CN117388824A

CN117388824A - Receiving and transmitting module and laser radar

Info

Publication number: CN117388824A
Application number: CN202210783941.1A
Authority: CN
Inventors: 蒋鹏
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2024-01-12

Abstract

The invention is suitable for the technical field of automatic driving, and provides a transceiver module and a laser radar. The transceiver module comprises a base body, and a first medium and a second medium which are arranged on the base body, wherein the first medium and the second medium are correspondingly arranged, the extending directions of the corresponding first medium and second medium form a preset included angle, one of a first end of the first medium and a second end of the second medium is used for emitting detection light, the other end of the first medium is used for coupling echo light, at least one of the first end and the second end comprises an inclined reflecting surface, and the reflecting surface is used for deflecting the light; the extending directions of the first medium and the second medium are perpendicular to each other, the first medium is arranged on the first surface of the substrate, and the first end comprises a reflecting surface. The transceiver module and the laser radar provided by the invention have the advantages of low production cost and high precision.

Description

Receiving and transmitting module and laser radar

Technical Field

The invention belongs to the technical field of automatic driving, and particularly relates to a transceiver module and a laser radar.

Background

The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle is that the laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after proper processing, the related information of the target, such as the parameters of the distance, the azimuth, the height, the speed, the gesture, the even the shape and the like of the target, can be obtained.

However, the existing laser radar adopting integrated optics needs to use a free space optical circulator, which leads to high production cost of the laser radar; the existing laser radar adopts a mounting mode of receiving and transmitting separation, and the mounting mode is adopted, so that the laser radar has a certain reliability problem in a vehicle-mounted scene limit temperature environment.

Disclosure of Invention

The invention aims to provide a transceiver module and a laser radar, and aims to solve the technical problems of high production cost and poor reliability of the laser radar in the prior art.

The invention is realized in such a way that in a first aspect, a transceiver module is provided, which comprises a substrate, and a first medium and a second medium which are arranged on the substrate, wherein the first medium and the second medium are correspondingly arranged, the corresponding extending directions of the first medium and the second medium form a preset included angle, one of a first end of the first medium and a second end of the second medium is used for emitting detection light, the other end of the first medium is used for coupling in echo light, at least one of the first end and the second end comprises an inclined reflecting surface, and the reflecting surface is used for deflecting the light.

In an alternative embodiment, the extending directions of the first medium and the second medium are perpendicular to each other, the first medium is disposed on the first surface of the substrate, and the first end includes the reflecting surface.

In an alternative embodiment, at least half of a first projection area of the light incident area of the second medium on the first surface is located outside a second projection area of the first medium on the first surface, and when all of the first projection area is located outside the second projection area, a distance between the first projection area and the second projection area is less than or equal to 2 times a width of a projection area of a medium for receiving and transmitting echo signals in the two mediums on the first surface.

In an alternative embodiment, the first medium and the second medium are provided with a plurality of first mediums, the plurality of first mediums are parallel to each other and are arranged at intervals, and the plurality of second mediums are parallel to each other and are arranged at intervals.

In an alternative embodiment, the spacing between two adjacent first media and two adjacent second media is greater than 20 μm.

In an alternative embodiment, the angle between the reflecting surface and the direction of extension of the first medium is 30 ° -60 °.

In an alternative embodiment, the first medium is any one of a waveguide and an optical fiber, and the second medium is also any one of a waveguide and an optical fiber.

In an alternative embodiment, the substrate comprises a first part for fixing the first medium and a second part for fixing the second medium.

In an alternative embodiment, when the first medium is an optical fiber, the first split body is provided with a V-shaped groove for accommodating the first medium; when the second medium is an optical fiber, the second split body is provided with a V-shaped groove for accommodating the second medium.

In an alternative embodiment, the surface of the light-transmitting area of the first medium is provided with an anti-reflection layer, and the surface of the light-transmitting area of the second medium is provided with an anti-reflection layer.

In an alternative embodiment, the substrate is located on the light transmitting side of the first medium and the second medium, the substrate is a transparent substrate, and the light transmitting areas of the first surface and the second surface opposite to the first surface of the substrate are both provided with an anti-reflection layer.

In a second aspect, a laser radar is provided, including a transmitting module, a receiving module, and a scanning module, and further including a transceiver module provided by the foregoing embodiments, where the transmitting module transmits a detection light, the detection light enters the first medium and passes through the first medium to be emitted to the scanning module, the scanning module deflects the detection light and then emits the detection light outwards, and the scanning module is further configured to receive an echo light, deflect the echo light and then emit the echo light to the transceiver module, and the echo light enters the second medium and passes through the second medium to enter the receiving module.

In an alternative embodiment, the scanning module is configured to deflect light in the X-direction and the Y-direction.

