WO2024051043A1 - 激光雷达收发组件、激光雷达装置 - Google Patents

激光雷达收发组件、激光雷达装置 Download PDF

Info

Publication number
WO2024051043A1
WO2024051043A1 PCT/CN2022/142578 CN2022142578W WO2024051043A1 WO 2024051043 A1 WO2024051043 A1 WO 2024051043A1 CN 2022142578 W CN2022142578 W CN 2022142578W WO 2024051043 A1 WO2024051043 A1 WO 2024051043A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical
interface
lidar
laser
assembly according
Prior art date
Application number
PCT/CN2022/142578
Other languages
English (en)
French (fr)
Inventor
王云松
姜国敏
李中宇
Original Assignee
北京摩尔芯光半导体技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京摩尔芯光半导体技术有限公司 filed Critical 北京摩尔芯光半导体技术有限公司
Publication of WO2024051043A1 publication Critical patent/WO2024051043A1/zh

Links

Images

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
    • 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
    • G01S7/483—Details of pulse systems
    • 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

Definitions

  • the present application relates to the technical field of lidar, specifically, to a lidar transceiver component and a lidar device.
  • Lidar systems have been widely used in obstacle detection, distance detection, etc., such as in the field of autonomous driving and obstacle avoidance of intelligent robots.
  • Lidar emits laser pulses and receives laser pulse echoes reflected from surrounding objects.
  • the time delay between the emitted pulse and the received reflected pulse is used to calculate the lidar's distance to environmental objects.
  • the lidar can rotate and scan the entire scene 360 degrees to obtain obstacle information around the lidar.
  • lidars usually include multiple light emission channels. Parameters such as the relative position and relative angle between each channel cannot be modified or adjusted after they are set. If new requirements arise, the lidar needs to be redesigned, which costs a lot of money. longer time.
  • the purpose of this application is to provide a lidar transceiver component and a lidar device that can improve the flexibility and compatibility of the lidar system, specifically as follows.
  • An embodiment of the present application provides a laser radar transceiver component based on an optical chip, including:
  • the back-end component includes integrated multi-channel optical components, each of the optical components includes a first interface configured to respectively transmit detection light signals and return optical signals through the multi-channel optical components;
  • a front-end component removably coupled to the back-end component, configured to receive and transmit the detection light signal transmitted by the back-end component, and to receive and transmit the return light signal from the detection environment to the back-end component;
  • the front-end component can change the spatial distribution of the detection light signal according to the requirements of the detection environment.
  • the front-end component includes a plurality of second interfaces arranged corresponding to the first interface, and the second interfaces are detachably coupled to the first interface of the back-end component.
  • the front-end component includes a plurality of third interfaces arranged corresponding to the second interface, and the third interfaces are arranged away from the first interface relative to the second interface;
  • the plurality of third interfaces have multiple spatial distribution modes to change the spatial distribution of the detection light signal according to the requirements of the detection environment.
  • the spatial distribution patterns include one-dimensional patterns and two-dimensional patterns.
  • the one-dimensional pattern includes a linear pattern or a curved pattern; and/or,
  • the two-dimensional pattern includes a planar pattern or a curved surface pattern.
  • the plurality of third interfaces are evenly spaced on one side of the front-end component; or the plurality of third interfaces are densely distributed in the middle and sparse on the edges. .
  • the second interface and the third interface are coupled through optical fibers.
  • the front-end component includes a first front-end component and a second front-end component, wherein the second interface is provided on the first front-end component, and the third interface is provided on the second front-end component.
  • the first front-end component and the second front-end component are provided separately, and the second interface and the third interface are coupled through optical fibers.
  • the front-end component and the back-end component are coupled by at least one of the following: end surface coupling, lens coupling, vertical coupling, or optical bonding wire coupling.
  • the back-end component includes: one or more of a silicon optical chip, a III-V optical chip, or a lithium niobate optical chip.
  • the front-end component includes: one or more of a planar optical waveguide chip, an optical fiber array, and a microlens array.
  • the planar optical waveguide chip includes a chip based on silicon on insulator, silicon oxynitride or high molecular polymer.
  • the fiber array includes:
  • Array optical fibers are arranged on the V-shaped groove substrate at preset intervals.
  • each microlens in the microlens array is arranged corresponding to the first interface.
  • An embodiment of the present application also provides a lidar device, including: a lidar transceiver component as described in any one of the foregoing, and,
  • a laser light source configured to generate a laser beam of one or more wavelengths, the laser beam being periodically modulated in a predetermined pattern
  • An optical distribution network is configured to receive the laser beam and form a plurality of sub-beams, and distribute the plurality of sub-beams to the laser radar transceiver component.
  • the lidar transceiver component and lidar device provided by the embodiment of the present application include a detachable optically connected back-end component and a front-end component.
  • the FOV and emission of the multi-channel lidar system can be flexibly changed.
  • Light angle, channel spacing distribution, etc.; and as the core component, the back-end component can be iterated and improved independently without affecting the design of the entire machine.
  • the front-end component can be flexibly compatible with the back-end component, thereby improving the flexibility and compatibility of the lidar system. .
  • Figure 1 is a schematic diagram of laser modulation waveforms according to some embodiments of the present application.
  • FIG. 2 is a schematic structural diagram of a lidar device according to some embodiments of the present application.
  • Figure 3 is a schematic structural diagram of a laser radar transceiver component according to some embodiments of the present application.
  • Figure 4 is a schematic structural diagram of a laser radar transceiver component according to some embodiments of the present application.
  • Figure 5 is a schematic diagram of a mode multiplexing device according to some embodiments of the present application.
  • Figure 6 is a schematic diagram of a mode multiplexing device according to other embodiments of the present application.
  • Figure 7 is a schematic structural diagram of a laser radar transceiver component according to some embodiments of the present application.
  • Figure 8 is a schematic structural diagram of a laser radar transceiver component according to some embodiments of the present application.
  • FIG. 9 is a schematic structural diagram of a lidar transceiver component according to some embodiments of the present application.
  • Figure 10 is a schematic structural diagram of a laser radar transceiver component according to some embodiments of the present application.
  • first, second, third, etc. may be used to describe the embodiments of the present application, these should not be limited to these terms. These terms are used only to differentiate.
  • the first may also be called the second, and similarly, the second may also be called the first.
  • the lidar device may be a frequency modulated continuous wave (FMCW) lidar, wherein FMCW (Frequency Modulated Continuous Wave) frequency modulated continuous wave means that the detection laser emitted by the laser light source is optically modulated to form a modulated laser with periodic rules. For example, it can be modulated into triangle wave, sawtooth wave, etc.
  • the frequency of the modulated emitted light can change with time.
  • the triangular wave modulation shown in Figure 1 represents the emission signal under triangular wave modulation, and the dotted line represents the echo signal.
  • the frequency modulated light may include a first half-cycle in which the light frequency increases over time and a second half-cycle in which the light frequency decreases over time.
  • the lidar device emits modulated laser light, which is reflected from the surface of the object after a period of time and received by the lidar device.
  • the emission signal (solid line), echo signal (dashed line) and measured beat frequency signal under triangular wave modulation are shown in Figure 1. It can be seen that the rising interval measured by the balance detector The beat frequency signal f bu and the falling interval beat frequency signal f bd are both positive values; at the same time, a study on the measured rising interval beat frequency signal f bu found that: as shown in Figure 1, when the target object is relatively close to the FMCW lidar , and when the moving speed V of the target object relative to the FMCW lidar becomes faster and faster, due to the Doppler effect, the rising interval beat frequency signal f bu will continue to decrease until it is 0. When the speed V is faster, the rising interval beat frequency signal f bu will The signal f bu will be greater than 0 and gradually become larger.
  • the speed and distance of the target object relative to the lidar can be calculated using the following formula:
  • c is the speed of light (constant)
  • t s is half the period of the FM wave generated by the frequency generator
  • f DEV is the sweep bandwidth of the FM wave
  • f bu is the rising interval beat frequency signal
  • f bd is the falling interval beat frequency signal
  • D is the distance of the target object relative to the lidar
  • V is the speed of the target object relative to the lidar.
  • FIG. 2 shows the lidar device 10 including the laser transceiver assembly 300 provided in this embodiment.
  • the laser radar device 10 includes: a laser light source 100, an optical distribution network 200, and a laser radar transceiver component 300.
  • the laser light source 100 can be integrated into the lidar transceiver assembly 300 or can be installed outside the lidar transceiver assembly 300.
  • the laser light emitted by the laser light source 100 is coupled to the lidar transceiver assembly 300 through optical fibers or other optical components. superior.
  • the laser light source 100 is configured to generate a laser beam of one or more wavelengths.
  • the laser light source 100 includes a laser emission unit 110, a laser modulation unit 120 and a laser amplification unit 130.
  • the laser emission unit 110 provided outside the chip may be a distributed feedback laser. Fiber lasers, semiconductor lasers, etc., the laser emitting unit 110 integrated on the chip may be a hybrid integrated InP laser or InGaAs laser.
  • the laser modulation unit 120 is configured to periodically modulate the laser beam in a predetermined pattern, for example, modulate it into a triangular wave or a sawtooth wave.
