighth waveguide 1362 may be an arc-shaped waveguide or other waveguides.
The first polarization rotator 1363 is configured to receive the second reflected light signal output by the fifth waveguide 1355, convert the second reflected light signal into a transverse electric mode signal, and output the transverse electric mode signal to the photo-detection module 137. Since the second reflected optical signal output by the fifth waveguide 1355 is a fundamental mode transverse magnetic mode optical signal, the first polarization rotator 1363 rotates the second reflected optical signal after receiving the second reflected optical signal to obtain a fundamental mode transverse electric mode optical signal, and then outputs the fundamental mode transverse electric mode optical signal as a third reflected optical signal to the photodetection module 137.
The second polarization rotator 1364 is configured to receive the second reflected light signal output by the sixth waveguide 1356, convert the second reflected light signal into a transverse electrical mode signal, and output the transverse electrical mode signal to the photo-detection module 137. Since the second reflected optical signal output by the sixth waveguide 1356 is a fundamental mode transverse magnetic mode optical signal, the second polarization rotator 1364 rotates the second reflected optical signal after receiving the second reflected optical signal to obtain a fundamental mode transverse electric mode optical signal, and then outputs the fundamental mode transverse electric mode optical signal to the photodetection module 137 as a third reflected optical signal.
It should be understood that even though the structure of the polarization conversion module 136 in the present embodiment is as described above, the present application is not limited thereto as long as it is ensured that it can output the received second reflected light signal as a third reflected light signal having the same polarization state as the second light signal. For example, in some other embodiments of the present application, the polarization conversion module 136 may include four polarization beam splitting rotators, each polarization beam splitting rotator being configured to receive the second reflected light signal output by one of the third waveguide 1353, the fourth waveguide 1354, the fifth waveguide 1355 and the sixth waveguide 1356, and to optically connect a port of the polarization beam splitting rotator that outputs the transverse electric mode optical signal to the photodetection module 137.
In addition, even though the second optical signal is illustrated as a transverse electric mode optical signal in the present embodiment, in other embodiments, the second optical signal may be a transverse magnetic mode optical signal; accordingly, the polarization conversion module 136 is configured to output the received second reflected light signal as a fundamental mode transverse magnetic mode optical signal, and the specific arrangement manner of the polarization conversion module 136 is just opposite to the foregoing arrangement manner, which is not described herein again.
With reference to the photo-detection module 137, please refer to fig. 2 to 4, in which the photo-detection module 137 includes an optical mixer 1371 and a second balanced photo-detector 1372. The optical mixer 1371 is configured to receive at least a part of the second optical signal and the third reflected optical signal, and beat the two signals to generate a beat signal. Preferably, the number of the optical mixers 1371 is the same as the number of the third reflected optical signals, and an input end of each optical mixer 1371 is connected to the output end of the third optical splitter 134, on the one hand, and to one of the seventh waveguide 1361, the eighth waveguide 1362, the first polarization rotator 1363, and the second polarization rotator 1364, on the other hand, to receive the second optical signal and the third reflected optical signal. The number of the second balanced photodetectors 1372 corresponds to the number of the optical mixers 1371, and each of the second balanced photodetectors 1372 is connected to one of the optical mixers 1371, and is configured to perform balanced detection on the beat signal. The second balanced photodetector 1372 may output the electrical signal obtained by the photoelectric conversion to a signal processing module outside the optical transceiver module 100, so as to obtain information such as the distance, speed, and reflectivity of the target to be measured. It is understood that in other embodiments of the present application, the number of the optical mixers 1371 may be less than the number of the third reflected optical signals.
It should be understood that, even though the embodiment is described by taking the photo-detection module 137 including a mixer and a balanced photo-detector as an example, the application is not limited thereto, as long as it is ensured that the photo-detection module 137 can receive at least a part of the second optical signal and the third reflected optical signal, so as to beat the two to generate a beat signal, and perform photoelectric conversion on the beat signal. For example, in other embodiments, the photo-detection module 137 may also include photo-detectors, each of which is configured to receive at least a portion of the second optical signal and the third reflected optical signal.
