WO2024045550A1 - Module de transmission radar laser, dispositif émetteur-récepteur et radar laser - Google Patents

Module de transmission radar laser, dispositif émetteur-récepteur et radar laser Download PDF

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Publication number
WO2024045550A1
WO2024045550A1 PCT/CN2023/081256 CN2023081256W WO2024045550A1 WO 2024045550 A1 WO2024045550 A1 WO 2024045550A1 CN 2023081256 W CN2023081256 W CN 2023081256W WO 2024045550 A1 WO2024045550 A1 WO 2024045550A1
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WIPO (PCT)
Prior art keywords
wavelength
light
unit
transmitting module
channel
Prior art date
Application number
PCT/CN2023/081256
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English (en)
Chinese (zh)
Inventor
潘政清
向少卿
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上海禾赛科技有限公司
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Publication of WO2024045550A1 publication Critical patent/WO2024045550A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/02—Constructional details

Definitions

  • the invention relates to the field of laser detection, and in particular to a laser radar transmitting module, a transceiver device and a laser radar.
  • Lidar is a commonly used ranging sensor with the characteristics of long detection range, high resolution, and low environmental interference. It is widely used in unmanned driving, intelligent robots, drones and other fields. In recent years, autonomous driving technology has developed rapidly, and lidar, as the core sensor for distance sensing, has become indispensable.
  • FMCW lidar requires comprehensive consideration of range, field of view (FOV), frame rate and number of lines.
  • FOV field of view
  • the scanning speed of the fast axis of the scanner is restricted, which affects the improvement of the field of view angle, frame rate, line number and other indicators.
  • the parameters of existing frequency modulated continuous wave lidar are: 64 lines; ranging capability: reflectivity of 10% less than 200 meters ( ⁇ 200m@10%R); field of view angle of 120°.
  • ranging capability reflectivity of 10% less than 200 meters ( ⁇ 200m@10%R); field of view angle of 120°.
  • TOF time-of-flight
  • the number of lines can generally reach 128 lines, or even 300 lines, and the range measurement capability is 250 meters.
  • the problem solved by this invention is how to reduce the manufacturing difficulty and Control the difficulty.
  • a laser radar transmitting module including:
  • a multi-wavelength light-emitting unit the multi-wavelength light-emitting unit is suitable for generating a light beam; a wavelength switching unit, the wavelength switching unit receives the light beam generated by the multi-wavelength light-emitting unit, the wavelength switching unit controls a plurality of switching elements through electrical signals Switch the wavelength of the output light beam; a light splitting unit, the light splitting unit is located in the optical path downstream of the wavelength switching unit, the light splitting unit is used to split the received light beam and further form each split beam into multiple Line detection light.
  • the wavelength switching unit controls multiple switching elements according to a preset timing sequence to achieve time-sharing switching of the wavelength of the output light beam.
  • the wavelength switching unit includes: channel elements, the channel elements are suitable for forming the optical path into m channels; m switching elements, the m switching elements correspond to the m channels one by one, and the The switching element controls the opening and closing of the corresponding channel; the control element controls the opening and closing of m switching elements according to a preset time sequence; where m is an integer greater than 1.
  • the light beam of each channel is a light beam of a single wavelength; or, the light beam of each channel includes a set of equally spaced frequency light beams.
  • the channel element includes: one of a wavelength division multiplexing filter and an optical cross-wavelength division multiplexer.
  • the switching element includes: one of a silicon-based optical switch, a thin film lithium niobate electro-optical switch, and a semiconductor optical amplifier.
  • the wavelength switching unit further includes: an energy monitoring element, the energy monitoring element is located between the channel element and the switch element, the energy monitoring element is suitable for monitoring the energy of the light beam of each channel;
  • the control element adjusts the gain of the corresponding switching element according to the energy of the light beam of each channel and the preset value.
  • control element controls m switching elements so that the same preset time period Only 1 channel is open.
  • the multi-wavelength light-emitting unit includes multiple lasers, and the center wavelengths of different lasers are not equal; or, the multi-wavelength light-emitting unit includes at least one laser and a multi-wavelength generating component.
  • the multi-wavelength generating component includes: an electro-optical modulation element and a semiconductor optical amplifier; or, the multi-wavelength generating component includes: a micro-ring resonant cavity.
  • the module also includes: a plurality of emission ports, one line of the detection light is emitted from one of the emission ports; the plurality of emission ports are arranged along the first direction to obtain scanning of the emitted light beam in the first plane; the emission
  • the module also includes: a one-dimensional scanning unit, which is located in the optical path downstream of the emission port. The one-dimensional scanning unit causes the detection light to scan in a second plane, and the second plane is perpendicular to the first plane. flat.
  • each port group including multiple light-emitting ports; multiple light-emitting ports of the same port group are continuously arranged along the first direction, and the light-emitting ports of different port groups are continuously arranged along the first direction.
  • the wavelengths of the detection lights emitted from the plurality of light-emitting ports are in the same order.
  • the light splitting unit includes: a 1 ⁇ n beam splitter, which is suitable for splitting the received light beam with equal energy, where n is an integer greater than 1; n wavelength separation elements. , each wavelength separation element further forms each beam split by the 1 ⁇ n beam splitter into multi-line detection light.
  • the wavelength separation element includes: at least one of a wavelength division multiplexing filter, a prism, a grating, and an optical cross-wavelength division multiplexer.
  • the transmitting module is used as a transceiver device for coaxial transceiver
  • the splitting unit also includes: n connectors, each connector is located at the 1 ⁇ n beam splitter and 1 wavelength separation element. , the first end of the connector is connected to the 1 ⁇ n beam splitter, and the second end is connected to the wavelength separation element.
  • the connector is at least one of a circulator or a polarizing beam splitter.
  • the transmitting module is used as a transceiver device for frequency modulated continuous waves.
  • the transmitting module The block further includes: a first coupling unit located in the optical path between the wavelength switching unit and the light splitting unit, and the first coupling unit splits the light beam output from the wavelength switching unit. Out of this vibration.
  • the present invention also provides a laser radar transceiver device, including:
  • a transmitting module which is the transmitting module of the present invention; the emitted detection light is reflected in a three-dimensional space to form echo light; and a receiving module, which is suitable for receiving the echo light.
  • the transceiver device is a frequency modulated continuous wave transceiver device
  • the transmitting module further includes: a first coupling unit located in the optical path between the wavelength switching unit and the light splitting unit.