Compared with the prior art, the invention has the technical effects that: in the transceiver module and the laser radar provided by the embodiments of the present invention, the corresponding extension areas of the first medium and the second medium have an overlapping area, or the projection areas on the same plane have an overlapping area, the first end of the first medium and the second end of the second medium are oppositely arranged, and at least one of the first end and the second end includes an inclined reflecting surface. According to the first aspect, the first medium and the second medium which are correspondingly arranged are used for transmitting detection light and echo light, the design of the transceiver module can be accurately positioned in the production process, and the transceiver module does not need to be assembled through accurate displacement, so that the production efficiency of the transceiver module is improved, and the production efficiency of a laser radar is improved; the first medium and the second medium which are correspondingly arranged are respectively used for transmitting the detection light and the echo light, and reasonable interval distance between the first medium and the second medium is arranged along the hysteresis direction, so that the problem of receiving hysteresis effect can be solved; in the second aspect, the transceiver module provided by the embodiment of the invention can realize the transceiver integration, so that a space optical circulator can be omitted, the transceiver module and the laser radar are compact in structure, and the production cost is reduced; in a third aspect, by using the transceiver module provided by the embodiment of the invention, the optical path deflection can be realized through the reflecting surface, so that the optical path of the transceiver module is not parallel to the substrate, and the transceiver module is vertically arranged, so that the transceiver units formed by the first medium and the second medium can be stacked in the vertical direction, the resolution of the laser radar in the vertical direction can be effectively improved, and the detection precision of the laser radar can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the embodiments of the present invention or the drawings used in the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a lidar according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a scanning path of a probe beam emitted by a lidar according to an embodiment of the present invention, wherein an arrow in the diagram indicates a scanning direction of the probe beam;

fig. 3 is a schematic diagram illustrating a usage state of a transceiver module according to an embodiment of the invention;

FIG. 4 is a schematic top view of the transceiver module of FIG. 3;

fig. 5 is a schematic perspective view of the transceiver module shown in fig. 3;

FIG. 6 is an enlarged partial schematic view at A in FIG. 5;

fig. 7 is a schematic structural diagram of a transceiver module according to another embodiment of the present invention;

fig. 8 is a schematic diagram illustrating a usage state of a transceiver module according to another embodiment of the present invention;

fig. 9 is a schematic diagram illustrating a usage state of a transceiver module according to another embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a frequency modulated continuous wave lidar according to an embodiment of the present invention.

Reference numerals illustrate:

100. a transceiver module; 110. a base; 111. a V-shaped groove; 120. a first medium; 121. a reflecting surface; 122. a core; 123. an insulating part; 130. a second medium; 200. a transmitting module; 300. a collimation module; 400. a scanning module; 500. a light splitting module; 600. a receiving module; 700. a signal processing module; A. a first direction; B. a second direction; C. a third direction; alpha, an included angle between the reflecting surface and the extending direction of the first medium; a. a spacing between the first projection region and the second projection region; b. the width of the light incident surface of the second medium.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.

Referring to fig. 1, in an embodiment of the present invention, a laser radar is provided. The laser radar comprises a transmitting module 200, a receiving and transmitting module 100, a scanning module 400 and a receiving module 600, wherein the transmitting module 200 is used for transmitting detection light and is coupled into the receiving and transmitting module 100, the receiving and transmitting module 100 emits the detection light to the scanning module 400 after emitting the detection light, and the detection light is deflected by the scanning module 400 and is emitted to an area to be detected; then, the echo light reflected by the object in the area to be detected is received by the scanning module 400 along the coaxial path, the scanning module 400 deflects the echo light and then emits the echo light to the transceiver module 100, the transceiver module 100 receives the echo light and emits the echo light to the receiving module 600, and the receiving module 600 receives the echo light and then performs a calculation to obtain a detection result. The ranging principle applicable to the laser radar can be Time of Flight (ToF) or continuous wave coherent detection (Frequency Modulated Continuous Wave, FMCW).

Specifically, the emission module 200 in this embodiment may include a laser light source. The laser source may be DFB (Distributed Feedback Laser) laser, i.e. distributed feedback laser, VCSEL (Vertical Cavity Surface Emitting Laser ) or dfb+edfa (Erbium-doped Optical Fiber Amplifier, erbium doped fiber amplifier) source. The coupling mode of the transmitting module 200, the receiving module 600 and the transceiver module 100 may be optical fiber coupling, micro lens coupling or direct coupling. The receiving module 600 may be a receiving processing chip, a silicon optical coherent receiving chip, or a combination of a silicon optical coherent receiving chip and other related structures.

Referring to fig. 3, the transceiver module 100 in this embodiment includes a substrate 110, and a first medium 120 and a second medium 130 disposed on the substrate 110. One of the first medium 120 and the second medium 130 is used for transmitting and emitting probe light, and the other is used for receiving and transmitting echo light.