In summary, the optical transceiver module 100 provided in the embodiment of the present application includes the light source module 110 and the silicon optical chip 130. The light source module 110 is configured to generate a first optical signal and a second optical signal. The silicon optical chip 130 includes a light receiving module 135, a polarization conversion module 136, and a photo detection module 137. The light receiving module 135 includes at least two waveguides for receiving the first reflected light signal, and the light receiving module 135 is configured to output the received first reflected light signal as at least one second reflected light signal, wherein the second reflected light signal is a fundamental mode light signal. The polarization conversion module 136 is configured to receive each second reflected optical signal and output the received second reflected optical signal as a third reflected optical signal having the same polarization state as the second optical signal. The photo detection module 137 is configured to receive the third reflected light signal and at least a portion of the second light signal.
The optical transceiver module 100 receives the first reflected optical signal through at least two waveguides, so as to improve the optical power during reception. That is, the optical transceiver module 100 can improve the current situation of low receiving efficiency when the first reflected light signal is currently received. In addition, the optical transceiver module 100, through cooperation of the optical receiving module 135 and the polarization conversion module 136, converts the received first reflected optical signal into a third reflected optical signal, which has the same polarization state as the second optical signal and takes the optical mode as the fundamental mode, and couples the third reflected optical signal into the photoelectric detection module 137; therefore, the originally received optical signal which is in the non-fundamental mode can be utilized, and the utilization efficiency of the first reflected optical signal can be improved.
It should be noted that in other embodiments of the present application, a multi-mode waveguide may be used to replace the optical coupling unit 135a, which still has the effect of improving the light receiving efficiency compared to a single-mode waveguide. However, the multimode waveguide is prone to have a problem of mode field mismatch when receiving the first reflected light signal, and when a lens is used in combination to couple the first reflected light signal into the multimode waveguide, the NA (Numerical Aperture) value of the lens is also low, thereby reducing the coupling efficiency to some extent compared with the foregoing embodiment.
It should be understood that even though the above-mentioned embodiment is described by taking as an example that the light receiving module 135 includes the above-mentioned optical coupling unit 135a and the mode demultiplexer 135b, the present application is not limited thereto, and the construction of the light receiving module 135 is various as long as it is ensured that it has at least two waveguides for receiving the first reflected light signal and outputting the received first reflected light signal as at least one second reflected light signal whose mode is the fundamental mode; accordingly, the structure of the polarization conversion module 136 may be changed and adjusted accordingly, i.e., the structure of the polarization conversion module 136 may be varied.
For example, referring to fig. 7, which shows a schematic diagram of another embodiment of the light receiving module 135 of the present application, the light receiving module 135 comprises at least two waveguides, and the at least two waveguides comprise two first waveguides 1351. The first waveguide 1351 is a single-mode waveguide, and includes a first input end and a first output end opposite to each other along its extending direction; the first input end is used for receiving the first reflected light signal, and the first output end is used for outputting the received first reflected light signal as a second reflected light signal. Since the first waveguide 1351 is a single-mode waveguide, the second reflected light signal output by the first waveguide 1351 is also a fundamental-mode optical signal, and the second reflected light signal may include a fundamental-mode transverse electric mode optical signal and/or a fundamental-mode transverse magnetic mode optical signal.