  • the first coupling unit separates the local oscillator light from the light beam output by the wavelength switching unit;
  • the receiving module includes: a 1 ⁇ n beam splitter, and the 1 ⁇ n beam splitter of the receiving module is suitable for The local oscillator light separated by the first coupling unit is split into equal energy beams; n receiving units are provided, and the n receiving units correspond to the n split local oscillator lights one-to-one, and each receiving unit corresponds to Connect the third end of 1 connector.
  • the receiving unit includes: a coupler and a balanced detector connected in sequence.
  • the present invention also provides a laser radar, including: the transceiver device of the laser radar of the present invention.
  • the wavelength switching unit controls multiple switching elements to switch the wavelength of the output light beam through electrical signals.
  • the switching element ie, optical switch
  • the manufacturing process difficulty of the wavelength switching unit can be effectively reduced, and the control difficulty of achieving high-speed wavelength switching can be effectively reduced.
  • the wavelength switching unit controls multiple switching elements according to a preset timing sequence to achieve time-sharing switching of the wavelength of the output light beam. Wavelength switching in a time-sharing manner can effectively reduce the difficulty of collecting and calculating lidar detection data.
  • the detection light is emitted from one emission port; multiple emission ports are arranged along the first direction to obtain scanning of the emitted light beam in the first plane; the emission module also includes: one-dimensional scanning unit, the one-dimensional scanning unit is located in the optical path downstream of the emission port, and the one-dimensional scanning unit causes the detection light to scan in a second plane, and the second plane is perpendicular to the first plane.
  • the first plane such as the vertical direction
  • the second plane such as the horizontal direction
  • the scanning speed of the scanning unit can be effectively reduced, and the scanning speed can be effectively reduced. Alleviate the delay angle problem.
  • the transmitting module includes multiple port groups, each port group includes multiple light-emitting ports, and the multiple light-emitting ports of the same port group are continuously arranged along the first direction.
  • the detection light emitted by each light-emitting port has a different wavelength, and the wavelength order of the detection light emitted by multiple light-emitting ports in different port groups is the same, so that the wavelengths generated by the multi-wavelength light-emitting unit through multiple wavelength separation elements can be staggered as much as possible.
  • the direction of the field of view corresponding to the beams of the same wavelength can minimize the interference between the beams of the same wavelength.
  • the channel element of the wavelength switching unit includes: one of a wavelength division multiplexing filter and an optical cross-wavelength division multiplexer; the switching element includes: a silicon-based optical switch, a thin film lithium niobate battery One of optical switches and semiconductor optical amplifiers.
  • Demultiplexing filters, optical cross-wavelength division multiplexers, silicon-based optical switches, thin-film lithium niobate electro-optical switches, and semiconductor optical amplifiers can all be produced on a large-scale chip, and the cost of arraying is very low, so it can effectively reduce Production difficulty and process cost.
  • Figure 1 is a schematic structural diagram of a frequency modulated continuous wave lidar
  • Figure 2 is a schematic diagram of the scanning mirror field of view scanning of the laser radar shown in Figure 1;
  • FIG. 3 is a functional block diagram of an embodiment of the laser radar transmitting module of the present invention.
  • FIG 4 is a functional block diagram of the wavelength switching unit in the embodiment of the laser radar transmitting module shown in Figure 3;
  • FIG. 5 is a timing diagram of the control element in the wavelength switching unit controlling multiple switching elements in the embodiment of the laser radar transmitting module shown in Figure 4;
  • Figure 6 is a functional block diagram of the light splitting unit in the embodiment of the laser radar transmitting module shown in Figure 3;
  • FIG 7 is a schematic diagram of the distribution of transmission ports in the embodiment of the lidar transmission module shown in Figure 3;
  • Figure 8 is a schematic diagram of the distribution of emission ports in an embodiment of the laser radar transmission module of the present invention.
  • Figure 9 is a schematic diagram of the optical path in which the connector is set as a polarizing beam splitter in another embodiment of the laser radar transmitting module of the present invention.
  • FIG. 10 is a functional block diagram of another embodiment of the laser radar transmitting module of the present invention.
  • Figure 11 is a functional block diagram of a multi-wavelength light-emitting unit in the embodiment of the laser radar transmitting module shown in Figure 10;
  • Figure 12 is the frequency distribution of the light beam generated by the multi-wavelength light-emitting unit in the embodiment of the laser radar transmitting module shown in Figure 11;
  • Figure 13 is a timing diagram of the control element in the wavelength switching unit controlling multiple switching elements in the embodiment of the laser radar transmitting module shown in Figure 10;
  • FIG. 14 is a schematic diagram corresponding to each wavelength of light in the dotted box in the timing diagram of the embodiment of the laser radar transmitting module shown in FIG. 13 .
  • frequency modulated continuous wave lidar has problems that need to be improved in various performance indicators. Now let’s analyze the reasons for the poor performance index of a frequency modulated continuous wave lidar:
  • FIG. 1 a schematic structural diagram of a frequency modulated continuous wave lidar is shown.
  • the laser radar includes: a laser 11, a transmitting coupler 12, a connector 13, a collimating unit 14 and a scanning mirror 15 arranged in sequence along the optical path of the detection light; and a receiving coupler 16, 16 and 16 arranged in sequence along the optical path of the local oscillator light.
  • the first end of the connector 13 is connected to the launch coupler 12 , the second end of the connector 13 is connected to the collimation unit 14 , and the third end of the connector 13 is connected to the The receiving coupler 16 is connected.
  • the connector 13 may be a circulator, and the connector 13 is connected to the corresponding component through an optical waveguide, such as an optical fiber.
  • the initial light generated by the laser 11 is divided into detection light and local oscillation light by the emission coupler 12; after the detection light is transmitted through the connector 13, it emerges from the collimation unit 14 and is reflected by the scanning mirror 15. Scanning is realized in three-dimensional space; the echo light formed by the reflection of the detection light in the three-dimensional space is reflected by the scanning mirror 15 and received by the collimation unit 14 , and is transmitted to the receiving coupler 16 through the connector 13 .
  • the receiving coupler 16 After receiving the local oscillator light separated by the transmitting coupler 12 and the echo light transmitted by the connector 13, the receiving coupler 16 mixes the received local oscillator light and the echo light to perform coherent beat frequency, The detector 17 collects the mixed light beam, and the processing unit 18 obtains information such as distance, speed and reflectivity of the target to be measured based on beat frequency signal analysis.