The first medium 120 and the second medium 130 in this embodiment may be any one of a waveguide and an optical fiber, and are provided with at least one and equal in number. The substrate 110 in this embodiment may be a single body or may be two parts, and may specifically depend on the materials and preparation methods of the first medium 120 and the second medium 130. For example, when the first medium 120 and the second medium 130 are waveguides, the substrate 110 may be a substrate, as shown in fig. 8, where the first medium 120 and the second medium 130 are respectively fabricated on two adjacent surfaces of the substrate 110; as shown in fig. 9, two substrates may be used, a first medium 120 is formed on one of the substrates, a second medium 130 is formed on the other substrate, and then the two sets of media are assembled into a transceiver module by precision assembly. When the first medium 120 and the second medium 130 are optical fibers, the substrate 110 may be a glass carrier, and the first medium 120 and the second medium 130 are respectively fabricated on two adjacent surfaces of the substrate 110; as shown in fig. 3, two glass carriers may be used, the first medium 120 is fabricated on one of the glass carriers, the second medium 130 is fabricated on the other glass carrier, and then the two sets of mediums are assembled into the transceiver module through precise assembly. When the materials of the first medium 120 and the second medium 130 are different, the substrate 110 may be formed by two separate components with different materials, so as to be matched with the first medium 120 and the second medium 130 with different materials.

It should be noted that the functions of the first medium 120 and the second medium 130 in this embodiment may be interchanged, that is, any medium formed on the substrate 110 may be used to conduct both the probe light and the echo light, depending on the device to which each medium is connected in actual use. Specifically, when in use, the first medium 120 is coupled to the transmitting module 200, and the second medium 130 is coupled to the receiving module 600, so that the first medium 120 is a transmitting medium for receiving and transmitting the probe light, and the second medium 130 is a receiving medium for receiving and transmitting the echo signal; if the first medium 120 is coupled to the receiving module 600 and the second medium 130 is coupled to the transmitting module 200 in use, then the second medium 130 is a transmitting medium for receiving and transmitting the probe light, and the first medium 120 is a receiving medium for receiving and transmitting the echo signal.

For brevity, the transceiver module 100 and the lidar will be described by taking the example that the first medium 120 is coupled to the transmitting module 200 for transmitting and emitting the probe light, and the second medium 130 is coupled to the receiving module 600 for receiving and transmitting the echo light. It should be noted that, in comparison with the above example, the embodiment in which the second medium 130 is coupled to the transmitting module 200 for transmitting and emitting the probe light, and the first medium 120 is coupled to the receiving module 600 for receiving and transmitting the echo light, only the light transmitted in the first medium 120 and the second medium 130 are interchanged.

Thus, the specific light path when the laser radar provided by the embodiment is adopted for detection is as follows: the transmitting module 200 transmits a detection light, the detection light is coupled into the first medium 120 and emitted through the first medium 120, and then emitted to the scanning module 400, the scanning module 400 deflects the detection light and emits the detection light outwards for detection, the scanning module 400 is further used for receiving an echo light, and deflects the echo light and then coaxially emits the echo light to the receiving and transmitting module 100, and the echo light enters the second medium 130 and enters the receiving module 600 through the second medium 130.

It should be noted that, in the present embodiment, the distance between the corresponding first medium 120 and the second medium 130 in the transceiver module 100 is the same as the spot offset caused by the optical lag angle caused by the scanning module 400, or the difference between the two is within a preset range, so as to ensure that the second medium 130 can receive enough echo light.

In this embodiment, the first medium 120 and the second medium 130 are disposed correspondingly, and the extending directions of the corresponding first medium 120 and second medium 130 form a preset included angle. The preset included angle can be any angle of 150-180 degrees or any angle of 60-120 degrees. I.e. the corresponding first medium 120 and second medium 130 have a plurality of presentation forms. One of the placement forms is that the first medium 120 and the second medium 130 are arranged oppositely, and the extending directions of the two are 180 degrees; in another arrangement, the first medium 120 and the second medium 130 are disposed vertically, and the extending direction of the two is 90 °. In other embodiments, other angles, such as 60 °, 75 °, 110 °, etc., may be used for the extending directions of the first medium 120 and the second medium 130, as long as one of the two mediums can be used to emit the probe light, and the other medium can receive the echo light.

The first end of the first medium 120 and the second end of the second medium 130 are correspondingly disposed, which is specifically shown that one of the first end of the first medium 120 and the second end of the second medium 130 is used for emitting the detection light, the other end is used for coupling in the echo light, at least one of the first end and the second end includes an inclined reflecting surface 121, and the reflecting surface 121 is used for deflecting the light, which can be the detection light or the echo light.

Specifically, when the reflective surface 121 is disposed on the first medium 120, the reflective surface 121 is configured to reflect the detection light, and an outgoing direction of the detection light passing through the reflective surface forms an included angle with the first surface of the substrate 110 where the first medium 120 is located. The included angle may be 90 °, an angle forming an acute angle with the extending direction of the emission medium 120, or an angle forming an obtuse angle with the extending direction of the emission medium 120, and may be specifically designed according to the light emitting requirement.