  • the periodic modulation of the triangular wave may be a symmetrical triangular wave or an asymmetrical triangular wave.
  • the laser amplification unit 130 may include an erbium-doped fiber amplifier, a semiconductor optical amplifier, or other amplifiers to amplify the optical signal generated by the laser to obtain an emitted optical signal with sufficient energy.
  • the optical distribution network 200 is configured to receive the laser beam emitted by the laser light source 100 and form a plurality of sub-beams, and distribute the plurality of sub-beams to a plurality of optical channels respectively.
  • the optical distribution network 200 can be integrated on the laser radar transceiver component 300 or set outside the laser radar transceiver component 300 .
  • the optical distribution network 200 may be an optical power distribution network that decomposes the received laser with a total power of P 0 equally or unequally into n optical branches with powers P 1 , P 2 . . .
  • the optical distribution network 200 can also be a wavelength division multiplexing network, which decomposes the received laser light containing m wavelengths into m optical branches, and each optical branch includes a Each wavelength of laser inputs an optical channel, which is used to select the wavelength according to the needs of the detection environment. For example, 1064nm infrared laser is selected for atmospheric environment, 456nm blue light is selected for underwater detection, or a combination of the two is selected. Detect complex environments.
  • the optical distribution network 200 is a wavelength division multiplexing network, and each output port of the wavelength division multiplexing network outputs a sub-beam of one wavelength.
  • the optical distribution network 200 is further configured to dynamically adjust the power of the sub-beams distributed to each of the optical path channels.
  • at least one optical power adjustment unit is provided to dynamically adjust the power of the sub-beams on each optical path channel to make them the same or different to meet the laser detection requirements on each optical path channel, such as adjusting the edge.
  • the laser power of the two optical channels is strong for detecting farther distances, and the laser power of the middle optical channel is adjusted to be weak to avoid crosstalk between optical channels; or the laser power of the odd optical channels is adjusted to be strong and the laser power of the even optical channels is strong.
  • the laser power is weak to further avoid optical crosstalk between adjacent optical channels.
  • the optical distribution network 200 includes any of the following: a thermo-optical switch network, an electro-optical switch network, a star coupler, or a cascaded multi-mode interferometer network.
  • the optical distribution network is configured to be able to select and connect one or more optical paths. For example, if odd-numbered optical channels are connected, lasers can be emitted or received, and if even-numbered optical channels are disconnected, lasers cannot be emitted or received, thereby further avoiding optical crosstalk between adjacent optical channels. You can also choose to connect the two optical channels at the edge, which can emit or receive lasers, and adjust the middle optical channel to be disconnected to avoid interference between optical channels.
  • the wavelength of the desired output can be selected for emission according to the needs to meet the complex requirements. Requirements for laser detection in the environment. Or, select the laser output of the specified wavelength and/or specified power of the specified optical path to meet the needs of laser detection under specific circumstances. The specific selection can be controlled through the optical distribution network according to the needs of the application scenario, which will not be described in detail here.
  • the lidar transceiver component 300 provided in this embodiment includes: a back-end component 310 and a front-end component 330 .
  • the front-end component 330 is detachably coupled to the back-end component 310 .
  • the back-end component 310 includes an integrated multi-channel optical component.
  • the multi-channel optical component may be a plurality of laser transceiver devices 300n as shown in Figure 2.
  • Each of the optical components includes a first interface 315 configured to pass through The multi-channel optical components respectively transmit detection light signals and return light signals.
  • the first interface 315 may be an optical coupling lens or lens group or a fiber coupling interface or other structures.
  • the backend component 310 is coupled to the optical distribution network 200 to realize the transmission and reception of multiple optical detection signals.
  • the front-end component 330 receives and transmits the detection light signal transmitted by the back-end component 310, and receives and transmits the return light signal from the detection environment to the back-end component 310.
  • the front-end assembly 330 includes a plurality of second interfaces 331 corresponding to the first interface 315.
  • the second interfaces 331 may also be structures such as optical coupling lenses or lens groups or optical fiber coupling interfaces.
  • the front-end assembly 330 passes through all the second interfaces 331.
  • the second interface 331 is detachably coupled to the first interface 315 of the back-end component 310. After coupling, the first interface 315 is optically connected to the corresponding second interface 331.
  • the coupling may include There are several methods: end face coupling, lens coupling, vertical coupling or optical bonding wire coupling.
  • the front-end component 330 can change the spatial distribution of the detection light signal according to the requirements of the detection environment.
  • the front-end assembly 330 includes a plurality of third interfaces 333 provided corresponding to the second interface 331.
  • the third interfaces 333 may also be structures such as optical coupling lenses or lens groups.
  • the third interfaces 333 are relative to The second interface 331 is located away from the first interface 315 .
  • the plurality of third interfaces 333 have multiple spatial distribution modes to change the spatial distribution of the detection light signal according to the requirements of the detection environment.
  • the detection light spatial distribution pattern includes a one-dimensional pattern and a two-dimensional pattern. Wherein, the one-dimensional mode includes a linear mode or a curved mode.
  • the linear mode means that the detection light signal is distributed on a straight line
  • the curved mode means that the detection light signal is distributed on a curve, such as a parabola, a double line.
  • Curves, etc., the field of view FOV (Field Of View) can be increased through the curve setting to meet the needs of the maximum detection field of view under micro devices
  • the two-dimensional mode includes a planar mode or a curved surface mode
  • the planar mode is The detection light signal is distributed on a plane.
  • the curved surface mode the detection light signal is distributed on a curved surface, such as a spherical surface, a paraboloid, a hyperboloid, etc.
  • the field of view can be increased through the curved two-dimensional space setting. Further meet the demand for the largest detection field of view under micro-devices.
  • the plurality of third interfaces 333 are evenly distributed on one side of the front-end component 330 . In some embodiments, as shown in FIG. 3 , the plurality of third interfaces 333 may also be distributed unevenly on one side of the front-end component 330 , for example, in a dense manner in the middle and sparse at the edges. One side of the assembly 330 is used to meet the needs of centralized detection of intermediate target positions in the detection environment.
  • the second interface 331 and the third interface 333 are coupled through optical fibers. The optical fibers are flexible and can flexibly configure the positions of the second interface 331 and the third interface 333. relation.
  • the multi-channel optical components included in the back-end assembly 310 are multiple laser transceiver devices (3101, 3102,...310n), and the multiple laser transceiver devices are configured to detect obstacles based on the sub-beams. Objects are detected, and each of the laser transceiver devices is optically connected to the corresponding optical channel.
  • the laser generated by the laser light source 100 is distributed into N lasers through the optical distribution network 200, and is respectively transmitted to the integrated N transmitting and receiving channels.
  • the lidar transceiver component 300 forms N transmitting and receiving optical paths, detects objects around the environment, and detects the distance and/or speed of environmental objects, where N is a natural number greater than 1, and optional N is a natural number from 1 to 16. .
  • the back-end component 310 can be selected from: silicon optical chip, III-V group optical chip, lithium niobate optical chip, etc.
  • the laser transceiver device 3101 (the rest of the laser transceiver devices have the same structure) includes an optical splitter 311, a mode multiplexing device 312, a mixer 313, and a balance detector 314. and first interface 315.
  • the optical connection may be an optical transmission medium connection such as an optical fiber or an optical waveguide.
  • the optical splitter 311 includes three ports, wherein the first port 3111 of the optical splitter receives the laser sub-beam input from the optical distribution network 200, and divides the sub-beam into a first sub-beam and a second sub-beam through the optical splitter 311 ;
  • the first sub-beam is transmitted as a detection laser signal to the mode multiplexing device 312 through the second port 3112 of the optical splitter, and the second sub-beam is transmitted to the mixer 313 as an intrinsic laser signal through the third port 3113 of the optical splitter.
  • the power distribution ratio of the local oscillator laser signal and the detection laser signal can be fixed.
  • the power distribution ratio of the local oscillator laser signal and the detection laser signal is 3:7.
  • the power distribution ratio can also be adjustable. For example, when the detection target is slightly farther away, the power of the detection laser signal should be appropriately increased, but the power of the local oscillator laser signal should meet the minimum threshold for mixing, such as the local oscillator laser signal.
  • the power distribution ratio with the detection laser signal is adjusted to 1:9, and the power of the local oscillator laser signal meets the minimum threshold, such as 1mw, and the threshold is not specifically limited.
  • the beam splitter 311 includes any of the following options for application: directional coupler, asymmetric multimode interferometer, Y-shaped beam splitter, adiabatic beam splitter, thermo-optical switch or electro-optical switch .
  • the selection of any device can be based on the power, wavelength and other factors of the laser transmission signal distributed by the optical distribution network. This will not be described in detail.
  • the mode multiplexing device 312 includes three ports, wherein the first port 3121 of the mode multiplexing device is optically connected to the second port 3112 of the optical splitter for receiving the first sub-beam and then transmitting it to the second port of the mode multiplexing device.