The distance between the first input ends of the two first waveguides 1351 is short, so as to ensure that when the first reflected light signal is deviated from the first input end of one first waveguide 1351, the first reflected light signal can be coupled into the first input end of the other first waveguide 1351, thereby improving the coupling efficiency of the first reflected light signal into the light receiving module 135. For example, the distance between the first input ends of two adjacent first waveguides 1351 is less than 20 μm. In particular, the first waveguide 1351 includes a first portion that includes opposing first and second ends; the first end is the first input end, and the second end is the end of the first part far away from the first end. Preferably, the cross-sectional profile of the first portion gradually expands from the first end to the second end. For example, in some embodiments, the width of the first input terminal is between 0.05 μm and 0.13 μm, the thickness of the first input terminal is between 0.15 μm and 0.30 μm, the width of the first portion at the end facing away from the first input terminal is between 0.30 μm and 0.50 μm, and the thickness of the first portion is between 0.15 μm and 0.30 μm. This arrangement is intended to ensure that the first waveguide 1351 transmits the fundamental mode optical signal while being able to receive at the first input with an adapted mode field. Between two adjacent first waveguides 1351, two first portions are oppositely disposed, and a distance between the two first portions from the first end to the second end becomes gradually larger. This arrangement is intended to reduce the probability of crosstalk occurring in the optical signals within the two first waveguides 1351 while ensuring a high coupling efficiency of the light receiving module 135.
In this embodiment, the first waveguide 1351 also includes a second portion. One end of the second part is connected with one end of the first part deviating from the first input end, and the other end of the second part forms the first output end. The cross-sectional profile of the second portion remains constant along the path of the first waveguide 1351. As for the relative relationship between the second portions of the adjacent two first waveguides 1351, the distance between the two second portions may be gradually larger from the second end, for example, the second portions may extend along an arc; the distance between the two second portions may also be kept constant, for example, the second portions may extend in a straight line, with the two second portions being arranged in parallel; the present application is not particularly limited thereto.
Preferably, the two first waveguides 1351 are symmetrically arranged. This may facilitate, to some extent, an orderly layout of the devices in the polarization conversion module 136.
Since the configuration of the light receiving module 135 is changed, the polarization conversion module 136 is also adapted. For example, FIG. 8 shows a schematic diagram of one embodiment of a polarization conversion module 136, the polarization conversion module 136 including two polarization beam splitter rotators. Each polarization beam splitter is disposed corresponding to a first waveguide 1351, and is configured to receive the second reflected light signal output by the first waveguide 1351 and output two third reflected light signals having the same polarization state as the second reflected light signal, where each of the third reflected light signals enters the photodetection module 137. It should be noted that, the manner of respectively outputting the fundamental mode transverse electric mode optical signal and the fundamental mode transverse magnetic mode optical signal by the polarization beam splitting rotator is various; for example, in some embodiments, the polarization beam splitter rotator may first split the second reflected light signal into two orthogonal linear polarization state light beam signals, i.e., a fundamental mode transverse electric mode optical signal and a fundamental mode transverse magnetic mode optical signal, and then may keep the fundamental mode transverse electric mode optical signal unchanged and output, and convert the fundamental mode transverse magnetic mode optical signal into the fundamental mode transverse electric mode optical signal and output; for example, in other embodiments, the polarization beam splitter rotator may first keep the fundamental-mode transverse electromagnetic mode optical signal in the second reflected optical signal unchanged through one waveguide, convert the fundamental-mode transverse magnetic mode optical signal into a non-fundamental-mode transverse magnetic mode optical signal, then couple the non-fundamental-mode transverse magnetic mode optical signal to another waveguide and convert the non-fundamental-mode transverse magnetic mode optical signal into the fundamental-mode transverse electrical mode optical signal, and then output the fundamental-mode transverse electrical mode optical signals through the two waveguides, respectively.
It should be noted that, in other embodiments of the present application, the number of the first waveguides 1351 may also be more than three; accordingly, when the adjacent two first waveguides 1351 satisfy the above condition, the distance between the first portions of the adjacent two first waveguides 1351 gradually increases from the first end to the second end.