Since the exit angle of the echo light reflected by the target object is equal to the exit angle of the corresponding detection light, that is, the corresponding echo light is parallel to the detection light, if the extending direction of the second medium 130 is perpendicular to the first medium 120, the end face of the second end of the second medium 130 may be a plane parallel to the first surface, so that the echo light reflected by the target object may be coupled into the second medium 130 through the end face of the second end. If the second end of the second medium 130 has a plane parallel to the first surface or the inclined reflecting surface 121, the direction of extension of the second medium 130 is determined by the direction of extension of the second medium 130 and the inclination angle of the echo light. If the inclination angle of the echo light is 60 °, the extending direction of the second medium 130 is parallel to the first surface, and if the end face of the second end is perpendicular to the first surface or parallel to the plane of the first surface, the echo light cannot be coupled into the second medium, so that the end face of the second end should adopt the inclined reflecting surface 121, so that the inclination angle of the echo light can be deflected from 60 ° to 0 °, or other angles, so that enough echo light can be coupled into the second medium 130 through the reflecting surface 121, so as to ensure the detection requirement of the laser radar.

When the reflecting surface 121 is disposed on the second medium 130, the principle is the same as above, and only when the preset included angle between the first medium 120 and the second medium 130 is within a certain range (for example, 90 ° ± preset value), the first end of the first medium 120 may be a plane perpendicular to the first surface, and in other cases, the reflecting surface 121 needs to be disposed at the first end of the first medium 130.

It should be noted that, when the first end of the first medium 120 and the second end of the second medium 130 each include the inclined reflecting surface 121, the inclination angles of the two reflecting surfaces 121 may be the same or different, and may be specific to the extending directions of the first medium 120 and the second medium 130.

When the laser radar provided in this embodiment is used for detection, the laser radar deflects the light path through the scanning module 400 to rapidly scan the field of view to realize long-distance detection on the target object, and because the distance of the photon flight is longer during long-distance detection, the spatial orientation of the scanning module 400 when receiving the echo light has a non-negligible change compared with the spatial orientation of the scanning module when transmitting the detection light, that is, the lag effect of the laser radar scanning receiving angle is caused. The laser radar scanning receiving angle hysteresis effect is expressed in both horizontal and vertical directions.

However, in a lidar system, as previously described for scanning module 400, as shown in fig. 2, the scanning module deflects light in the X-direction and the Y-direction to cause the lidar to scan in the X-direction and the Y-direction. During scanning, the range of angles of the light beam in the vertical direction (i.e., the Y direction) is generally smaller than the range of angles of the light beam in the horizontal direction (i.e., the X direction), which results in a significantly lower receive angle hysteresis effect in the vertical direction than in the horizontal direction. In addition, the scanning module 400 moving at a low speed in the vertical direction can be adopted, so that the receiving angle hysteresis effect in the vertical direction is further reduced. As such, the system design of lidar may primarily take into account the effect of reception angle lag in the horizontal direction.

In the first aspect, the first medium and the second medium which are correspondingly arranged in the embodiment are used for transmitting the detection light and the echo light, the design of the transceiver module can be accurately positioned in the production process, and the transceiver module is not required to be assembled through accurate displacement, so that the production efficiency of the transceiver module is improved, and the production efficiency of the laser radar is improved; the first medium and the second medium which are correspondingly arranged are respectively used for transmitting the detection light and the echo light, and reasonable spacing distances between the first medium and the second medium are arranged along the hysteresis direction, so that the problem of receiving hysteresis effect can be solved.

In a second aspect, by adopting the laser radar provided by the embodiment of the invention, the first medium and the second medium can transmit or receive light through the same scanning module, so that the integration of receiving and transmitting is realized, a free space optical circulator is not required to be used, the hardware cost is reduced, the system is simplified, the complexity of an optical-mechanical system is reduced, the size of the whole system is reduced, the preamble signal is weakened, and the reliability is improved.

In a third aspect, the extending directions of the first medium and the second medium that are correspondingly arranged form a preset included angle, one of the first end of the first medium and the second end of the second medium is used for emitting the detection light, the other end is used for coupling in the echo light, and at least one of the first end and the second end comprises an inclined reflecting surface. The transceiver module 100 provided by the embodiment of the present invention can change the originally horizontally propagating detection light or echo light to propagate perpendicular to the extending direction of the first medium 120 or the second medium 130 or at other angles, and can still be received by the medium for receiving in the first medium 120 and the second medium 130 even if the echo light is staggered by more than or equal to 0.05 ° in the X direction compared with the detection light due to the delay effect of the receiving angle. Therefore, by using the transceiver module provided by the embodiment of the invention, the optical path deflection can be realized through the reflecting surface, so that the optical path of the transceiver module is not parallel to the substrate, the transceiver module is vertically arranged, the transceiver units formed by the first medium and the second medium can be vertically stacked, the resolution of the laser radar in the vertical direction can be effectively improved, and the detection precision of the laser radar can be improved. In addition, when the laser radar device is used, the transceiver module is controlled to reciprocate along the vertical direction, so that the number of light rays of the laser radar in the vertical direction can be increased, and the resolution of the laser radar in the vertical direction is further improved.

Therefore, the laser radar provided by the embodiment of the invention can effectively improve the echo light receiving rate in the horizontal direction, further reduce the adverse effect of the receiving angle hysteresis effect in the horizontal direction on the detection, and improve the detection precision; meanwhile, the transceiver module 100 and the laser radar provided by the embodiment of the invention have high reliability, low production cost and high production efficiency.