  • Port 3122, the first sub-beam is emitted as a detection laser signal through the second port 3122 of the mode multiplexing device.
  • the second port 3122 of the mode multiplexing device receives the first detection beam formed based on the reflection of the first sub-beam by environmental objects. , and transmit the reflected first detection beam to the third port 3123 of the mode multiplexing device, where the optical properties of the first sub-beam and the first detection beam formed after reflection are different.
  • the mode multiplexing device 312 only The first sub-beam having mode one can be transmitted from the first port 3121 of the mode multiplexing device to the second port 3122 of the mode multiplexing device, and the mode multiplexing device 312 can only cause the first detection beam having mode two to be transmitted from the mode multiplexing device 3121 to the second port 3122 of the mode multiplexing device.
  • the second port 3122 of the device is used to transmit to the third port 3123 of the mode multiplexing device, but cannot be transmitted to the first port 3121 of the mode multiplexing device. That is, the first sub-beam and the first detection beam are light with different modes.
  • the first sub-beam and the first detection beam have different polarization directions, such as o-light or e-light; or the first sub-beam and the first detection beam have different optical modes, such as a transverse electric mode or a transverse magnetic mode.
  • the mode multiplexing device includes a polarization mode multiplexer; wherein the polarization mode multiplexer includes at least one of the following: a polarization beam splitter based on a coupling waveguide, a polarization beam splitter based on a sub-wavelength grating structure Beam splitter, polarization beam splitter based on multi-mode interference structure, polarization beam splitter based on groove waveguide or polarization beam splitter based on composite waveguide; using the above waveguide type polarization mode multiplexer can ensure that lasers do not interfere with each other While achieving one-way transmission, it can improve the integration of the device, reduce the overall size of the laser transceiver device, and further enable the optical channel to still transmit optical signals without interfering with each other within the range of 20-100 microns.
  • the polarization mode multiplexer includes at least one of the following: a polarization beam splitter based on a coupling waveguide, a polarization beam splitter based on a sub-
  • the mode multiplexing device includes a mode converter; as shown in Figure 5, in the mode converter, the optical mode of the first sub-beam is TEn or TMn mode, and the optical mode of the first detection beam is It is TEm or TMm mode, where n ⁇ m, and n and m are natural numbers greater than 3.
  • the optical mode converter due to the change in the optical mode, it can ensure one-way transmission of laser light without interfering with each other, reduce the size of the device, improve the integration of the device, reduce the overall size of the laser transceiver device, and further make the optical path channel Within the range of 20-100 microns, optical signals can still be transmitted without interfering with each other.
  • the mode multiplexing device includes a non-reciprocal mode multiplexer, as shown in FIG. 6 .
  • the non-reciprocal mode multiplexer includes at least one of the following: a non-reciprocal mode multiplexer based on yttrium iron garnet magneto-optical waveguide, a non-reciprocal mode multiplexer based on optical nonlinear effects, or a non-reciprocal mode multiplexer based on space-time Modulated non-reciprocal mode multiplexer.
  • the detection light has different losses in the process from port 1 to port 2 and the reflected light has different losses in the process from port 2 to port 1. From this, the non-reciprocity ratio of the optical non-reciprocal mode multiplexer can be obtained.
  • the non-reciprocity of non-reciprocal mode multiplexers is reflected in the different losses in the forward and reverse propagation paths.
  • the loss from the first port 3121 to the second port 3122 is very small.
  • the loss from the second port 3122 to the first port 3121 is extremely large.
  • the loss from the second port 3122 to the third port 3123 is very small. Therefore, the outgoing laser light and the returning laser light can be transmitted in their respective paths without interfering with each other.
  • non-reciprocal mode multiplexer can ensure one-way transmission of laser light without interfering with each other, and at the same time, it can improve the integration of the device, reduce the overall size of the laser transceiver device, and further enable the optical path to be within the range of 20-100 microns. , can still transmit optical signals without interfering with each other.
  • the mixer 313 includes three ports.
  • the first port 3131 of the mixer is optically connected to the second port 3112 of the optical splitter and is configured to receive the second sub-beam; the second port 3132 of the mixer is connected to the mode multiplexing device.
  • the third port 3123 is optically connected and configured to receive the reflected first detection beam.
  • the second sub-beam and the first detection beam form a mixed beam and are output from the third port 3133 of the mixer; wherein, the mixed beam Frequency converter 3130 may be a directional coupler or a multimode interferometer.
  • the balance detector 314 includes two ports, the balance detector input port is optically connected to the third port 3133 of the mixer, and is configured to obtain the second sub-beam and the first detection beam after receiving the mixing beam. The frequency difference is then output to the processor through the output port. According to the above formula (4), the processor can calculate the distance and speed from the FMCW lidar system to environmental objects.
  • the front-end assembly 330 is used to change the size, position, and angle of the light emitting channel itself, and/or change the angular distribution and spacing distribution between the light emitting channels.
  • the front-end component 330 includes a second interface 331 for optical path connection with the back-end component 310 . Specifically, the second interface 331 is optically connected to the first interface 315 of the back-end component 310 .
  • the front-end component 330 devices can be selected from: planar light guide (PLC) chip, optical fiber array (FA), and microlens array.
  • the front-end component 330 is a planar optical waveguide chip.
  • the planar optical waveguide chip includes silicon on insulator (SOI/SIMOX), silicon oxynitride (SiON) or polymer (Polymer). Optical devices based on planar optical path technology solutions.
  • the front-end assembly 330 is an optical fiber array.
  • the optical fiber array refers to using a V-groove (V-Groove) substrate to install a bundle of optical fibers or an optical fiber ribbon on the substrate at specified intervals.
  • the array formed, specifically the optical fiber array includes: a V-shaped groove substrate and array optical fibers arranged on the V-shaped groove substrate at preset intervals.
  • the front-end component 330 is a microlens array, and each microlens in the microlens array is arranged corresponding to the first interface.
  • the front-end component 330 can be used to change the spacing distribution of the light channel, so that there are dense areas, sparse areas and other spacing distribution differences in the lidar field of view, so that it can be realized according to the actual situation of the environment. Adjust the spacing distribution of optical channels to improve the flexibility of lidar scanning.
  • the front-end assembly 330 can be used to distribute the light channels along an arc, such as a circular arc or other arc-shaped structure of curvature.
  • the front-end component 330 can change the light angle of the light channel so that it is distributed along the arc, so that the target at a certain position, such as the center target of the arc, can be concentratedly detected, thereby providing more accurate detection results.
  • the front-end component 330 can also change the light-emitting position of the light-emitting channel on this basis. For example, multiple third interfaces can be evenly or unevenly distributed on the arc-shaped front-end component end surface, making the detection direction of the detection light more flexible and diverse. .
  • the front-end assembly 330 may be used to distribute the optical channels along a two-dimensional space.
  • the front-end component 330 can change the light emitting position of the light emitting channel, so that the light emitting channel expands from a one-dimensional linear distribution to a two-dimensional spatial distribution.
  • the front-end component 330 can also change the light emission angle of the channel on this basis to make the distribution of light more flexible and diverse, allowing the radar system to emit/receive detection lasers in the required direction or angle, allowing the lidar to cover a wider range of detection areas.
  • the range is expanded from the above-mentioned line array to an area array, which can detect a wider target range with one launch, improving the detection efficiency of lidar.
  • a microlens array can be used as the front-end component 330.
  • the microlens array can change the luminous characteristics of the lidar system, such as converging scattered external ambient light signals into the corresponding first interface.
  • the front-end component 330 can match the corresponding microlens array parameters according to the layout of the first interface, such as the focal length, diameter, etc. of each lens, so that the collimation characteristics of the channel beam can be adapted as needed.
  • the front-end assembly further includes a first front-end assembly 330a and a second front-end assembly 330b.
  • the first front-end assembly 330a and the second front-end assembly 330b can be connected using an optical fiber array, and the The second interface 331 is provided on the first front-end component 330a, and the third interface 333 is provided on the second front-end component 330b.
  • the first front-end component 330a and the second front-end component 330b is provided separately, and the optical fiber array couples and connects the second interface 331 of the first front-end component 330a and the third interface 333 of the second front-end component 330b.
  • the second front-end component 330b and the back-end component 310 can be set at a preset distance, such as 1-10 meters, or even set up in different spaces, thereby making the layout of the lidar system more flexible, especially when the third interface in the second front-end component 330b is a detachable structure, the front-end component's flexible configuration of the detection environment is further increased.
  • the lidar transceiver component and lidar device provided by the embodiment of the present application include a detachable optically connected back-end component and a front-end component.
  • the FOV and emission of the multi-channel lidar system can be flexibly changed.
  • Light angle, channel spacing distribution, etc.; and as the core component, the back-end component can be iterated and improved independently without affecting the design of the entire machine.
  • the front-end component can be flexibly compatible with the back-end component, thereby improving the flexibility and compatibility of the lidar system. .