For another example, in some other embodiments of the present application, the light receiving module 135 and the polarization conversion module 136 may be adapted based on the first embodiment shown in fig. 2 to 6. Specifically, the light receiving module 135 still includes an optical coupling unit 135a and a mode demultiplexer 135b; the optical coupling unit 135a and the optical coupling unit 135a may have the same structure, and the mode demultiplexer 135b is different from the optical coupling unit 135a in the above embodiment in the following points: the mode demultiplexer 135b in this embodiment includes a third waveguide 1353, a fourth waveguide 1354, and a fifth waveguide 1355. More specifically, the third waveguide 1353 is configured to receive the first reflected light output by the first waveguide 1351 and output a fundamental-mode transverse electric mode optical signal and a fundamental-mode transverse magnetic mode optical signal. The third waveguide 1353 includes a first coupling portion 13531 and a second coupling portion 13532 sequentially disposed along an optical path. Fourth waveguide 1354 includes a fourth coupling portion 13541, and first coupling portion 13531 and fourth coupling portion 13541 are configured to couple the non-fundamental mode transverse electrical mode optical signal in first coupling portion 13531 into fourth coupling portion 13541 and convert into a fundamental mode transverse electrical mode optical signal, so that fourth waveguide 1354 outputs the fundamental mode transverse electrical mode optical signal. The fifth waveguide 1355 includes a fifth coupling portion 13551, and the second coupling portion 13532 and the fifth coupling portion 13551 are configured to couple the non-fundamental mode transverse magnetic mode optical signal in the second coupling portion 13532 into the fifth coupling portion 13551 and convert the non-fundamental mode transverse magnetic mode optical signal into the fundamental mode transverse magnetic mode optical signal, so that the fifth waveguide 1355 outputs the fundamental mode transverse magnetic mode optical signal. In addition, the third waveguide 1353 may also include a first extension portion 13534 and a second extension portion 13535; the first extension portion 13534 is disposed between the first coupling portion 13531 and the second coupling portion 13532, and the second extension portion 13535 is disposed at an end of the second coupling portion 13532 opposite to the first coupling portion 13531, and forms an output end of the third waveguide 1353. In this manner, the mode demultiplexer 135b outputs a fundamental mode transverse electric mode optical signal and a fundamental mode transverse magnetic mode optical signal through the third waveguide 1353, outputs a fundamental mode transverse electric mode optical signal through the fourth waveguide 1354, and outputs a fundamental mode transverse magnetic mode optical signal through the fifth waveguide 1355.
Accordingly, the polarization conversion module 136 includes a polarization beam splitter rotator, a sixth waveguide 1356, and a polarization converter. The polarization beam splitting rotator is disposed corresponding to the third waveguide 1353, and is configured to receive the second reflected light signal output by the third waveguide 1353 and output two third reflected light signals having the same polarization state as the second light signal, where each of the third reflected light signals enters the photodetection module 137; the fundamental mode transverse electric mode signal is maintained unchanged and is output to the photoelectric detection module 137, and the fundamental mode transverse magnetic mode signal is converted into the fundamental mode transverse electric mode signal and is output to the photoelectric detection module 137. The sixth waveguide 1356 is disposed corresponding to the fourth waveguide 1354, and is configured to receive the second reflected light signal output by the third waveguide 1353 and output the second reflected light signal to the photodetection module 137. Since the second reflected optical signal output by the fourth waveguide 1354 is a fundamental-mode transverse electric mode optical signal, the sixth waveguide 1356 only needs to function as a waveguide for transmitting the second reflected optical signal, and the output optical signal is the third reflected optical signal. The polarization rotator is disposed corresponding to the fifth waveguide 1355, and is configured to receive the second reflected light signal output by the fifth waveguide 1355, convert the second reflected light signal into a transverse electric mode signal, and output the transverse electric mode signal to the photodetection module 137. Since the second reflected optical signal output by the fifth waveguide 1355 is a fundamental mode transverse magnetic mode optical signal, the polarization rotator rotates the second reflected optical signal after receiving the second reflected optical signal to obtain a fundamental mode transverse electric mode optical signal, and then outputs the fundamental mode transverse electric mode optical signal to the photodetection module 137 as a third reflected optical signal.
Based on the same inventive concept, the application also provides a laser radar 1. Referring to fig. 9 in conjunction with fig. 1 to 8, the laser radar 1 includes the optical transceiver module 100, the circulator 200, the beam scanning module 300, and the signal processing module in any of the embodiments.