In an alternative embodiment, the directions of extension of the first medium 120 and the second medium 130 are perpendicular to each other. Specifically, the first medium 120 extends in a first direction a and the second medium 130 extends in a second direction B. The first direction a may be a length direction or a width direction of the substrate 110, or may be other directions, and may be specifically selected flexibly according to the use requirement. The second direction B may be a height direction of the base 110 or other directions perpendicular to the first direction.

The first medium 120 is disposed on the first surface of the substrate 110, and the first end of the first medium 120 includes the reflecting surface 121. At this time, the end face of the second end of the second medium 130 may be a plane parallel to the first surface. With the structure provided in this embodiment, the use requirement can be satisfied by only providing the reflecting surface 121 on one medium, and the processing is convenient.

In an alternative embodiment, at least half of the first projection area of the light passing area of the second medium on the first surface is located outside the second projection area of the first medium on the first surface, and the distance between the first projection area and the second projection area is less than or equal to 2 times the width of the projection area of the medium for receiving and conducting echo signals in the two mediums on the first surface.

The distance between the first projection area and the second projection area refers to the distance between the edge of the first projection area near the second projection area and the edge of the second projection area near the first projection area, i.e., the length of a in fig. 7.

Specifically, the light-transmitting region of the second medium 130 may or may not have an overlapping region with the projection region of the first medium 120 on the same surface (first surface). When the two have an overlapping area, the area of the overlapping area should be less than or equal to half of the area of the light incident surface of the second medium 130. At this time, the overall structure of the transceiver module is compact, and the light incident surface of the second medium 130 can receive enough echo signals, so as to meet the detection requirement of the laser radar. When there is no overlapping area, as shown in fig. 7, the distance a between the first projection area and the second projection area should be 2 times or less the width b of the light incident surface of the second medium 130. The width of the light incident surface of the second medium 130 refers to the length of the light incident surface of the second medium 130 in the extending direction of the first medium 120. With this arrangement, it is ensured that a large portion of the echo signal can be received by the second medium 130, so as to ensure that the ranging capability of the lidar employing the transceiver module 100 provided in this embodiment is satisfactory.

In the above embodiments, one or more first media 120 and one or more second media 130 may be provided, but when one first media 120 and one second media 130 are provided, a plurality of transceiver modules arranged in an array are often required to be provided in a lidar to meet the detection requirement, so that the assembly efficiency is low, and in an alternative embodiment, as shown in fig. 5 and 6, a plurality of first media 120 and a plurality of second media 130 are respectively provided, and the plurality of first media 120 are arranged in parallel and at intervals, and the plurality of second media 130 are arranged in parallel and at intervals.

Specifically, any corresponding first medium 120 and second medium 130 may form a transceiver unit, and in this embodiment, the first medium 120 and second medium 130 are respectively provided with a plurality of transceiver units, that is, a transceiver unit array may be formed on the same substrate. Therefore, one laser radar can be applied to one receiving and transmitting module to meet the detection requirement, so that the assembly efficiency of the laser radar can be effectively improved, and the production cost is reduced. Meanwhile, compared with the transceiver unit only provided with one first medium 120 and one second medium 130, the number of transceiver channels arranged in the horizontal direction can be increased, and the resolution of the laser radar in the horizontal direction can be improved. In addition, by adopting the setting, the number of the first media can be selected to be connected or set according to the requirement of the required emission field angle, so that the adjustment of the emission field angle is realized, and the use requirements of clients in different scenes are met.

Meanwhile, when the plurality of first media 120 are sequentially arranged in the vertical direction, the resolution of the lidar in the vertical direction can be effectively improved.

In an alternative embodiment, when all of the second medium is outside the projection area of the first medium, the spacing between the two is less than 10 μm. By adopting the arrangement, the second medium can be ensured to receive most of echo light, and further the ranging capability of the laser radar applying the transceiver module provided by the embodiment is ensured.

In the above embodiment, the light emitting ends of the plurality of first media may be flush or not flush, and since the interval between the corresponding first media and the second media is unchanged, when the light emitting ends of the plurality of first media are flush, the light incident surfaces of the plurality of second media are also flush, and when the light emitting ends of the plurality of first media are not flush, the light incident surfaces of the plurality of second media are not flush. When the light emitting ends of the first media are flush with the light incident surfaces of the second media, the design and the processing are convenient; when the light emitting ends of the first media are not flush and the light incident surfaces of the second media are not flush, the horizontal resolution of the laser radar applying the transceiver module can be improved.

In order to ensure a receiving effect while avoiding material waste, in an alternative embodiment the spacing between adjacent two first media is larger than 20 μm. The spacing between two adjacent second media is also greater than 20 μm.

In a specific embodiment, 8 transceiver units are arranged in the transceiver module, the distance between two adjacent transceiver units is 120 μm, and when the focal length of the collimation module used by the laser radar is 35mm, the angle of the echo light received by two adjacent second media in the X direction can be staggered by 0.2 degrees.

