WO2024045550A1 - 激光雷达的发射模块、收发装置和激光雷达 - Google Patents

激光雷达的发射模块、收发装置和激光雷达 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
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Application number
PCT/CN2023/081256
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English (en)
French (fr)
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/zh

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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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Abstract

一种激光雷达的发射模块、收发装置和激光雷达，发射模块包括：多波长发光单元，所述多波长发光单元适宜于产生光束；波长切换单元，所述波长切换单元接收所述多波长发光单元所产生的光束，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长；分光单元，所述分光单元位于所述波长切换单元下游的光路中，所述分光单元用以对所接收光束进行分束并使所分出的每一束进一步形成多线探测光。通过电信号控制开关元件(即光开关)以切换所输出光束的波长，能够有效降低所述波长切换单元的制作工艺难度，有效降低实现高速波长切换的控制难度。

Description

激光雷达的发射模块、收发装置和激光雷达
本申请要求2022年8月29日提交中国专利局、申请号为202211042630.6、发明名称为“激光雷达的发射模块、收发装置和激光雷达”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及激光探测领域，特别涉及一种激光雷达的发射模块、收发装置和激光雷达。
背景技术
激光雷达是一种常用的测距传感器，具有探测距离远、分辨率高、受环境干扰小等特点，广泛应用于无人驾驶、智能机器人、无人机等领域。近年来，自动驾驶技术发展迅速，激光雷达作为其距离感知的核心传感器，已不可或缺。
其中，调频连续波(FMCW)激光雷达的研制，需要综合考虑测程、视场角(FOV)、帧率和线数。在传统调频连续波***中，由于延迟角的存在，制约了扫描器快轴的扫描速度，从而影响到视场角、帧率、线数等指标的提升。
现有的调频连续波激光雷达，参数多为：64线；测距能力：小于200米反射率为10％(<200m@10％R)；视场角为120°。而飞行时间法(TOF)的激光雷达，线数一般能够达到128线、甚至300线，250米的测距能力。
因此现有的调频连续波激光雷达的性能参数呈现落后的现状。因此为了实现更高线数的调频连续波激光雷达，急需发展全新的架构，实现各项指标的提升。
发明内容
本发明解决的问题是如何降低激光雷达发射模块的制造难度和 控制难度。
为解决上述问题，本发明提供一种激光雷达的发射模块，包括：
多波长发光单元，所述多波长发光单元适宜于产生光束；波长切换单元，所述波长切换单元接收所述多波长发光单元所产生的光束，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长；分光单元，所述分光单元位于所述波长切换单元下游的光路中，所述分光单元用以对所接收光束进行分束并使所分出的每一束进一步形成多线探测光。
可选的，所述波长切换单元按照预设时序控制多个开关元件以实现所输出光束的波长的分时切换。
可选的，所述波长切换单元包括：通道元件，所述通道元件适宜于将光路形成m个通道；m个开关元件，所述m个开关元件与所述m个通道一一对应，所述开关元件控制所对应通道的开启和关断；控制元件，所述控制元件按照预设时序控制m个所述开关元件的开启和关断；其中，m为大于1的整数。
可选的，每个通道的光束为单一波长的光束；或者，每个通道的光束包括一组等间隔频率的光束。
可选的，所述通道元件包括：解波分复用滤波器和光交叉波分复用器中的一个。