The optical transceiver module 100 is configured to generate a first optical signal and a second optical signal through the light source module 110; the first optical signal is used to exit to the outside of the optical transceiver module 100, and the second optical signal is used to emit to the silicon optical chip 130. The circulator 200 has a first port, a second port, and a third port, and is configured such that a beam signal received via the first port is output via the second port, and a beam signal received via the second port is output via the third port; the first port is configured to receive a first optical signal output by the optical transceiver module 100. The beam scanning module 300 is configured to receive the first optical signal output by the second port, and deflect the first optical signal out of the laser radar 1 to detect a target to be detected; the beam scanning module 300 is further configured to receive a first reflected light signal formed by reflecting the first light signal by the target to be measured, and deflect the first reflected light signal to the second port of the circulator 200. In this embodiment, the light beam scanning module 300 includes a galvanometer and a rotating mirror; it is understood that in other embodiments of the present application, the beam scanning module 300 may also include other optical scanning elements such as mems mirrors. Optionally, the lidar 1 further comprises a second mirror 210; the second reflecting mirror 210 is configured to receive a first reflected optical signal emitted from the third port of the circulator 200 and reflect the first reflected optical signal to the silicon optical chip. The silicon optical chip 130 is configured to receive the first reflected optical signal and the second optical signal outputted through the third port, and perform photodetection to output a corresponding electrical signal. The signal processing module is used for receiving the electric signal output by the photoelectric detection module and acquiring detection information of the object to be detected, such as distance, speed and reflectivity, according to the electric signal.
It should be noted that, when the optical transceiver module is applied to a laser radar, the second direction Y may be the same as the direction in which the walk-off effect is more obvious when the optical transceiver module receives light. For example, when the laser radar has a larger angle of view in the horizontal direction, the first optical signal has a larger scanning angle in the horizontal direction than in the vertical direction per unit time; this is caused by the fact that the scanning device of the beam scanning module rotates at a greater rate in the horizontal direction than in the vertical direction. Therefore, when the optical transceiver module receives the first reflected optical signal, the first reflected optical signal reflected by the target objects with different detection distances may have a drift angle in the horizontal direction, that is, the first reflected optical signal corresponding to the target objects with different detection distances may have a displacement in the horizontal direction when entering the silicon optical chip; this is the walk-off effect described above. And the second direction in which the first waveguide and the second waveguide are arranged is the horizontal direction, i.e. the direction is consistent with the direction in which the above walker effect is more obvious, the light receiving efficiency of the light transceiving module is higher.
Since the optical transceiver module 100 is included, the laser radar 1 can also improve the efficiency of receiving the first reflected light signal during detection, and can also improve the utilization efficiency of the first reflected light signal.
Referring to fig. 10, based on the same inventive concept, the present application further provides an automatic driving system 2, wherein the automatic driving system 2 is applied to a movable device, such as a vehicle; the autopilot system 2 includes the lidar 1 in the above-described embodiment.
Referring to fig. 11, an embodiment of the present application further provides a movable device 3, where the movable device 3 includes a device body 31 and the laser radar 1 in the foregoing embodiment. In this embodiment, the mobile device 3 is a vehicle; it is understood that in other embodiments of the present application, the movable device 3 may also be any other device that can mount the laser radar 1, such as an unmanned aerial vehicle, a logistics vehicle, a robot, and the like. It is understood that in other embodiments, the mobile device 3 may also include the autopilot system 2 described above.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (13)

1. An optical transceiver module is characterized by comprising a light source module and a silicon optical chip;
the light source module is used for generating a first optical signal and a second optical signal, the first optical signal is used for detecting a target to be detected, the second optical signal is used for transmitting to the silicon optical chip, and the silicon optical chip is used for receiving the second optical signal and a first reflected optical signal formed by reflecting the first optical signal by the target to be detected;
the silicon optical chip comprises:
a light receiving module comprising at least two waveguides for receiving the first reflected light signal, the light receiving module configured to output the received first reflected light signal as at least two second reflected light signals, wherein the second reflected light signals are fundamental mode light signals;
the polarization conversion module is used for receiving each second reflected optical signal and outputting a third reflected optical signal with the same polarization state as the second optical signal; and
a photodetection module, configured to receive at least a portion of the third reflected light signal and the second light signal;
wherein the at least two waveguides include:
a first waveguide comprising a first coupling region extending along a first direction, the first coupling region for receiving the first reflected optical signal; and
a second waveguide spaced apart from the first coupling region along a second direction, the second waveguide being configured to receive the first reflected optical signal, the second waveguide and the first waveguide being configured to couple the optical signal in the second waveguide into the first coupling region, wherein the second direction is perpendicular to the first direction;
the optical receiving module further comprises a mode demultiplexer, wherein the mode demultiplexer is used for receiving the first reflected optical signal output by the first waveguide and converting the first reflected optical signal into at least two second reflected optical signals to be output.