Landscapes

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

Abstract

一种基于光芯片的激光雷达收发组件（300）和激光雷达装置（10），收发组件（300）包括：后端组件（310），包括集成的多路光学组件（300n），每一光学组件（300n）包括一第一接口（315），配置为通过多路光学组件（300n）分别传输探测光信号和返回光信号；前端组件（330），与后端组件（310）耦接，配置为接收并发射后端组件（310）传输的探测光信号，以及从探测环境接收并向后端组件（310）传输返回光信号；其中，前端组件（330）能够根据探测环境的需求改变探测光信号的空间分布。由此可以提高激光雷达装置的灵活性与兼容性。

Description

激光雷达收发组件、激光雷达装置
相关申请的交叉引用
本公开主张在2022年9月9日在中国提交的中国专利申请号No.202211098509.5的优先权，其全部内容通过引用包含于此。
技术领域
本申请涉及激光雷达技术领域，具体而言，涉及一种激光雷达收发组件、激光雷达装置。
背景技术
激光雷达系统已经广泛应用于障碍物探测、距离探测等方面，例如自动驾驶领域、智能机器人的避障领域等，激光雷达通过发射激光脉冲和接收从周围物体反射回的激光脉冲回波，并根据发射的脉冲和接收反射的脉冲之间的时间延迟来计算激光雷达到环境物体的距离。激光雷达可以在整个场景360度旋转扫描，以获得激光雷达周围的障碍物信息。
现有的激光雷达通常包括多个出光通道，每一通道之间相对位置、相对角度等参数在设定好后无法修改或调整，如果出现新的需求就需要重新对激光雷达进行设计，需要花费较长时间。
发明内容
本申请的目的在于提供一种激光雷达收发组件以及激光雷达装置，可以提高激光雷达系统的灵活性与兼容性，具体如下。
本申请实施例提供一种基于光芯片的激光雷达收发组件，包括：
后端组件，包括集成的多路光学组件，每一所述光学组件包括一第一接口，配置为通过所述多路光学组件分别传输探测光信号和返回光信号；
前端组件，可拆卸地与所述后端组件耦接，配置为接收并发射所述后端组件传输的探测光信号，以及从探测环境接收并向所述后端组件传输所 述返回光信号；
其中，所述前端组件能够根据所述探测环境的需求改变所述探测光信号的空间分布。
在一些实施例中，所述前端组件包括多个与所述第一接口对应设置的第二接口，通过所述第二接口可拆卸地与所述后端组件的第一接口耦接。
在一些实施例中，所述前端组件包括多个与所述第二接口对应设置的第三接口，所述第三接口相对于所述第二接口远离所述第一接口设置；
所述多个第三接口具有多种空间分布模式，以根据所述探测环境的需求改变所述探测光信号的空间分布。
在一些实施例中，所述空间分布模式包括一维模式和二维模式。
在一些实施例中，所述一维模式包括直线型模式或曲线型模式；和/或，
所述二维模式包括平面型模式或曲面型模式。
在一些实施例中，所述多个第三接口间隔均匀的分布于所述前端组件的一侧；或者，所述多个第三接口中间密、边缘疏的分布于所述前端组件的一侧。
在一些实施例中，所述第二接口和所述第三接口通过光纤耦接。
在一些实施例中，所述前端组件包括第一前端组件和第二前端组件，其中，所述第二接口设置于所述第一前端组件，所述第三接口设置于所述第二前端组件。
在一些实施例中，所述第一前端组件和所述第二前端组件分离设置，所述第二接口和所述第三接口通过光纤耦接。
在一些实施例中，所述前端组件与所述后端组件耦接的方式包括以下至少之一：端面耦合、透镜耦合、垂直耦合或光学键合引线耦合。
在一些实施例中，所述后端组件包括：硅光芯片、Ⅲ-Ⅴ族光芯片或铌酸锂光芯片中的一种或多种。
在一些实施例中，所述前端组件包括：平面光波导芯片、光纤阵列、微透镜阵列中的一种或多种。
在一些实施例中，所述平面光波导芯片包括基于绝缘体上的硅、氮氧化硅或高分子聚合物形成的芯片。
在一些实施例中，所述光纤阵列包括：
V形槽基片；
阵列光纤，按照预设间隔设置于所述V形槽基片上。
在一些实施例中，所述微透镜阵列中每一微透镜与所述第一接口对应设置。
本申请实施例还提供一种激光雷达装置，包括：如前述任一项所述的激光雷达收发组件，以及，
激光光源，配置为产生一个或多个波长的激光光束，所述激光光束以预定模式周期性调制；
光分配网络，配置为接收所述激光光束后形成多个子光束，并将所述多个子光束分配于所述激光雷达收发组件。
本申请实施例具有如下技术效果：
本申请实施例提供的激光雷达收发组件以及激光雷达装置包括了可拆卸光连接的后端组件和前端组件，通过前端组件+后端组件的组合，可以灵活改变多通道激光雷达系统的FOV、发射光角度、通道间距分布等；并且后端组件作为核心部件，可以独立迭代、改进，不影响整机的设计，前端组件可以灵活兼容后端组件，从而可以提高激光雷达系统的灵活性与兼容性。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本申请的一些实施例的激光调制波形示意图。
图2为本申请的一些实施例的激光雷达装置结构示意图。
图3为本申请的一些实施例的激光雷达收发组件结构示意图。
图4为本申请的一些实施例的激光雷达收发组件的组成结构示意图。
图5为本申请的一些实施例的模式复用装置示意图。
图6为本申请的另外一些实施例的模式复用装置示意图。
图7为本申请的一些实施例的激光雷达收发组件结构示意图。
图8为本申请的一些实施例的激光雷达收发组件结构示意图。
图9为本申请的一些实施例的激光雷达收发组件结构示意图。
图10为本申请的一些实施例的激光雷达收发组件结构示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请作进一步地详细描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应当理解，尽管在本申请实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将区分开。例如，在不脱离本申请实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者 装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
下面结合附图详细说明本申请的可选实施例。
本发明实施例提供一种激光雷达装置。所述激光雷达装置可以为调频连续波(FMCW)激光雷达，其中，FMCW(Frequency Modulated Continuous Wave)调频连续波，即激光光源发射出去的探测激光经过光学调制，形成具有周期性规律的调制激光，例如调制为三角波、锯齿波等。调制后的发射光的频率可以随时间变化，例如图1所示的三角波调制，实现表示三角波调制下的发射信号，虚线表示回波信号。调频光可以包括光频随时间增加的第一半周期和光频随时间减少的第二半周期。激光雷达装置将调制后的激光发射出去，在一段时间后从物体表面被反射，并由激光雷达装置接收。
当目标物体正在远离FMCW激光雷达时，三角波调制下的发射信号(实线)、回波信号(虚线)以及测量出的拍频信号如图1所示，可见，平衡探测器测量出的上升区间拍频信号f bu和下降区间拍频信号f bd均为正值；同时，对测量出的上升区间拍频信号f bu进行研究发现：如图1所示，当目标物体距离FMCW激光雷达比较近，且目标物体相对FMCW激光雷达的运动速度V越来越快时，由于多普勒效应，上升区间拍频信号f bu会不断减小直至为0，当速度V更快时，上升区间拍频信号f bu又会大于0且逐渐变大。采用如下公式可以计算出目标物体相对于激光雷达的速度和距离，
Figure PCTCN2022142578-appb-000001
Figure PCTCN2022142578-appb-000002
其中，c为光速(常量)，t s为频率生成器产生的调频波的周期的一半，f DEV为调频波扫频带宽，f bu为上升区间拍频信号，f bd为下降区间拍频信号，D为目标物体相对于激光雷达的距离，V为目标物体相对于激光雷达的速度。