In an alternative embodiment, as shown in FIG. 5, the centers of the multiple reflecting surfaces are on the same line. Specifically, the straight line may be a straight line extending along a third direction C perpendicular to the first direction a and the second direction B, or may be a straight line forming an included angle with the third direction C, which may be flexibly set according to the detection requirement.

In another alternative embodiment, at least one reflecting surface is arranged in a staggered manner with other reflecting surfaces, and can be flexibly set according to detection requirements. By adopting the structure, the transceiver module has better light receiving rate aiming at some special scenes.

In an alternative embodiment the angle between the reflecting surface and the direction of extension of the first medium is 30 deg. -60 deg., respectively. The angle of the reflecting surface 121 may meet the general detection requirement, and the specific angle may be set according to the detection requirement and the actual detection effect of different lidars, which is not limited only.

In a specific embodiment, as shown in fig. 3, the substrate 110 is located on the light emitting side of the first medium 120, and the angles between the reflective surfaces 121 and the extending direction of the first medium 120 are respectively 45 °.

In each of the above embodiments, the first medium and the second medium are any one of a waveguide and an optical fiber, respectively. There are mainly four representations:

the first, the first medium and the second medium are optical fibers, as shown in fig. 3 to 6;

second, the first medium and the second medium are both waveguides, as shown in fig. 8 and 9;

third, the first medium is a waveguide, and the second medium is an optical fiber;

fourth, the first medium is an optical fiber and the second medium is a waveguide.

In the above cases, the waveguide may be any one of single-mode waveguide, multimode waveguide, single-mode to multimode or multimode to single-mode structure, and the waveguide material may be SiO ₂ The material may be an organic polymer material or a silicon material.

When the first medium and the second medium are waveguides, the transceiver module is a planar waveguide chip, and the substrate is a substrate. During manufacturing, an organic polymer can be directly stamped on two adjacent surfaces in a matrix with the laser wavelength to form a transmitting waveguide and a receiving waveguide through a nano stamping process, and then the light-emitting surface of the transmitting waveguide is made into an inclined surface and coated with a film to form a reflecting surface, as shown in fig. 8; as shown in fig. 9, the transmitting waveguide and the receiving waveguide may be fabricated on two substrates, and then assembled together by precise assembly. Of course, in other embodiments, the transmitting waveguide and the receiving waveguide may be fabricated by etching, machining, or the like, which is not limited only herein. The transceiver module adopts the arrangement mode, not only improves the detection precision, reliability and production efficiency of the corresponding laser radar, but also effectively solves the problem that the one-dimensional waveguide array of the planar waveguide chip cannot deflect and reflect light randomly in the vertical direction.

In addition, when the transceiver module is provided with a plurality of transmitting waveguides and receiving waveguides, compared with a design mode that a plurality of groups of transmitting waveguides and receiving waveguides are arranged on a planar waveguide chip in a vertical stacking mode, the design mode for improving the receiving rate of echo light in the vertical direction is adopted, and the transceiver module arranging mode provided by the embodiment of the invention does not need to perform operations such as thinning, precise alignment and the like on a PLC (planar Lightwave circuit, planar optical waveguide) wafer, so that the production cost of the transceiver module can be effectively reduced, and the production efficiency is improved.

In the above cases, the optical fiber may be a single mode optical fiber, a multimode optical fiber, a large mode field optical fiber, a single mode to multimode optical fiber, or a multimode to single mode optical fiber, and may be specifically selected flexibly according to the use requirement. As shown in fig. 3, the optical fiber has a core 122 and an insulating portion 123 surrounding the core 122 and coaxially disposed with the core 122, and in use, the insulating portion 123 of the optical fiber near one end of another medium may be removed to expose the core 122. If the optical fiber is the first medium, an inclined surface is further formed on the end surface of the core portion to form a reflecting surface 121 so that the probe light or the echo light can be emitted out of the optical fiber through the extended portion.

When at least one of the first medium and the second medium is an optical fiber, the substrate generally includes a first split and a second split, where the first split is used to fix the first medium, the second split is used to fix the second medium, and the substrate used to fix the optical fiber may be a glass carrier plate, and the substrate used to fix the waveguide may be a substrate. When the device is manufactured, the first medium and a part of the matrix are assembled into a whole, the second medium and the other part of the matrix are assembled into a whole, and then the first medium and the second medium and the other part of the matrix are assembled into a whole in a precise assembly mode. Of course, when the first medium and the second medium both adopt waveguides, the substrate may also include a first split and a second split, where the first split is used to fix the first medium, and the second split is used to fix the second medium, and specifically may be flexibly selected according to the use requirement, and is not limited only herein.

In a specific embodiment, as shown in fig. 5 and fig. 6, the first medium and the second medium are optical fibers, and the first medium and the second medium are respectively provided with a plurality of optical Fiber Arrays (FA) FA-a horizontally placed on the transceiver module and FA-B vertically placed on the transceiver module, and are arranged in a manner that the optical fibers are vertically close to each other according to the end faces, and each optical Fiber FA-a and each optical Fiber FA-B corresponds to each other. The FA-A is used for emitting detection light, and is a first medium array, and the light emitting end of the first medium array is provided with a 45-degree reflecting surface. The scheme has small volume and high integration level, can be used for production assembly by using a mature process, and resists temperature impact. In addition, the preamble signal of the scheme is small, and the scheme is suitable for various FMCW transceiving schemes.