2. The optical transceiver module of claim 1, wherein the first coupling region comprises a first input end and a first output end opposite to each other, the first input end is configured to receive the first reflected optical signal, and a cross-sectional profile of the first coupling region gradually expands from the first input end to the first output end;
the second waveguide includes a second input end and a second output end opposite to each other, the second input end is used for receiving the first reflected optical signal, and the cross-sectional profile of the second waveguide gradually shrinks from the second input end to the second output end, so that the first reflected optical signal entering the second waveguide through the second input end can be coupled into the first waveguide.
3. The optical transceiver module of claim 1, wherein the at least two waveguides include one first waveguide and two second waveguides;
along the second direction, the two second waveguides are respectively arranged on two sides of the first waveguide.
4. The optical transceiver module of claim 1, wherein the mode demultiplexer comprises:
a third waveguide extending in a third direction and configured to receive the first reflected optical signal output by the first waveguide and output a fundamental-mode transverse electric-mode optical signal, wherein the third waveguide includes a first coupling portion, a second coupling portion, and a third coupling portion;
a fourth waveguide including a fourth coupling portion, the fourth coupling portion being disposed opposite to the first coupling portion along a fourth direction, the first coupling portion and the fourth coupling portion being configured to couple a non-fundamental-mode transverse electric-mode optical signal in the first coupling portion into the fourth coupling portion and convert the non-fundamental-mode transverse electric-mode optical signal into a fundamental-mode transverse electric-mode optical signal, so that the fourth waveguide outputs the fundamental-mode transverse electric-mode optical signal;
a fifth waveguide including a fifth coupling portion, the fifth coupling portion and the second coupling portion being disposed opposite to each other along the fourth direction, the second coupling portion and the fifth coupling portion being configured to couple a non-fundamental mode transverse magnetic mode optical signal in the second coupling portion into the fifth coupling portion and convert the non-fundamental mode transverse magnetic mode optical signal entering the fifth coupling portion into a fundamental mode transverse magnetic mode optical signal, so that the fifth waveguide outputs the fundamental mode transverse magnetic mode optical signal;
a sixth waveguide including a sixth coupling portion, the sixth coupling portion and the third coupling portion being disposed opposite to each other along the fourth direction, the third coupling portion and the sixth coupling portion being configured to couple the fundamental-mode transverse magnetic-mode optical signal in the third coupling portion into the sixth coupling portion, so that the sixth waveguide outputs the fundamental-mode transverse magnetic-mode optical signal;
the light receiving module is configured to output one of the second reflected light signals through the third waveguide, the fourth waveguide, the fifth waveguide, and the sixth waveguide, respectively;
wherein the fourth direction is a direction perpendicular to the third direction.