图2示出了包含有本实施例所提供的激光收发组件300的激光雷达装置10。所述激光雷达装置10包括：激光光源100、光分配网络200以及激光 雷达收发组件300。
所述激光光源100可以集成设置于激光雷达收发组件300上，也可以设置于激光雷达收发组件300外，例如通过光纤或其他光学元器件将激光光源100发射出的激光耦合到激光雷达收发组件300上。激光光源100配置为产生一个或多个波长的激光光束，激光光源100包括激光发射单元110、激光调制单元120以及激光放大单元130，设置于芯片外的激光发射单元110可以是分布反馈式激光器、光纤激光器、半导体激光器等等，集成设置于芯片上的激光发射单元110可以是混合集成的InP激光器、InGaAs激光器。激光调制单元120配置为对激光光束以预定模式周期性调制，例如调制为三角波或锯齿波，三角波周期性调制可以是对称三角波或非对称三角波。激光放大单元130可以包含掺铒光纤放大器、半导体光放大器等放大器，对激光器产生的光信号进行放大，以获得足够能量的发射光信号。
所述光分配网络200配置为接收激光光源100发射的所述激光光束后形成多个子光束，并将所述多个子光束分别分配于多个光路通道。该光分配网络200可以集成于激光雷达收发组件300上或者设置于激光雷达收发组件300外。所述光分配网络200可以为光功率分配网络，将接收到的总功率为P 0的激光等分或不等分的分解为n个功率为P 1、P 2……Pn的光学支路，每一光学支路输入一个光路通道；所述光分配网络200也可以为波分复用网络，将接收到的含有m个波长的激光分解为m个光学支路，每一光学支路包含一个波长的激光，每一波长的激光输入一个光路通道，用于根据探测环境的需要进行波长的选择，例如大气环境选择1064nm红外激光进行探测，水下选择456nm蓝光进行探测，或者选择二者的结合进行复杂环境的探测。在一些实施例中，所述光分配网络200是波分复用网络，所述波分复用网络的每个输出端口对应输出一个波长的子光束。
在一些实施例中，所述光分配网络200还配置为能够对分配到每个所述光路通道上的子光束的功率进行动态调节。例如，通过设置至少1个光功率调节单元对每个所述光路通道上的子光束的功率进行动态调节，使其相同或不相同，以满足每一光路通道上的激光探测需求，例如调节边缘的两路光路通道的激光功率强，用于探测更远的距离，调节中间光路通道的激光功率弱， 避免光路通道之间的串扰；或者，调节奇数光路通道的激光功率强，偶数光路通道的激光功率弱，进一步避免相邻光路通道之间的光学串扰。
在一些实施例中，所述光分配网络200包括以下任一项：热光开关网络、电光开关网络、星形耦合器或级联多模干涉器网络。所述光分配网络配置为能够选择其中一个或多个光路通道连通。例如选择奇数光路通道连通，能够发射或接收激光，偶数光路通道不连通，不能够发射或接收激光，进一步避免相邻光路通道之间的光学串扰。也可以选择边缘的两路光路通道的连通，能够发射或接收激光，调节中间光路通道不连通，避免光路通道之间的窜扰。例如选择奇数光路的各波长通道连通，能够发射或接收指定波长的激光，偶数光路通道不连通，不发射或接收指定波长的激光，进一步能够根据需要选择希望获得输出的波长进行发射，以满足复杂环境下激光探测的需求。或者，选择指定光路通道的指定波长和/或指定功率的激光输出，以满足特定情况下激光探测的需求，具体的选择可以根据应用场景的需要通过光分配网络控制，在此不做赘述。
如图3所示，本实施例提供的激光雷达收发组件300包括：后端组件310以及前端组件330，所述前端组件330可拆卸地与所述后端组件310耦接。
所述后端组件310包括集成的多路光学组件，多路光学组件可以是如图2所示的多个激光收发装置300n，每一所述光学组件包括一第一接口315，配置为通过所述多路光学组件分别传输探测光信号和返回光信号，第一接口315可以是光学耦合透镜或透镜组或光纤耦合接口等结构。后端组件310与光分配网络200耦接，实现多路光探测信号的发射和接收。
所述前端组件330接收并发射所述后端组件310传输的探测光信号，以及从探测环境接收并向所述后端组件310传输所述返回光信号。所述前端组件330包括多个与所述第一接口315对应设置的第二接口331，第二接口331也可以是光学耦合透镜或透镜组或光纤耦合接口等结构，所述前端组件330通过所述第二接口331可拆卸地与所述后端组件310的第一接口315耦接，耦接后将所述第一接口315与对应设置的第二接口331光路连接，所述耦接可以包括以下几种方法：端面耦合、透镜耦合、垂直耦合或光学键合引线耦 合。
所述前端组件330能够根据所述探测环境的需求改变所述探测光信号的空间分布。具体地，所述前端组件330包括多个与所述第二接口331对应设置的第三接口333，第三接口333也可以是光学耦合透镜或透镜组等结构，所述第三接口333相对于所述第二接口331远离所述第一接口315设置。所述多个第三接口333具有多种空间分布模式，以根据所述探测环境的需求改变所述探测光信号的空间分布。所述探测光空间分布模式包括一维模式和二维模式。其中，所述一维模式包括直线型模式或曲线型模式，直线型模式即所述探测光信号分布在一条直线上，曲线型模式即所述探测光信号分布在一条曲线上，例如抛物线、双曲线等，通过曲线型设置可以增大视场角FOV(Field Of View)，满足微型器件下的最大探测视场的需求；所述二维模式包括平面型模式或曲面型模式，平面型模式即所述探测光信号分布在一个平面，曲面型模式即所述探测光信号分布在一个曲面，例如球形面、抛物面、双曲面等，通过曲面型的二维空间设置更加可以增大视场角，进一步满足微型器件下的最大探测视场的需求。
在一些实施例中，所述多个第三接口333间隔均匀的分布于所述前端组件330的一侧。在一些实施例中，如图3所示，所述多个第三接口333也可以不均匀的分布于所述前端组件330的一侧，例如采用中间密、边缘疏的方式分布于所述前端组件330的一侧，以满足探测环境中中间目标位置集中探测的需求。在一些实施例中，如图3所示，所述第二接口331和所述第三接口333通过光纤耦接，光纤具有柔韧性，可以灵活的配置第二接口331和第三接口333的位置关系。
在一些实施例中，所述后端组件310包括的多路光学组件为多个激光收发装置(3101、3102、……310n)，所述多个激光收发装置配置为基于所述子光束对障碍物进行探测，每个所述激光收发装置分别与对应的所述光路通道光连接，激光光源100产生的激光经过光分配网络200分配成N路激光，分别传输到集成了N个发射接收通道的激光雷达收发组件300，形成N个发射接收光路，对环境周围的物体进行探测，探测环境物体的距离和/或速度，其中，N为大于1的自然数，可选的N为1-16的自然数。在一些实施例中， 所述后端组件310可以选用：硅光芯片、Ⅲ-Ⅴ族光芯片、铌酸锂光芯片等。
在一些实施例中，如图4所示，所述激光收发装置3101(其余激光收发装置结构相同)包括通过光学连接的分光器311、模式复用装置312、混频器313、平衡探测器314以及第一接口315。所述光学连接可以是光纤、光波导等光学传输介质连接。
其中，分光器311包括三个端口，其中，分光器第一端口3111接收从光分配网络200输入的激光子光束，并经分光器311将所述子光束分成第一子光束和第二子光束；所述第一子光束作为探测激光信号经分光器第二端口3112传输至模式复用装置312，所述第二子光束作为本征激光信号经分光器第三端口3113传输至混频器313。
可选的，所述本振激光信号与探测激光信号的功率分配比例可以是固定的，例如本振激光信号与探测激光信号的功率分配比例为3:7，本振激光信号与探测激光信号的功率分配比例也可以是可调的，例如当探测目标距离稍远时，应当适当提高探测激光信号的功率，但本振激光信号的功率应当满足其进行混频的最低阈值，例如本振激光信号与探测激光信号的功率分配比例调整为1:9，且本振激光信号的功率满足最低阈值，例如1mw，对阈值不做具体限定。