For ease of assembly, the length of the core of the transmitting fiber beyond the insulation in the above embodiments is generally equal to or greater than the radius of the insulation of the receiving fiber; and/or the length of the core of the receiving fiber beyond the insulation is generally greater than or equal to the radius of the insulation of the transmitting fiber.

In order to realize stable fixation of the optical fiber, when at least one of the first medium and the second medium is the optical fiber, as shown in fig. 5 and 6, a V-shaped groove is formed on the surface of the substrate for contacting with the optical fiber, and the V-shaped groove is used for accommodating the optical fiber. I.e. the base body comprises a first part for fixing the first medium and a second part for fixing the second medium. When the first medium is an optical fiber, the first split body is provided with a V-shaped groove for accommodating the first medium; when the second medium is an optical fiber, the second split body is provided with a V-shaped groove for accommodating the second medium.

In order to further improve the stability of the connection relation between the optical fiber and the matrix, the optical fiber can be adhered in the V-shaped groove through glue and the like.

In order to reduce the light energy loss and further improve the ranging capability of the lidar applying the transceiver module 100 provided in the foregoing embodiments, in an alternative embodiment, the surface of the light-transmitting area of the first medium 120 is provided with an anti-reflection layer, and the surface of the light-transmitting area of the second medium 130 is provided with an anti-reflection layer. The reflection enhancing layer can effectively reduce the probability of transmitting and reflecting the detection light or the echo light when passing through the surface of the light passing area in the first medium 120 or the surface of the light passing area in the second medium 130, so as to improve the emergent quantity of the detection light and the receiving quantity of the echo light, so that the laser radar receives more echo light, and further improve the ranging capability of the laser radar of the transceiver module 100 provided by the embodiments.

In an alternative embodiment, the substrate 110 is located on the light passing side of the first medium 120 and the second medium 130, i.e. the light emitting side of the probe light and the light entering side of the echo light. The substrate 110 is a transparent substrate, and the light-transmitting areas of the first surface and the second surface opposite to the first surface of the substrate 110 are both provided with an anti-reflection layer 140. The light-transmitting area referred to herein refers to all areas of the first surface and the second surface through which the probe light and/or the echo light can pass, including areas of the first surface other than the area covered by the first medium 120, and all areas of the second surface.

At this time, the light outputted from the first medium 120 needs to pass through the substrate 110 before being outputted from the transceiver module 100, and the echo light needs to pass through the substrate 110 before entering the second medium 130, and the substrate 110 is a transparent substrate, so that the detection light and the echo light can be ensured to pass smoothly. The arrangement of the anti-reflection layer 140 can further improve the output rate of the detection light and the receiving rate of the echo light, and improve the ranging capability of the laser radar applying the transceiver module 100 provided in the above embodiments.

In an alternative embodiment, the scanning module 400 is used to deflect light in the X-direction and the Y-direction. The first direction a is parallel to the X-direction.

The X direction and the Y direction are horizontal and vertical directions when the laser radar is placed in the forward direction. In practical use, because the placement modes of the lidar are different, the X direction and the Y direction are offset, and it should be understood that when the placement state of the lidar is not the forward state, the X direction and the Y direction are also changed, and are not the horizontal direction and the vertical direction any more.

As shown in fig. 10, the lidar may be a Frequency Modulated Continuous Wave (FMCW) lidar. The frequency modulation continuous wave laser radar comprises a transmitting module 200, a light splitting module 500, a receiving and transmitting module 100, a collimation module 300, a scanning module 400, a receiving module 600 and a signal processing module 700. The signal processing module 700 includes a signal adjusting circuit, a signal collecting and processing circuit, a control algorithm module, an external interface, and the like.

The process of detecting the target object is as follows: the transmitting module 200 emits the detection light, and the detection light is split into two paths of light through the light splitting module 500, wherein one path of light is used as local oscillation light, enters the receiving module 600, and the other path of light enters the first medium 120 to be used as the detection light. The detection light is coupled into the first medium 120, is conducted by the first medium 120, reaches the first reflecting surface 121, is reflected by the first reflecting surface 121, is emitted out of the first medium 120, is collimated by the collimating module 300, is formed into scanning light by the scanning module 400 and irradiates on a target object, is reflected by the target object and returns to echo light, and the coaxial echo light is coupled into the second medium 130 sequentially by the scanning module 400 and the collimating module 300, and is output to the receiving module 600 by the second medium 130. The echo light entering the receiving module 600 can perform coherent beat frequency with the local oscillation light in the receiving module 600 to generate a beat frequency coherent signal, then the photoelectric detector in the receiving module 600 can perform receiving processing on the beat frequency coherent signal, then the data signal is transmitted to the external signal processing module 700, and the signal processing module 700 analyzes the data signal to obtain detection data such as the distance, the speed and the like of the target object.