5. The optical transceiver module of claim 4, wherein the polarization conversion module comprises:
a seventh waveguide, configured to receive the fundamental-mode transverse electric-mode optical signal output by the third waveguide, and output the fundamental-mode transverse electric-mode optical signal to the photodetection module;
the eighth waveguide is configured to receive the fundamental-mode transverse electric-mode optical signal output by the fourth waveguide, and output the fundamental-mode transverse electric-mode optical signal to the photodetection module;
the first polarization rotator is used for receiving the fundamental mode transverse magnetic mode optical signal output by the fifth waveguide, converting the fundamental mode transverse magnetic mode optical signal into a transverse electric mode optical signal and outputting the transverse electric mode optical signal to the photoelectric detection module;
the second polarization rotator is used for receiving the fundamental mode transverse magnetic mode optical signal output by the sixth waveguide, converting the fundamental mode transverse magnetic mode optical signal into a transverse electric mode optical signal and outputting the transverse electric mode optical signal to the photoelectric detection module; and
the polarization conversion module is configured to output one of the third reflected light signals through the seventh waveguide, the eighth waveguide, the first polarization rotator, and the second polarization rotator, respectively.
6. An optical transceiver module is characterized by comprising a light source module and a silicon optical chip;
the light source module is used for generating a first optical signal and a second optical signal, the first optical signal is used for detecting a target to be detected, the second optical signal is used for transmitting to the silicon optical chip, and the silicon optical chip is used for receiving the second optical signal and a first reflected optical signal formed by reflecting the first optical signal by the target to be detected;
the silicon optical chip comprises:
a light receiving module comprising at least two waveguides for receiving the first reflected light signal, the light receiving module configured to output the received first reflected light signal as at least two second reflected light signals, wherein the second reflected light signals are fundamental mode light signals;
the polarization conversion module is used for receiving each second reflected optical signal and outputting a third reflected optical signal with the same polarization state as the second optical signal; and
a photodetection module, configured to receive at least a portion of the third reflected light signal and the second light signal;
wherein the at least two waveguides include two or more first waveguides;
the first waveguide is a single-mode waveguide, and the first waveguide includes a first input end and a first output end that are opposite to each other, the first input end is used for receiving a first reflected light signal, and the first output end is used for outputting a second reflected light signal;
the first waveguide comprises a first portion comprising opposing first and second ends, the first end being the first input end;
between two adjacent first waveguides, two first portions are arranged oppositely, and the distance between the two first portions from the first end to the second end is gradually increased.
7. The optical transceiver module of claim 6, wherein the cross-sectional profile of the first portion gradually expands from the first end to the second end;
the first waveguide further comprises a second portion connected to the second end, the cross-sectional profile of the second portion remaining constant along the extension path of the first waveguide.
8. The optical transceiver module of claim 7, wherein the polarization conversion module comprises two or more polarization beam splitting rotators;
each polarization beam splitting rotator corresponds to one first waveguide, so as to receive the second reflected light signal output by the first waveguide and output two third reflected light signals with the same polarization state as the second light signal.
9. The optical transceiver module of any one of claims 1-5 or 6-8, wherein the photodetection module comprises:
the optical mixers and the third reflected light signals output by the polarization conversion module are the same in number, and each optical mixer is used for receiving at least part of the second optical signals and one third reflected light signal so as to beat at least part of the second optical signals and the third reflected light signal to generate a beat signal; and
and the second balanced photoelectric detector is connected with the optical mixer and is used for carrying out balanced detection on the beat frequency signal.
10. Lidar according to any of claims 1 to 5 or 6 to 8, comprising an optical transceiver module.
11. The lidar of claim 10, wherein the lidar further comprises:
a circulator having a first port, a second port and a third port, the circulator being configured to cause an optical beam signal received via the first port to be output via the second port and to cause an optical beam signal received via the second port to be output via the third port, the first port being for receiving the first optical signal output by the optical transceiver module; and
the beam scanning module is used for receiving the first optical signal output by the second port and deflecting the first optical signal to the outside of the laser radar so as to detect a target to be detected, and is also used for receiving the first reflected optical signal reflected back by the target to be detected and deflecting the first reflected optical signal to the second port;
the silicon optical chip is used for receiving the first reflected optical signal output through the third port.
12. An autopilot system comprising the lidar of claim 11.
13. A mobile device, comprising:
the lidar of claim 11; alternatively, the first and second electrodes may be,
the autopilot system of claim 12.
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