在一些实施例中，所述分光器311包括以下任一项可供选择应用：定向耦合器、非对称多模干涉器、Y型分束器、绝热型分束器、热光开关或电光开关。对任一器件的选择可根据光分配网络分配的激光传输信号的功率、波长等因素选择应用，对此不做赘述。
所述模式复用装置312包括三个端口，其中，模式复用装置第一端口3121与分光器第二端口3112光连接，用于接收所述第一子光束后传输至模式复用装置第二端口3122，第一子光束作为探测激光信号经模式复用装置第二端口3122发射出去，模式复用装置第二端口3122接收基于所述第一子光束经过环境物体反射后形成的第一探测光束，并将反射的所述第一探测光束传输至模式复用装置第三端口3123，其中，第一子光束与反射后形成的第一探测光束的光学性质不同，因此，模式复用装置312仅能使具有模式一的第一子光束从模式复用装置第一端口3121传输至模式复用装置第二端口 3122，且模式复用装置312仅能使具有模式二的第一探测光束从模式复用装置第二端口3122传输至模式复用装置第三端口3123，并不能传输至模式复用装置第一端口3121，即第一子光束和第一探测光束为模式不同的光，可选的，第一子光束和第一探测光束偏振方向不同，例如o光或e光；或者，第一子光束和第一探测光束的光学模式不同，例如为横电模或横磁模。
在一些实施例中，所述模式复用装置包括偏振模式复用器；其中，所述偏振模式复用器包括以下至少之一：基于耦合波导的偏振分束器、基于亚波长光栅结构的偏振分束器、基于多模干涉结构的偏振分束器、基于槽型波导的偏振分束器或基复合波导的偏振分束器；采用上述波导型偏振模式复用器，能够保证激光互不干扰的单向传输的同时，可以提高器件的集成度，使得激光收发装置整体尺寸减小，进一步使得光路通道在20-100微米范围内，仍然能够互不干扰的传输光学信号。
在一些实施例中，所述模式复用装置包括模式转换器；如图5所示，其中，模式转换器中，第一子光束的光学模式为TEn或TMn模式，第一探测光束的光学模式为TEm或TMm模式，其中n≠m，且n、m为大于3的自然数。采用上述模式转换器，由于光学模式发生了变化，能够保证激光互不干扰的单向传输，减小了器件尺寸，提高了器件的集成度，使得激光收发装置整体尺寸减小，进一步使得光路通道在20-100微米范围内，仍然能够互不干扰的传输光学信号。
在一些实施例中，所述模式复用装置包括非互易模式复用器，如图6所示。其中，所述非互易模式复用器包括以下至少之一：基于钇铁石榴石磁光波导的非互易模式复用器、基于光学非线性效应的非互易模式复用器或基于时空调制的非互易模式复用器。探测光由端口1到端口2和反射光由端口2到端口1的过程中具有不同的损耗，由此可以得到该光学非互易模式复用器的非互易比率。非互易模式复用器的非互易性体现在正向和反向传播通路的损耗不同。正向传播时第一端口3121到第二端口3122的损耗很小，反向传播时第二端口3122到第一端口3121的损耗极大，第二端口3122到第三端口3123的损耗很小，因此出射激光和返回激光可以互不干扰的在各自的路径中传输。采用上述非互易模式复用器，能够保证激光互不干扰的单向传 输的同时，可以提高器件的集成度，使得激光收发装置整体尺寸减小，进一步使得光路通道在20-100微米范围内，仍然能够互不干扰的传输光学信号。
所述混频器313包括三个端口，混频器第一端口3131与分光器第二端口3112光连接，配置为接收所述第二子光束；混频器第二端口3132与模式复用装置第三端口3123光连接，配置为接收所述反射后的所述第一探测光束，第二子光束与第一探测光束形成混频光束从混频器第三端口3133输出；其中，所述混频器3130可以是定向耦合器或多模干涉器。
所述平衡探测器314包括两个端口，平衡探测器输入端口与混频器第三端口3133光连接，配置为接收所述混频光束后获取所述第二子光束和所述第一探测光束的频率差，然后将该频率差通过输出端口输出至处理器，根据上述公式(4)，处理器可以计算出FMCW激光雷达系统到环境物体的距离和速度。
所述前端组件330用于改变出光通道自身的尺寸、位置、角度，和/或改变所述出光通道之间的角度分布、间距分布。所述前端组件330包括用于与所述后端组件310光路连接的第二接口331，具体地，所述第二接口331与所述后端组件310的第一接口315光路连接。在一些实施例种，所述前端组件330器件的可以选用：平面光波导(PLC)芯片、光纤阵列(FA)、微透镜阵列。
在一些实施例中，所述前端组件330为平面光波导芯片，所述平面光波导芯片包括基于绝缘体上的硅(SOI/SIMOX)、氮氧化硅(SiON)或高分子聚合物(Polymer)等基于平面光路技术解决方案的光器件。
在一些实施例中，所述前端组件330为光纤阵列，所述光纤阵列是指利用V形槽(即V槽，V-Groove)基片把一束光纤或一条光纤带按照规定间隔安装在基片上，所构成的阵列，具体地所述光纤阵列包括：V形槽基片以及按照预设间隔设置于所述V形槽基片上的阵列光纤。
在一些实施例中，所述前端组件330为微透镜阵列，所述微透镜阵列中每一微透镜与所述第一接口对应设置。
在一些实施例中，请参见图3，可以利用前端组件330改变出光通道的间距分布，使激光雷达视场内有密集区域、稀疏区域等间距分布不同的区别， 从而可以实现根据环境的实际情况调整光通道的间距分布，提高激光雷达扫描的灵活性。
在一些实施例中，请参见图7，可以利用前端组件330使光通道沿弧形分布，例如圆弧或其他曲率的弧形结构。此例中前端组件330可以更改出光通道的出光角度，使之沿圆弧分布，从而可以集中探测某一位置的目标，例如圆弧的中心目标，从而提供更加准确的探测结果。进一步地，前端组件330还可以在此基础上更改出光通道的的出光位置，例如多个第三接口可以均匀或不均匀的分布于弧形的前端组件端面，使探测光线的探测方向更加灵活多样。
在一些实施例中，请参见图8，可以利用前端组件330使光通道沿二维空间分布。此例中前端组件330可以更改出光通道的出光位置，使出光通道从一维线性分布扩展到二维空间分布。进一步地，前端组件330还可以在此基础上更改通道的出光角度，使光线的分布更加灵活多样，使得雷达系统能够向需要的方向或角度发射/接收探测激光，使得激光雷达覆盖更宽的探测范围，由上述的线阵列扩充到面阵列，可以一次发射探测更宽的目标范围，提升了激光雷达的探测效率。
在一些实施例中，请参见图9，可以利用微透镜阵列作为前端组件330，微透镜阵列可以改变激光雷达系统的发光特性，例如将分散的外部环境光信号汇聚到对应的第一接口当中。在一些实施例中，前端组件330可以根据第一接口的布局搭配相应的微透镜阵列参数，例如各透镜的焦距、直径等，使通道光束的准直特性根据需要适配。
在一些实施例中，请参见图10，前端组件进一步包括第一前端组件330a以及第二前端组件330b，所述第一前端组件330a与所述第二前端组件330b可以利用光纤阵列连接，所述第二接口331设置于所述第一前端组件330a，所述第三接口333设置于所述第二前端组件330b，在一些实施例中，所述第一前端组件330a和所述第二前端组件330b分离设置，所述光纤阵列将所述第一前端组件330a的第二接口331与所述第二前端组件330b的第三接口333耦合连接。利用光纤阵列可以使第二前端组件330b和后端组件310相隔预设的距离设置，例如1-10米，甚至可以设置在不同的空间，从而可以 使激光雷达系统的布局更加灵活，特别是当第二前端组件330b中第三接口是可分离结构时，更加增加了前端组件对探测环境的灵活配置。
本申请实施例提供的激光雷达收发组件以及激光雷达装置包括了可拆卸光连接的后端组件和前端组件，通过前端组件+后端组件的组合，可以灵活改变多通道激光雷达系统的FOV、发射光角度、通道间距分布等；并且后端组件作为核心部件，可以独立迭代、改进，不影响整机的设计，前端组件可以灵活兼容后端组件，从而可以提高激光雷达系统的灵活性与兼容性。
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (16)