可选的，所述开关元件包括：硅基光开关、薄膜铌酸锂电光开关和半导体光放大器中的一种。
可选的，所述波长切换单元还包括：能量监控元件，所述能量监控元件位于所述通道元件和所述开关元件之间，所述能量监控元件适宜于监控每个通道的光束的能量；所述控制元件根据每个通道的光束的能量和预设值，调节所对应开关元件的增益。
可选的，所述控制元件控制m个开关元件使得同一预设时间段 内仅有1个通道开启。
可选的，所述多波长发光单元包括多个激光器，不同激光器的中心波长不相等；或者，所述多波长发光单元包括至少1个激光器和多波长发生组件。
可选的，所述多波长发生组件包括：电光调制元件和半导体光放大器；或者，所述多波长发生组件包括：微环谐振腔。
可选的，还包括：多个发射端口，一线所述探测光自一个所述发射端口出射；多个发射端口沿第一方向排列以获得出射的光束在第一平面中的扫描；所述发射模块还包括：一维扫描单元，所述一维扫描单元位于发射端口下游的的光路中，所述一维扫描单元使探测光在第二平面中扫描，所述第二平面垂直所述第一平面。
可选的，还包括：多个端口组，每个所述端口组包括多个所述发光端口；同一端口组的多个所述发光端口沿所述第一方向连续排列，且不同端口组的多个所述发光端口所出射的探测光的波长排序相同。
可选的，所述分光单元包括：1×n分束器，所述1×n分束器适宜于对所接收光束进行等能量分束，其中n为大于1的整数；n个波长分离元件，每个波长分离元件使所述1×n分束器分出的每一束进一步形成多线探测光。
可选的，所述波长分离元件包括：解波分复用滤波器、棱镜、光栅和光交叉波分复用器中的至少一个。
可选的，所述发射模块用于同轴收发的收发装置，所述分光单元还包括：n个连接器，每个连接器位于所述1×n分束器和1个所述波长分离元件之间，所述连接器的第一端与所述1×n分束器相连，第二端与所述波长分离元件相连。
可选的，所述连接器为环形器或偏振分束器中的至少一种。
可选的，所述发射模块用于调频连续波的收发装置，所述发射模 块还包括：第一耦合单元，所述第一耦合单元位于所述波长切换单元和所述分光单元之间的光路中，所述第一耦合单元从所述波长切换单元所输出的光束中分出本振光。
相应的，本发明还提供一种激光雷达的收发装置，包括：
发射模块，所述发射模块为本发明的发射模块；出射的探测光在三维空间内发生反射以形成回波光；接收模块，所述接收模块适宜于接收所述回波光。
可选的，所述收发装置为调频连续波的收发装置，所述发射模块还包括：第一耦合单元，所述第一耦合单元位于所述波长切换单元和所述分光单元之间的光路中，所述第一耦合单元从所述波长切换单元所输出的光束中分出本振光；所述接收模块包括：1×n分束器，所述接收模块的1×n分束器适宜于将所述第一耦合单元分出的本振光进行等能量分束；n个接收单元，所述n个接收单元与n个分束后的本振光一一对应，且每个接收单元与1个连接器的第三端相连。
可选的，所述接收单元包括：依次相连的耦合器和平衡探测器。
此外，本发明还提供一种激光雷达，包括：本发明的激光雷达的收发装置。
与现有技术相比，本发明的技术方案具有以下优点：
本发明技术方案中，所述激光雷达的发射模块中，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长。通过电信号控制开关元件(即光开关)以切换所输出光束的波长，能够有效降低所述波长切换单元的制作工艺难度，有效降低实现高速波长切换的控制难度。
本发明可选方案中，所述波长切换单元按照预设时序控制多个开关元件以实现所输出光束的波长的分时切换。以分时的方式进行波长切换，能够有效降低激光雷达探测数据的采集和计算难度。
本发明可选方案中，一线所述探测光自一个发射端口出射；多个发射端口沿第一方向排列以获得出射的光束在第一平面中的扫描；所述发射模块还包括：一维扫描单元，所述一维扫描单元位于发射端口下游的的光路中，所述一维扫描单元使探测光在第二平面中扫描，所述第二平面垂直所述第一平面。当第一平面内(例如垂直方向)采用多通道电控的方式实现扫描，第二平面内(例如水平方向)采用低速的一维扫描单元实现扫描，从而能够有效降低扫描单元的扫描速度，能够缓解延迟角的问题。
本发明可选方案中，所述发射模块包括多个端口组，每个端口组包括多个发光端口，同一端口组的多个所述发光端口沿所述第一方向连续排列，同一端口组中每个发光端口出射的探测光的波长不同，且不同端口组的多个所述发光端口所出射的探测光的波长排序相同，从而能够尽量错开多波长发光单元经多个波长分离元件所产生的相同波长光束所对应的视场方向，能够尽可能减小相同波长的光束之间的干扰。