  • the connector 13 has three ports. The signal input at the first end a will be output from the second end b, and the signal input from the second end b will be output from the third end c; therefore, the detection light will be output from the first end a. Input, second terminal b output, echo light input from the second terminal b, third terminal c output; therefore, the use of the connector 13 can enable the frequency modulated continuous wave laser radar to achieve coaxial transceiver.
  • the scanning mirror 15 In frequency modulated continuous wave lidar, most of them are realized by continuous rotation of the scanning mirror 15 Scan three-dimensional space. In a laser radar with a common transmission and reception path, the scanning mirror 15 not only needs to scan the detection light, but also needs to receive the formed echo light.
  • the scanning mirror 15 Due to the continuous rotation of the scanning mirror 15, the angle of the scanning mirror 15 when receiving the echo beam is already different from the angle of the scanning mirror 15 when the detection beam is emitted, that is, the scanning mirror 15 generates a delay angle.
  • the retardation angle is proportional to the scanning angular velocity. The greater the scanning angular velocity, the greater the retardation angle generated by the scanning mirror 15 at the same time.
  • the delay angle causes the light spot of the echo light at the receiving end face (usually using an optical fiber) to tilt and shift, which in turn leads to a decrease in receiving efficiency.
  • FIG. 2 a schematic diagram of the scanning of the field of view of the scanning mirror 15 is shown.
  • the fast axis corresponds to the scanning of the horizontal field of view
  • the slow axis corresponds to the scanning of the vertical field of view.
  • the figure shows the scanning process of one frame of the slow axis.
  • Figure The number of black dots in can be considered as the number of equivalent lines of the scanning mirror 15 (the number of lines output by the point cloud in the vertical direction).
  • the fast axis of the scanning mirror 15 is usually in a resonant state, the scanning frequency is as high as kHz, and the scanning angular velocity is large. Therefore, the spot of the echo beam at the receiving end face is tilted and shifted greatly.
  • the solutions to the above delay angle problem mainly include: 1. Give up the mechanical scanning mirror and use an optical phased array to achieve electronically controlled step scanning.
  • the disadvantage is that the current technical level is difficult to overcome the small size and high loss of the phased array optical antenna. Defects; 2. Using multi-mode waveguide for reception, although the reception efficiency is improved, the mutual interference between modes will cause a decrease in signal-to-noise ratio; 3. Separation of transmitting and receiving, appropriately shifting the position of the receiving waveguide, and pre-compensating the delay angle, at the cost of nearly The distance reception efficiency is reduced.
  • a laser radar transmitting module including:
  • a multi-wavelength light-emitting unit the multi-wavelength light-emitting unit is suitable for generating a light beam; a wavelength switching unit, the wavelength switching unit receives the light beam generated by the multi-wavelength light-emitting unit, the wavelength switching unit controls a plurality of switching elements through electrical signals Switch the wavelength of the output light beam; a light splitting unit, the light splitting unit is located in the optical path downstream of the wavelength switching unit, the light splitting unit is used to split the received light beam and further form each split beam into multiple Line detection light.
  • the wavelength switching unit controls multiple switching elements to switch the wavelength of the output light beam through electrical signals.
  • the switching element ie, optical switch
  • the manufacturing process difficulty of the wavelength switching unit can be effectively reduced, and the control difficulty of achieving high-speed wavelength switching can be effectively reduced.
  • FIG. 3 a functional block diagram of an embodiment of the laser radar transmitting module of the present invention is shown.
  • the transmitting module of the laser radar includes: a multi-wavelength light-emitting unit 110, which is suitable for generating a light beam; a wavelength switching unit 120, which receives the light beam generated by the multi-wavelength light-emitting unit 110. , the wavelength switching unit 120 controls multiple switching elements 121 to switch the wavelength of the output light beam through electrical signals; the spectroscopic unit 130 is located in the optical path downstream of the wavelength switching unit 120, and the spectroscopic unit 130 uses The received light beam is split and each split beam is further formed into a multi-line detection light.
  • the manufacturing process difficulty of the wavelength switching unit 120 can be effectively reduced, and the control difficulty of achieving high-speed wavelength switching can be effectively reduced.
  • the multi-wavelength light-emitting unit 110 serves as a light source to generate light beams.
  • the multi-wavelength light-emitting unit 110 includes multiple lasers, and the center wavelengths of different lasers are not equal.
  • the lidar is a frequency modulated continuous wave lidar, so the laser is a frequency modulated laser, and the frequency modulated laser can, for example, implement linear frequency modulation.
  • the multi-wavelength light-emitting unit 110 includes: m independent frequency-modulated lasers, and the center wavelengths of each frequency-modulated laser are ⁇ 1 , ⁇ 2 , ⁇ 3 ... ⁇ m respectively.
  • the wavelength switching unit 120 is controlled by electrical signals to implement wavelength scanning.
  • the wavelength switching unit 120 controls multiple switching elements according to a preset timing sequence to achieve time-sharing switching of the wavelength of the output light beam. Wavelength switching in a time-sharing manner can effectively reduce the difficulty of collecting and calculating lidar detection data.
  • FIG. 4 a functional block diagram of the wavelength switching unit 120 in the transmit module embodiment of the lidar shown in FIG. 3 is shown.
  • the wavelength switching unit 120 includes: channel element 121, which is suitable for forming the optical path into m channels; m switching elements S 1 , S 2 , S 3 ...S m ,
  • the m switching elements correspond to the m channels one-to-one, and the switching element S m controls the opening and closing of the corresponding channel;
  • the control element 123 controls the m switching elements according to a preset timing sequence. On and off; where, m is an integer greater than 1.
  • the multi-wavelength light-emitting unit 110 has one light output port, and the light beams generated by the multi-wavelength light-emitting unit 110 are output through the light output port.
  • the multi-wavelength light-emitting unit 110 may also have multiple light output ports, and the light beam generated by the multi-wavelength light-emitting unit 110 is output through the multiple light output ports.
  • the multi-wavelength light-emitting unit has m light output ports, and the m light output ports correspond to the m channels; the light beams generated by the multi-wavelength light-emitting unit are respectively passed through the The light output port is input to the corresponding channel.
  • the multi-wavelength light-emitting unit includes m lasers, and the center wavelengths of different lasers are not equal; the m light-emitting ports of the multi-wavelength light-emitting unit correspond to the m lasers one-to-one; the m light-emitting ports The ports correspond to the m channels one-to-one, so the light beam generated by each laser is input to the corresponding channel through the corresponding light output port.