  1. 一种基于光芯片的激光雷达收发组件，其特征在于，包括：
    后端组件，包括集成的多路光学组件，每一所述光学组件包括一第一接口，配置为通过所述多路光学组件分别传输探测光信号和返回光信号；
    前端组件，可拆卸地与所述后端组件耦接，配置为接收并发射所述后端组件传输的探测光信号，以及从探测环境接收并向所述后端组件传输所述返回光信号；
    其中，所述前端组件能够根据所述探测环境的需求改变所述探测光信号的空间分布。
  2. 根据权利要求1所述的激光雷达收发组件，其特征在于，
    所述前端组件包括多个与所述第一接口对应设置的第二接口，通过所述第二接口可拆卸地与所述后端组件的第一接口耦接。
  3. 根据权利要求2所述的激光雷达收发组件，其特征在于，所述前端组件包括多个与所述第二接口对应设置的第三接口，所述第三接口相对于所述第二接口远离所述第一接口设置；
    所述多个第三接口具有多种空间分布模式，以根据所述探测环境的需求改变所述探测光信号的空间分布。
  4. 根据权利要求3所述的激光雷达收发组件，其特征在于，所述空间分布模式包括一维模式和二维模式。
  5. 根据权利要求4所述的激光雷达收发组件，其特征在于，
    所述一维模式包括直线型模式或曲线型模式；和/或，
    所述二维模式包括平面型模式或曲面型模式。
  6. 根据权利要求4或5所述的激光雷达收发组件，其特征在于，所述多个第三接口间隔均匀的分布于所述前端组件的一侧；或者，所述多个第三接口中间密、边缘疏的分布于所述前端组件的一侧。
  7. 根据权利要求3所述的激光雷达收发组件，其特征在于，所述第二接口和所述第三接口通过光纤耦接。
  8. 根据权利要求3所述的激光雷达收发组件，其特征在于，所述前端 组件包括第一前端组件和第二前端组件，其中，所述第二接口设置于所述第一前端组件，所述第三接口设置于所述第二前端组件。
  9. 根据权利要求8所述的激光雷达收发组件，其特征在于，所述第一前端组件和所述第二前端组件分离设置，所述第二接口和所述第三接口通过光纤耦接。
  10. 根据权利要求1所述的激光雷达收发组件，其特征在于，所述前端组件与所述后端组件耦接的方式包括以下至少之一：端面耦合、透镜耦合、垂直耦合或光学键合引线耦合。
  11. 根据权利要求1所述的激光雷达收发组件，其特征在于，所述后端组件包括：硅光芯片、Ⅲ-Ⅴ族光芯片或铌酸锂光芯片中的一种或多种。
  12. 根据权利要求1所述的激光雷达收发组件，其特征在于，所述前端组件包括：平面光波导芯片、光纤阵列、微透镜阵列中的一种或多种。
  13. 根据权利要求12所述的激光雷达收发组件，其特征在于，所述平面光波导芯片包括基于绝缘体上的硅、氮氧化硅或高分子聚合物形成的芯片。
  14. 根据权利要求12所述的激光雷达收发组件，其特征在于，所述光纤阵列包括：
    V形槽基片；
    阵列光纤，按照预设间隔设置于所述V形槽基片上。
  15. 根据权利要求12所述的激光雷达收发组件，其特征在于，所述微透镜阵列中每一微透镜与所述第一接口对应设置。
  16. 一种激光雷达装置，其特征在于，包括如前述任一项所述的激光雷达收发组件，以及，
    激光光源，配置为产生一个或多个波长的激光光束，所述激光光束以预定模式周期性调制；
    光分配网络，配置为接收所述激光光束后形成多个子光束，并将所述多个子光束分配于所述激光雷达收发组件。
PCT/CN2022/142578 2022-09-09 2022-12-28 激光雷达收发组件、激光雷达装置 WO2024051043A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211098509.5A CN115184903B (zh) 2022-09-09 2022-09-09 激光雷达收发组件、激光雷达装置
CN202211098509.5 2022-09-09