In a specific embodiment, as shown in fig. 10, the emitting module 200 includes a laser light source and a collimation module, where the laser light source takes the form of a dfb+edfa, and the first medium and the second medium are both optical fibers. The first medium has N paths (N is more than or equal to 1), and the optical power of each path of first medium is equal. The corresponding second medium also has N paths. The optical splitting module 500 is configured to split the light split by the transmitting module 200 into n+m paths, where N paths are output to the transceiver module 100 for transmitting, and M paths are output to the receiving module 600 as local oscillation light. The receiving module 600 includes a silicon optical coherent receiving chip.

Before the DFB laser is output to the EDFA optical amplifier, the DFB laser is used for local oscillation light coupling into a silicon optical coherent receiving chip by dividing M paths of low-power light through the optical dividing module 500 and an optical fiber. The detector in the silicon optical coherence receiving chip can be used for polarization diversity or not. The silicon optical coherent receiving chip is provided with a balance detector diode, and coherent detection is carried out through mixing with local oscillation light. The receiving module is used for resolving the detected beat frequency into speed and distance information through the signal conditioning and processing module. The signal conditioning circuit also collects MZI delay circuits and local oscillation beat frequency signals, and is used for carrying out closed-loop nonlinear correction on the DFB laser. The control and processing algorithm is used for processing the collected original data and calculating the current information such as distance, speed, direction, reflectivity and the like. In addition, the frequency modulation continuous wave laser radar also comprises a power management module, wherein the power management module is mainly used for supplying power to the circuit modules so as to enable the circuit modules to work normally.

In the above embodiments, certain mounting tolerances of the first medium and the second medium are allowed. Specifically, the two can be staggered by 1/20 of the focal length of the collimation module in the depth of field direction (namely the second direction).

The foregoing description of the preferred embodiments of the invention has been presented only to illustrate the principles of the invention and not to limit its scope in any way. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other embodiments of the present invention as will occur to those skilled in the art without the exercise of inventive faculty, are intended to be included within the scope of the present invention.

Claims

1. The transceiver module is characterized by comprising a base body, a first medium and a second medium, wherein the first medium and the second medium are arranged on the base body, the first medium and the second medium are correspondingly arranged, the corresponding extending directions of the first medium and the second medium form a preset included angle, one of the first end of the first medium and the second end of the second medium is used for emitting detection light, the other end of the first medium is used for coupling in echo light, at least one of the first end and the second end of the first medium comprises an inclined reflecting surface, and the reflecting surface is used for deflecting the light.

2. The transceiver module of claim 1, wherein the first medium and the second medium extend in directions perpendicular to each other, the first medium being disposed on a first surface of the substrate, and the first end comprising the reflective surface.

3. The transceiver module of claim 2, wherein at least half of a first projection area of the second medium on the first surface is located outside a second projection area of the first medium on the first surface, and a distance between the first projection area and the second projection area is less than or equal to 2 times a width of a projection area of a medium for receiving and transmitting echo signals on the first surface of the two mediums.

4. The transceiver module of claim 2, wherein the angle between the reflective surface and the direction of extension of the first medium is 30 ° -60 °.

5. The transceiver module of claim 2, wherein the substrate is located on a light transmitting side of the first medium and the second medium, the substrate is a transparent substrate, and the light transmitting areas of the first surface and the second surface opposite to the first surface of the substrate are both provided with an anti-reflection layer.

6. The transceiver module of claim 1, wherein the first medium and the second medium are each provided in plurality, the plurality of first mediums are arranged in parallel and at intervals, and the plurality of second mediums are arranged in parallel and at intervals.

7. The transceiver module of claim 6, wherein a spacing between two adjacent ones of said first media and two adjacent ones of said second media is greater than 20 μm.

8. The transceiver module of claim 1, wherein the first medium is any one of a waveguide and an optical fiber, and the second medium is also any one of a waveguide and an optical fiber.

9. The transceiver module of claim 8, wherein the base comprises a first split and a second split, wherein the first split is configured to secure the first medium and the second split is configured to secure the second medium.

10. The transceiver module of claim 9, wherein when the first medium is an optical fiber, the first split body is provided with a V-shaped groove for accommodating the first medium; when the second medium is an optical fiber, the second split body is provided with a V-shaped groove for accommodating the second medium.

11. The transceiver module of any one of claims 1-10, wherein a surface of the light-transmissive region of the first medium is provided with an anti-reflection layer and a surface of the light-transmissive region of the second medium is provided with an anti-reflection layer.

12. A lidar, comprising a transmitting module, a receiving module, and a scanning module, and further comprising a transceiver module according to any one of claims 1 to 11, wherein the transmitting module transmits a detection light, the detection light enters the first medium and is emitted to the scanning module through the first medium, the scanning module deflects the detection light and emits the detection light outwards for detection, and the scanning module is further configured to receive an echo light, deflect the echo light and emit the echo light to the transceiver module, and the echo light enters the second medium and enters the receiving module through the second medium.

13. The lidar of claim 12, wherein the scanning module is configured to deflect light in an X-direction and a Y-direction.