  • the channel element 121 is used to form multiple channels.
  • the light beam of each channel is a light beam of a single wavelength.
  • the multi-wavelength light-emitting unit 110 includes m central wavelengths with different The same frequency modulated laser, therefore, the channel element 121 forms m channels, namely channel 1221, channel 1222, channel 1223,..., channel 122m; each channel transmits a beam of wavelength, that is, channel 1221 transmits a wavelength ⁇ 1 beam, channel 1222 transmits a beam of wavelength ⁇ 2 , channel 1223 transmits a beam of wavelength ⁇ 3 , ..., channel 122m transmits a beam of wavelength ⁇ m .
  • the channel element 121 when the multi-wavelength light-emitting unit has one light output port, the channel element 121 includes: a demultiplexing filter (DEMUX).
  • the demultiplexing filter can be produced on a large scale on a chip, and the cost of arraying is very low, so it can effectively reduce the manufacturing difficulty and process cost.
  • the channel element 121 when the multi-wavelength light-emitting unit has m light output ports, the channel element 121 includes, for example, an optical fiber array composed of m optical fibers, and each light output port corresponds to each optical fiber in the optical fiber array. , thereby forming m channels.
  • the switch element is used to control the opening and closing of the corresponding channel.
  • each channel branched from the channel element 121 is provided with one of the switch elements to control its opening and closing.
  • a switching element S1 is set on channel 1221 to control the transmission of a beam of wavelength ⁇ 1
  • a switching element S2 is set on channel 1222 to control the transmission of a beam of wavelength ⁇ 2
  • a switch is set on channel 1223.
  • the element S 3 is used to control the transmission of the light beam with the wavelength ⁇ 3
  • the switching element Sm is provided on the channel 122m to control the transmission of the light beam with the wavelength ⁇ m .
  • the switching element includes: an optical switch, such as one of a silicon-based optical switch, a thin film lithium niobate electro-optical switch, and a semiconductor optical amplifier (SOA).
  • an optical switch such as one of a silicon-based optical switch, a thin film lithium niobate electro-optical switch, and a semiconductor optical amplifier (SOA).
  • SOA semiconductor optical amplifier
  • the gains of the silicon-based optical switches, thin-film lithium niobate electro-optical switches and semiconductor amplifiers are adjustable, and can not only control the opening and closing of the corresponding channels, but also adjust the gain of the corresponding channels.
  • Silicon-based optical switches, thin-film lithium niobate electro-optical switches and semiconductor optical amplifiers can all be mass-produced on chips, and the cost of arraying is very low, so they can effectively reduce manufacturing difficulty and process costs.
  • the wavelength switching unit 120 further includes: energy monitoring Element 124.
  • the energy monitoring element 124 is located between the channel element and the switching element SOA.
  • the energy monitoring element 124 is suitable for monitoring the energy of the beam of each channel.
  • the control element 123 is used to control the plurality of switching elements.
  • the control element 123 has a pre-stored timing sequence for controlling the switching element; the control element 123 sequentially controls the turning on and off of the corresponding switching element according to the above timing sequence.
  • FIG. 5 a timing diagram in which the control element in the wavelength switching unit 120 controls multiple switching elements in the laser radar transmit module embodiment shown in FIG. 4 is shown.
  • control element 123 controls m switching elements so that only one channel is turned on within the same preset time period.
  • the switching element S 1 is turned on, and other switching elements are turned off, so that only the light beam with wavelength ⁇ 1 passes through the channel 1221; between time t21 and time t22, all switching elements are turned on.
  • the switching element S 2 is turned off, and other switching elements are turned off, and only the light beam with wavelength ⁇ 2 is allowed to pass through the channel 1222; between time t31 and t32, the switching element S 3 is turned on, and other switching elements are turned off, and only the light beam with wavelength ⁇ 2 is allowed to pass through the channel 1222.
  • the light beam with wavelength ⁇ 3 passes through channel 1223; ...; between time tm1 and time tm2, the switching element Sm is turned on, and other switching elements are turned off, so that only the light beam with wavelength ⁇ m passes through channel 122m.
  • the wavelength switching unit 120 also includes an energy monitoring element 124 that monitors the light beam of each channel. Therefore, the control element 123 is based on the energy of the light beam of each channel and the preset value. , adjust the gain of the corresponding switching element SOA to make the energy of each channel equal.
  • the transmitting module is used for a frequency modulated continuous wave transceiver device.
  • the frequency modulated continuous wave transceiver device analyzes the distance, speed, reflectivity and other information of the target by analyzing the beat frequency signal, where the beat frequency signal is used for detection.
  • the echo light formed after light is reflected and from The signal obtained after coherent beating of the local oscillator light separated by the detection light. Therefore, as shown in Figure 4, the transmitting module also includes: a first coupling unit 141.
  • the first coupling unit 141 is located in the optical path downstream of the wavelength switching unit 120.
  • the first coupling unit 141 switches from the wavelength to the wavelength switching unit 120.
  • the local oscillator light is separated from the light beam output by the switching unit 120 .
  • the transmitting module also includes: a merging unit 142, the merging unit 142 is located in the first coupling unit 141 In the optical path between the wavelength switching unit 120 and the wavelength switching unit 120, multiple channels branched out by the channel element 121 share the same first coupling unit 141 in a time-sharing manner.
  • the merging unit 142 may be a multiplexer (MUX).
  • the emission module further includes: an amplification unit 143 located in the optical path between the first coupling unit 141 and the merging unit 142 .
  • the amplification unit 143 may be an optical amplifier.
  • the multi-wavelength light-emitting unit 110 generates multi-wavelength light beams.
  • the wavelengths of the multi-wavelength light beams include: ⁇ 1 , ⁇ 2 , ⁇ 3 ... ⁇ m ; the multi-wavelength light beams pass through the wavelengths After switching the channel element 121 of the unit 120, the channels formed by the wavelength switching units are respectively transmitted; within a preset time period, the switching element ⁇ i is turned on, and other switching elements are turned off, so that only the light beam with the wavelength ⁇ i passes through. The corresponding channel passes; the light beam with wavelength ⁇ i is transmitted through the combining unit 142 and further amplified by the amplifying unit 143, and is divided into local oscillator light and detection light by the first coupling unit 141.