Publications (1)

Publication Number Publication Date
WO2024051043A1 true WO2024051043A1 (zh) 2024-03-14

Family

ID=83522585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/142578 WO2024051043A1 (zh) 2022-09-09 2022-12-28 激光雷达收发组件、激光雷达装置

Country Status (2)

Country Link
CN (1) CN115184903B (zh)
WO (1) WO2024051043A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117907982A (zh) * 2024-03-19 2024-04-19 深圳市速腾聚创科技有限公司 激光雷达测距测速的方法以及激光雷达

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115184903B (zh) * 2022-09-09 2022-11-29 北京摩尔芯光半导体技术有限公司 激光雷达收发组件、激光雷达装置
CN115639567B (zh) * 2022-11-18 2023-04-28 北京摩尔芯光半导体技术有限公司 激光雷达

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11105904B1 (en) * 2020-10-30 2021-08-31 Aeva, Inc. Techniques for mitigating lag-angle effects for LIDARs scans
CN114063045A (zh) * 2021-11-17 2022-02-18 Nano科技(北京)有限公司 基于光芯片的双偏振激光雷达接收端
CN114325636A (zh) * 2020-09-27 2022-04-12 北京万集科技股份有限公司 激光雷达芯片、激光雷达及其激光探测方法
CN114879208A (zh) * 2022-06-30 2022-08-09 北京摩尔芯光半导体技术有限公司 一种调频连续波激光雷达系统
CN115184903A (zh) * 2022-09-09 2022-10-14 北京摩尔芯光半导体技术有限公司 激光雷达收发组件、激光雷达装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107505606A (zh) * 2017-08-11 2017-12-22 苏州光联光电科技有限责任公司 一种基于光纤环行器的激光雷达光路系统
CN209280920U (zh) * 2018-10-29 2019-08-20 北京万集科技股份有限公司 一种基于光纤耦合的激光雷达接收装置及激光雷达
CN111007483B (zh) * 2019-12-24 2022-06-28 联合微电子中心有限责任公司 一种基于硅光芯片的激光雷达
US20220043127A1 (en) * 2020-08-10 2022-02-10 Luminar, Llc Lidar system with input optical element
CN114624678A (zh) * 2020-12-11 2022-06-14 上海禾赛科技有限公司 光电探测器的前端电路、光电探测器阵列、激光雷达和测距方法
CN114690150A (zh) * 2020-12-29 2022-07-01 北京万集科技股份有限公司 连续波调频相控阵激光雷达芯片、扫描方法及激光雷达
CN113589317A (zh) * 2021-07-29 2021-11-02 北京摩尔芯光科技有限公司 一种激光雷达和二维扫描方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114325636A (zh) * 2020-09-27 2022-04-12 北京万集科技股份有限公司 激光雷达芯片、激光雷达及其激光探测方法
US11105904B1 (en) * 2020-10-30 2021-08-31 Aeva, Inc. Techniques for mitigating lag-angle effects for LIDARs scans
CN114063045A (zh) * 2021-11-17 2022-02-18 Nano科技(北京)有限公司 基于光芯片的双偏振激光雷达接收端
CN114879208A (zh) * 2022-06-30 2022-08-09 北京摩尔芯光半导体技术有限公司 一种调频连续波激光雷达系统
CN115184903A (zh) * 2022-09-09 2022-10-14 北京摩尔芯光半导体技术有限公司 激光雷达收发组件、激光雷达装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117907982A (zh) * 2024-03-19 2024-04-19 深圳市速腾聚创科技有限公司 激光雷达测距测速的方法以及激光雷达
CN117907982B (zh) * 2024-03-19 2024-05-31 深圳市速腾聚创科技有限公司 激光雷达测距测速的方法以及激光雷达

Also Published As

Publication number Publication date
CN115184903B (zh) 2022-11-29
CN115184903A (zh) 2022-10-14

Similar Documents

Publication Publication Date Title
WO2024051043A1 (zh) 激光雷达收发组件、激光雷达装置
JP7303925B2 (ja) 多波長ライダー設計
CN115639543B (zh) 调频连续波激光雷达及自动驾驶设备
CN115685147B (zh) 调频连续波激光雷达及自动驾驶设备
CN114879208B (zh) 一种调频连续波激光雷达系统
CN110678793B (zh) 光接收器阵列和光学雷达装置
CN116243278B (zh) 光芯片模组、激光雷达及可移动设备
CN116593996B (zh) 激光雷达及可移动设备
WO2024094100A1 (zh) 激光雷达芯片及激光雷达
CN115166696B (zh) 用于激光雷达的扫描转镜组、激光雷达装置
CN116087913B (zh) 光芯片、激光雷达、自动驾驶系统及可移动设备
WO2024094099A1 (zh) 激光雷达
CN116243279B (zh) 光芯片及激光雷达
CN115656975A (zh) 波导转换芯片、调频连续波激光雷达及自动驾驶设备
JP2021139869A (ja) ライダー用のレーザ送受信モジュール
CN115128580B (zh) 激光雷达装置
WO2024104362A1 (zh) 激光雷达
WO2024093981A1 (zh) 多通道激光雷达
CN116755189B (zh) 硅光芯片、激光雷达及可移动设备
JP2024522157A (ja) 複数のｌｉｄａｒシステム出力信号の走査
CN115343690B (zh) 光学收发组件和激光雷达装置
CN116930917B (zh) 收发装置及调频连续波激光雷达
KR102640320B1 (ko) 라인 빔 스캐닝 기반의 광위상배열 라이다
CN117008145B (zh) 激光雷达及可移动设备
CN116930917A (zh) 收发装置及调频连续波激光雷达

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22957999

Country of ref document: EP

Kind code of ref document: A1