  • the switching elements are turned on, and the remaining switching elements are turned off, so that only the light beam of the corresponding wavelength passes through the channel; the passing light beam is transmitted through the combining unit 142 and further amplified by the amplification unit 143 , will be divided into local oscillation light and detection light by the first coupling unit 141. That is to say, in different time periods, local oscillation light and detection light of different wavelengths will be formed through the first coupling unit 141.
  • the transmitting module also includes: a spectroscopic unit 130 to form multi-line detection light emitted at a single wavelength, wherein Figure 6 shows the spectroscopic unit in the embodiment of the lidar transmitting module shown in Figure 3 Functional block diagram of 130.
  • the light splitting unit 130 includes: a 1 ⁇ n beam splitter 131, the 1 ⁇ n beam splitter 131 is suitable for splitting the received light beam with equal energy, where n is an integer greater than 1; there are n wavelength separation elements 132, and each wavelength separation element 132 causes each beam split by the 1 ⁇ n beam splitter to form multi-line detection light emitted at a single wavelength.
  • the 1 ⁇ n beam splitter 131 is used to achieve equal energy beam splitting; each beam split by the 1 ⁇ n beam splitter 131 passes through one of the wavelength separation elements 132 to form a single wavelength multi-line detection.
  • the wavelength separation element 132 includes: at least one of a wavelength division multiplexing filter, a prism, a grating, and an optical cross-wavelength division multiplexer.
  • the multi-wavelength light-emitting unit 110 includes m frequency-modulated lasers with different central wavelengths. Therefore, the channel element 121 branches out m channels; therefore, the channel element 121 branches out each channel, Each channel is time-switched by the corresponding switching element, and then enters the merging element 142. After being emitted from the merging element 142 and amplified by power, it is divided into n beams by the 1 ⁇ n beam splitter 131.
  • the light beam with wavelength ⁇ 1 passing through channel 1221 is split into n sub-beams by the 1 ⁇ n beam splitter 131 with equal energy.
  • the sub-beams form a line of detection light through the corresponding wavelength separation element 132. Therefore, after the light beam with wavelength ⁇ 1 of channel 1221 is passed between time t11 and time t12, n lines of detection light with wavelength ⁇ 1 are emitted.
  • the n-line detection light with wavelength ⁇ 1 is emitted from n wavelength separation elements, each corresponding to a line; between time t21 and time t22, the light beam with wavelength ⁇ 2 passing through channel 1222 is divided by the 1 ⁇ n
  • the beamer 131 forms n sub-beams after equal energy splitting. Each sub-beam forms a line of detection light through the corresponding wavelength separation element 132. Therefore, between the t21 time and the t22 time, the beam with the wavelength ⁇ 2 of the channel 1222 is passed. , there are n lines of detection light with wavelength ⁇ 2 emitted.
  • n lines of detection light with wavelength ⁇ 2 are emitted from n wavelength separation elements, each corresponding to a line; between time t31 and time t32, it passes through channel 1223
  • the light beam with a wavelength of ⁇ 3 is split into n sub-beams by the 1 ⁇ n beam splitter 131 with equal energy.
  • Each sub-beam forms a line of detection light through the corresponding wavelength separation element 132. Therefore, at time t31 to between time t32 After the beam of wavelength ⁇ 3 in channel 1223 passes through, n lines of detection light with wavelength ⁇ 3 are emitted.
  • the n lines of detection light with wavelength ⁇ 3 are emitted from n wavelength separation elements, each corresponding to a line;... ;
  • the light beam with wavelength ⁇ m passing through channel 122m is split into n sub-beams by the 1 ⁇ n beam splitter 131 with equal energy, and each sub-beam passes through the corresponding
  • the wavelength separation element 132 forms a line of detection light, so after the light beam with the wavelength ⁇ m of the channel 122m is passed between the time tm1 and the time tm2, n lines of detection light with the wavelength ⁇ m are emitted, specifically the n line has the wavelength ⁇ m .
  • the detection light is emitted from n wavelength separation elements, each corresponding to a line.
  • the multi-wavelength light-emitting unit 110 includes m frequency-modulated lasers with different central wavelengths, and the channel element 121 forms the optical path into m single-wavelength channels. , therefore, each channel separates out n-line detection light through the spectroscopic unit 130, so in the cycle process in which the switching elements S 1 to S m are turned on once in sequence, a wavelength separation element generates ⁇ 1 , ⁇ 2 , ⁇ 3 ... ...m wavelengths of ⁇ m and n wavelength separation elements form a total of n ⁇ m line detection light.
  • the launch module further includes: a plurality of launch ports 151.
  • the exit ports are, for example, the end faces of optical fibers.
  • the light emitted from the wavelength separation element 132 enters the optical fiber for transmission. It can also be It is other types of optical waveguides, such as the end surface of a planar optical waveguide.
  • the detection light in one line is emitted from one of the emission ports 151; multiple emission ports 151 are arranged along the first direction to obtain scanning of the emitted light beam in the first plane.
  • the transmitting module also includes: a one-dimensional scanning unit 152.
  • the one-dimensional scanning unit is located in the optical path downstream of the emitted light from the transmitting port 151.
  • the one-dimensional scanning unit 152 causes the detection light to scan in the second plane, so The second plane is perpendicular to the first plane.
  • the multi-channel electronically controlled method is used to realize scanning in the first plane (such as the vertical direction), instead of the fast axis high-speed scanning in the existing technology, and the low-speed one-dimensional scanning unit is used to realize scanning in the second plane (such as the horizontal direction), This can effectively reduce the scanning speed of the scanning unit and alleviate the problem of delay angle.
  • the positions of the emission ports 151 can be arranged as required, and combined with the collimating lens 154 to form line beam scanning in the first plane. Specifically, in the embodiment shown in Figure 7, multiple of the The emission ports 151 are equally spaced in the focal plane of the collimating lens 154 , that is, they are evenly distributed in the focal plane of the collimating lens 154 .
  • the transmitting module further includes: multiple port groups 153, each of the port groups 153 includes a plurality of the light-emitting ports 151, and one port group 153 corresponds to one wavelength separation element 132; the same
  • the plurality of light-emitting ports 151 of the port group 153 are continuously arranged along the first direction, and the wavelength order of the detection light emitted by the plurality of light-emitting ports 151 of different port groups 153 is the same.
  • the transmitting port 1511, the port 1512, the port 1513,..., the port 151m are arranged in sequence along the first direction, and the wavelengths are ⁇ 1 , ⁇ 2 , ⁇ 3 ,... , ⁇ m emits from the emission port 1511, port 1512, port 1513, ..., port 151m in sequence.
  • the multiple transmit ports 151 of different port groups 153 are arranged in the same manner. Specifically, in the embodiment shown in Figure 7, the arrangement of the multiple transmit ports 151 in the port group 153j is the same as the arrangement of the multiple transmit ports 151 in the port group 153i, that is, the transmit port 1511, the port 1512, the port 1513, ..., the ports 151m are also arranged in sequence along the first direction.
  • the wavelength order of the detection light emitted by the plurality of light-emitting ports 151 of different port groups 153 is the same.
  • the wavelength distribution of the detection light emitted by the multiple emission ports 151 in the port group 153j is the same as the wavelength distribution of the detection light emitted by the multiple emission ports 151 in the port group 153i. That is, the wavelengths ⁇ 1 , ⁇ 2 , ⁇ 3 ,..., ⁇ m in the port group 153i also emit from the emission port 1511, the port 1512, the port 1513,..., the port 151m in sequence.
  • the wavelength order of the detection light emitted by the plurality of light-emitting ports 151 of different port groups 153 is made to be the same, that is, the light-emitting ports 151 that emit detection light of the same wavelength have the largest height difference on the focal plane of the collimating lens 154 and are the same.
  • the fields of view between the detection lights of the same wavelength should be staggered as much as possible to reduce the interference between the detection lights of the same wavelength.
  • the transmitting module is used as a transceiver device for coaxial transceiver.
  • the light splitting unit 130 further includes: n connectors 133, each connector 133 is located at Between the 1 ⁇ n beam splitter 131 and one of the wavelength separation elements 132, the first end of the connector 133 is connected to the 1 ⁇ n beam splitter 131, and the second end is connected to the wavelength separation element. 132 connected.
  • the connector 133 is a circulator.
  • the detection light formed by the first coupling unit 141 is divided into n-line detection lights of equal energy by the 1 ⁇ n beam splitter 131 of the spectroscopic unit 130.
  • a line is input from the first section of the connector 133 and output from the second end of the connector 133; the detection light output from the second end passes through the wavelength separation element 132 and emerges from a preset emission port. for detection.
  • a plurality of the emission ports 151 are equidistantly distributed in the focal plane of the collimating lens 154 .
  • this arrangement is only an example.
  • the distance d1 between adjacent transmitting ports 251 located at the edge is greater than that between adjacent transmitting ports 251 located in the center (the transmitting ports 251 within the dotted box 253 in Figure 8).
  • the spacing d2 between them is combined with the collimating lens 254 to form a line beam scanning with dense center in the vertical direction. Specifically, along the direction from the edge to the center, the spacing between adjacent emission ports 251 gradually decreases, and the density of the emission ports 251 gradually increases to form a line bundle that is gradually denser from the edge to the center.
  • the method of arranging multiple lasers in the multi-wavelength light-emitting unit 110 to generate light beams with different center wavelengths is only an example.
  • the multi-wavelength light-emitting unit may also be composed of a single laser and a multi-wavelength generating component.
  • the connector 133 is a circulator.
  • the connector may also be a polarizing beam splitter.
  • the connector 533 is a polarizing beam splitter. The first end 533a of the connector 533 is connected to the 1 ⁇ n beam splitter 531, the second end 533b is connected to the wavelength separation element 532, and the third end 533c is connected to the receiving module of the laser radar. The detection light generated by the 1 ⁇ n beam splitter 531 enters the connector 533 from the first end 533a.
  • the TM polarized part After passing through the connector 533, for example, the TM polarized part exits from the second end 533b (preferably, it passes through a 1/4 wave plate to form circularly polarized light. ), passes through the wavelength separation element 532 and is finally emitted to the environment, and the echo light (passes through the 1/4 wave plate again, and is converted from circularly polarized light TE polarized light) enters the connector 533 through the second end 533b, is reflected and exits from the third end 533c, forming a circulator-like function.
  • the TE polarized part may be emitted from the second end 533b, and the TM polarized part in the echoed light may be partially reflected and emitted from the third end 533c.
  • FIG. 10 a functional block diagram of another embodiment of the laser radar transmitting module of the present invention is shown.
  • the multi-wavelength light-emitting unit 310 includes at least one laser 311 and a multi-wavelength generating component 312 to control hardware costs.
  • the laser 311 is a frequency modulated laser.
  • the center frequency of the laser 311 is f 1 , and multiple frequencies f 1 , f 2 , f 3 ... fi (corresponding to multiple wavelengths ⁇ 1 , ⁇ 2 , ⁇ 3 ... ⁇ i ), the intervals between multiple frequencies are the same as ⁇ f, as shown in Figure 12.
  • the multi-wavelength generating component 312 includes: an electro-optical modulation element 312a and a semiconductor optical amplifier 312b. Multiple wavelengths can be generated based on electro-optical modulation effects and four-wave mixing effects.
  • the light emitted by the laser 311 with the center frequency f 1 passes through the electro-optical modulation element 312a and generates at least two frequency values, namely frequency f 2 and frequency f 3 , in addition to the original frequency; and then passes through the semiconductor
  • the optical amplifier 312b then produces a greater number of wavelengths, i.e., fi shown in Figure 11. Moreover, by adjusting the gain of the semiconductor optical amplifier 312b, the energy of the beams of different wavelengths output by the semiconductor optical amplifier 312b is nearly equal.
  • the method of using the electro-optical modulation element 312a and the semiconductor optical amplifier 312b to constitute the multi-wavelength generating component 312 is only an example.
  • the multi-wavelength generating component may also include: a micro-ring resonant cavity.
  • the four-wave mixing effect in the microring resonator is stronger, more wavelengths can be produced, and the wavelength range is also larger.
  • the four-wave mixing effect in the microring resonant cavity can generate more wavelength to form an optical comb.
  • a multi-wavelength light-emitting unit composed of a single laser, an electro-optical modulation element and a semiconductor optical amplifier can produce 16 wavelengths, and a single laser and a micro-ring resonant cavity can produce 64 wavelengths.
  • the channel element 321 in the wavelength switching unit 320 when using a single laser and a micro-ring resonant cavity to generate more wavelengths, the channel element 321 in the wavelength switching unit 320 includes an optical cross-wavelength division multiplexer (Inter Lever). Each channel formed by the optical cross-wavelength division multiplexer is comb filtered, and the output is a set of equally spaced frequency beams. Moreover, the optical cross-wavelength division multiplexer can be produced on a large-scale chip basis, and the cost of arraying is very low, so it can effectively reduce the manufacturing difficulty and process cost.
  • Inter Lever optical cross-wavelength division multiplexer
  • each channel includes multiple wavelengths after passing through the optical cross-wavelength division multiplexer. After time-sharing switching by the corresponding switching element, the multiple wavelengths of each channel reach the power amplifying element at the same time. In this case, even if there is gain spectrum drift, one of the multiple wavelengths always falls within the gain spectrum range, so temperature control is not required.
  • each channel when each channel transmits a beam including multiple wavelengths, when the ambient temperature changes greatly, the gain of the power amplification element will also change accordingly. However, since each channel The light beam transmitted by the channel includes multiple wavelengths, and there is a high probability that at least one wavelength is still within the gain range of the power amplifier element. In other words, the impact of ambient temperature changes on the light energy of the channel can be reduced.
  • the light beam of each channel includes a set of equally spaced frequency light beams.
  • the multi-wavelength light-emitting unit finally generates light beams including N equally spaced frequencies.
  • the number of wavelengths of light beams included in each channel is a divisor of the number of frequencies generated by the multi-wavelength light-emitting unit. That is to say, the number of wavelengths of light beams generated by the multi-wavelength light-emitting unit is the wavelength of the light beams included in each channel. An integer multiple of the quantity. Therefore, the number of channels is set based on the number of wavelengths generated by the multi-wavelength light emitting unit and the number of wavelengths included in the light beam transmitted by each channel.
  • the optical cross-wavelength division multiplexer in the channel element 321 is 1 minute m
  • channel 3221 transmits light beams with wavelengths ⁇ ' 1 , ⁇ ' 1+m , ⁇ ' 1+2m , ⁇ ' 1+3m , ⁇ ' 1+4m ,..., ⁇ ' 1+(k-1)m ;
  • Channel 3222 transmits light beams with wavelengths ⁇ ' 2 , ⁇ ' 2+m , ⁇ ' 2+2m , ⁇ ' 2+3m , ⁇ ' 2+4m ,..., ⁇ ' 2+(k-1)m ;
  • channel 3223 Transmits beams with wavelengths ⁇ ' 3 , ⁇ ' 3+m , ⁇ ' 3+2m , ⁇ ' 3+3m , ⁇ ' 3+4m ,..., ⁇ ' 3+(k-1)m ;
  • channel 3224 transmits wavelength ⁇ ' 4 , ⁇ ' 4+m , ⁇ ' 4+2m , ⁇ ' 4+3m , ⁇ ' 4+4m ,...,
  • the switching elements provided on each channel are used to control the opening and closing of the corresponding channel.
  • switching elements are provided on the channel 3221 to control the wavelengths ⁇ ' 1 , ⁇ ' 1+m , ⁇ ' 1+2m , ⁇ ' 1+3m , ⁇ ' 1+4m ,..., ⁇ ' 1+(k-1)m beam transmission
  • switch elements are provided on channel 3222 to control wavelengths ⁇ ' 2 , ⁇ ' 2+m , ⁇ ' 2+2m , ⁇ ' 2+3m , ⁇ ' 2+4m ,..., ⁇ ' 2+(k-1) m beam transmission
  • switch elements are set on channel 3223 to control wavelengths ⁇ ' 3 , ⁇ ' 3+m , ⁇ ' 3+2m , ⁇ ' 3+3m
  • channel 3224 is provided with switching elements to control the
  • FIG. 13 shows a timing diagram for the control element in the wavelength switching unit to control multiple switching elements in the embodiment of the laser radar transmitting module shown in FIG. 10.
  • FIG. 14 is the timing diagram shown in FIG. 13 The corresponding schematic diagram of each light wavelength in the dotted line box in the timing diagram of the embodiment of the laser radar transmitting module.
  • control element controls multiple switching elements so that only one channel is turned on within the same preset time period.
  • the switching element SOAi1 is turned on, and other switching elements are turned off, so that only the wavelengths are ⁇ ' 1 , ⁇ ' 1+m , ⁇ ' 1+2m , and ⁇ ' 1+3m , ⁇ ' 1+4m ,..., ⁇ ' 1+(k-1)m light beam passes through channel 3221, that is to say, between time t11 and time t12, the output wavelength of channel 3221 is ⁇ ' 1 , ⁇ ' 1+m , ⁇ ' 1+2m , ⁇ ' 1+3m , ⁇ ' 1+4m ,..., ⁇ ' 1+ (k-1)m beam (dotted box at1 in Figure 13); at time t21 Between time t22, the switching element SOAi2 is turned on, and other switching elements are turned off, so that only the wavelengths are ⁇ ' 2 , ⁇ ' 2+m , ⁇ ' 2+2m , ⁇ ' 2+3
  • the output wavelength of channel 3223 is ⁇ ' 3 , ⁇ ' 3+m , ⁇ ' 3+2m , ⁇ ' 3+3m , ⁇ ' 3+4m ,..., ⁇ ' 3+(k-1)m beam (dashed line frame at3 in Figure 13); between time t41 and time t42, turn on the switching element SOAi4 , turn off other switching elements, and only make the wavelengths ⁇ ' 4 , ⁇ ' 4+m , ⁇ ' 4+2m , ⁇ ' 4+3m , ⁇ ' 4+4m ,..., ⁇ ' 4+(k-1 )m beam passes through channel 3224, that is to say, between time t41 and time t42, the output wavelength of channel 3224 is ⁇ ' 4 , ⁇ ' 4+m , ⁇ ' 4+2m , ⁇ ' 4+3m , ⁇ ' 4+4m ,..., ⁇ '' 4+(k-1)m beam (dashed line frame
  • the wavelength switching unit 320 cooperates with An optical cross-wavelength division multiplexer is used as the channel element 321.
  • Each channel formed by the optical cross-wavelength division multiplexer is a comb filter, and the output is a set of optical combs of equally spaced frequencies. Therefore, the emitted light of each channel formed by the channel element 321 is a light beam including multiple wavelengths.
  • the wavelength separation element may be an optical cross-wavelength division multiplexer.
  • the multi-wavelength light-emitting unit forms an optical comb, and the wavelength separation element is set as an optical cross-wavelength division multiplexer.
  • one wavelength separation element generates m groups of wavelengths (one group corresponds to one line)
  • n wavelength separation elements form a total of n ⁇ m line detection light.
  • each line of detection light formed by the wavelength separation element includes multiple wavelengths, the detection light of multiple wavelengths is irradiated at the same position of the object, which can effectively reduce the speckle effect on the rough surface and reduce the jitter of the echo power.
  • the light beam in the launch module can be transmitted through optical fibers, that is, different units and components are connected through optical fibers.
  • the optical fiber may be a single-mode optical fiber or a planar optical waveguide.
  • the present invention also provides a laser radar transceiver device.
  • FIG. 4 and FIG. 6 a functional block diagram of an embodiment of the laser radar transceiver device of the present invention is shown.
  • the laser radar transceiver device includes: a transmitting module, which is the transmitting module of the present invention; the emitted detection light is reflected in a three-dimensional space to form echo light; a receiving module, the receiving module is suitable for receiving the Echo light.
  • the transmitting module is the transmitting module of the present invention. Therefore, for the specific technical solution of the transmitting module, reference is made to the foregoing embodiment of the transmitting module, and the present invention will not be repeated here.
  • the light splitting unit 130 includes: a 1 ⁇ n beam splitter 131, the 1 ⁇ n beam splitter 131 is suitable for splitting the received light beam with equal energy, where n is an integer greater than 1; there are n wavelength separation elements 132, and each wavelength separation element 132 causes each beam split by the 1 ⁇ n beam splitter to form multi-line detection light emitted at a single wavelength.
  • the transmitting module is used as a transceiver device for coaxial transceiver
  • the light splitting unit 130 also includes: n connectors 133, each connector 133 is located between the 1 ⁇ n beam splitter 131 and one of the wavelength separation elements 132, and the first end of the connector 133 It is connected to the 1 ⁇ n beam splitter 131, and the second end is connected to the wavelength separation element 132.
  • the connector 133 is at least one of a circulator or a polarizing beam splitter.
  • the transceiver device is a frequency modulated continuous wave transceiver device. Therefore, as shown in Figure 4, the transmitting module also includes: a first coupling unit 141.
  • the first coupling unit 141 is located in the optical path downstream of the wavelength switching unit 120.
  • the first coupling unit 141 switches from the wavelength to the wavelength switching unit 120.
  • the local oscillator light is separated from the light beam output by the switching unit 120 .
  • the receiving module is used to receive echo signals to achieve detection.
  • the transceiver device is a coaxial frequency modulated continuous wave transceiver device; and in order to perform equal energy beam splitting through the 1 ⁇ n beam splitter 131 in the light splitting unit 130; therefore, the receiving module includes: 1 ⁇ n beam splitter 410, the 1 ⁇ n beam splitter 410 of the receiving module is suitable for splitting the local oscillator light separated by the first coupling unit 141 into equal energy beams; n receiving units 420, the n Each receiving unit 420 corresponds to n split local oscillator lights in a one-to-one manner, and each receiving unit 420 is connected to the third end of one connector 133 .
  • the receiving unit 420 includes: a coupler 421 and a balanced detector (BPD) 422 connected in sequence.
  • BPD balanced detector
  • the echo light After the echo light is received by the wavelength separation element 132, it is input through the second end of the connector 133, and is output from the third end of the connector 133 to the receiving unit 420; the local oscillator light is split into equal energy beams. Finally, it is also input to the receiving unit 420; the local oscillator light and the echo light input to the receiving unit 420 are mixed in the coupler 421, and then detected by the balanced detector 422 to achieve detection.
  • the light beam in the transceiver device can be transmitted through optical fibers, that is, different units and components are connected through optical fibers.
  • the optical fiber may be a single-mode optical fiber or a planar optical waveguide.
  • the present invention also provides a laser radar, which includes: a transceiver device, and the transceiver device is the transceiver device of the present invention.
  • the transceiver device is the transceiver device of the present invention. Therefore, for the specific technical solutions of the transceiver device, reference is made to the foregoing embodiments of the transceiver device, and the present invention will not be repeated here.
  • the wavelength switching unit controls a plurality of switching elements to switch the wavelength of the output light beam through electrical signals.
  • the switching element ie, optical switch
  • the manufacturing process difficulty of the wavelength switching unit can be effectively reduced, and the control difficulty of achieving high-speed wavelength switching can be effectively reduced.
  • the channel element of the wavelength switching unit includes: one of a wavelength division multiplexing filter and an optical cross-wavelength division multiplexer; the switching element includes: a silicon-based optical switch, a thin film lithium niobate electro-optical switch, and a semiconductor optical amplifier. one of them.
  • Demultiplexing filters, optical cross-wavelength division multiplexers, silicon-based optical switches, thin-film lithium niobate electro-optical switches, and semiconductor optical amplifiers can all be produced on a large-scale chip, and the cost of arraying is very low, so it can effectively reduce Production difficulty and process cost.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Module de transmission radar laser, dispositif émetteur-récepteur et radar laser. Le module de transmission comprend : une unité d'émission de lumière à longueurs d'onde multiples, l'unité d'émission de lumière à longueurs d'onde multiples étant appropriée pour générer un faisceau lumineux ; une unité de commutation de longueur d'onde, l'unité de commutation de longueur d'onde recevant le faisceau lumineux généré par l'unité d'émission de lumière à longueurs d'onde multiples, et l'unité de commutation de longueur d'onde commandant, au moyen d'un signal électrique, une pluralité d'éléments de commutation pour commuter la longueur d'onde du faisceau lumineux de sortie ; et une unité de division de lumière, l'unité de division de lumière étant située dans un trajet optique en aval de l'unité de commutation de longueur d'onde, et l'unité de division de lumière étant utilisée pour diviser le faisceau lumineux reçu et permettre à chaque faisceau obtenu de former en outre une lumière de détection à lignes multiples. Au moyen d'un signal électrique, des éléments de commutation (c'est-à-dire, un commutateur optique) sont commandés pour commuter la longueur d'onde du faisceau lumineux de sortie, ce qui permet de réduire efficacement la difficulté de processus de fabrication de l'unité de commutation de longueur d'onde, et de réduire efficacement la difficulté de commande d'obtention d'une commutation de longueur d'onde à grande vitesse.
PCT/CN2023/081256 2022-08-29 2023-03-14 Module de transmission radar laser, dispositif émetteur-récepteur et radar laser WO2024045550A1 (fr)

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