本发明可选方案中，所述波长切换单元的通道元件包括：解波分复用滤波器和光交叉波分复用器中的一个；所述开关元件包括：硅基光开关、薄膜铌酸锂电光开关和半导体光放大器中的一种。解波分复用滤波器和光交叉波分复用器、硅基光开关、薄膜铌酸锂电光开关、半导体光放大器都可以大规模芯片化生产，而且阵列化的成本很低，因此能够有效降低制作难度和工艺成本。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，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。
图1是一种调频连续波的激光雷达的结构示意图；
图2是图1所示激光雷达的扫描镜视场扫描的示意图；
图3是本发明激光雷达的发射模块一实施例的功能框图；
图4是图3所示激光雷达的发射模块实施例中波长切换单元的功能框图；
图5是图4所示激光雷达的发射模块实施例中波长切换单元中控制元件控制多个开关元件的时序图；
图6是图3所示激光雷达发射模块实施例中分光单元的功能框图；
图7是图3所示激光雷达发射模块实施例中发射端口的分布示意图；
图8是本发明激光雷达的发射模块一实施例中发射端口的分布示意图；
图9是本发明激光雷达的发射模块另一实施例中连接器设置为偏振分束器的光路示意图；
图10是本发明激光雷达的发射模块另一实施例的功能框图；
图11是图10所示激光雷达的发射模块实施例中多波长发光单元的功能框图；
图12是图11所示所示激光雷达的发射模块实施例中多波长发光单元所产光束的频率分布情况；
图13是图10所示激光雷达的发射模块实施例中波长切换单元中控制元件控制多个开关元件的时序图；
图14是图13所示激光雷达的发射模块实施例的时序图中虚线框内各光线波长的对应示意图。
具体实施方式
由背景技术可知，现有技术中调频连续波的激光雷达存在各项性能指标有待提升的问题。现结合一种调频连续波激光雷达分析其性能指标差问题的原因：
参考图1，示出了一种调频连续波的激光雷达的结构示意图。
所述激光雷达包括：沿探测光的光路依次设置的激光器11、发射耦合器12、连接器13、准直单元14和扫描镜15；以及沿本振光的光路依次设置的接收耦合器16、探测器17和处理单元18。
其中，所述连接器13的第一端与所述发射耦合器12相连，所述连接器13的第二端与所述准直单元14相连，所述连接器13的第三端与所述接收耦合器16相连。具体的，所述连接器13可以为环形器，连接器13通过光波导，例如光纤与对应元件相连。
所述激光器11产生的初始光被所述发射耦合器12分为探测光和本振光；探测光经所述连接器13传输后，自准直单元14出射，被所述扫描镜15反射至三维空间实现扫描；探测光在三维空间被反射形成的回波光被所述扫描镜15反射并被所述准直单元14接收，经所述连接器13传输至所述接收耦合器16。
接收所述发射耦合器12所分出的本振光和所述连接器13传输的回波光后，所述接收耦合器16将所接收的本振光和回波光混频以进行相干拍频，所述探测器17采集混频后的光束，所述处理单元18根据拍频信号解析获得待测目标的距离、速度和反射率等信息。
所述连接器13具有3个端口，第一端a输入的信号会从第二端b输出，第二端b输入的信号会从第三端c输出；因此探测光从所述第一端a输入，第二端b输出，回波光从所述第二端b输入，第三端c输出；所以所述连接器13的使用可以使所述调频连续波的激光雷达实现同轴收发。
调频连续波的激光雷达中，大多是通过扫描镜15的连续旋转实 现三维空间的扫描。在收发共路的激光雷达中，扫描镜15不仅需要实现探测光的扫描，还需要实现所形成回波光的接收。
由于扫描镜15的持续转动，接收回波光束时的扫描镜15的角度已经与探测光束出射时的扫描镜15的角度有一定的差异，即扫描镜15产生了延迟角。延迟角与扫描角速度成正比，扫描角速度越大，扫描镜15相同时间产生的延迟角也越大。延迟角使得回波光在接收端面处(通常使用光纤)的光斑发生倾斜和偏移，进而导致接收效率的下降。
结合参考图2，示出了扫描镜15视场扫描的示意图，快轴对应水平视场的扫描，慢轴对应于垂直视场的扫描，图中示出了慢轴的1帧扫描过程，图中的黑色圆点数可认为是扫描镜15的等效线数(点云在垂直方向输出的线数)。扫描镜15的快轴通常处于谐振状态，扫描频率高达kHz，扫描角速度大，因此使得回波光束在接收端面处的光斑发生倾斜和偏移也很大。
上述延迟角问题的解决方案主要包括：1、放弃机械扫描镜，采用光学相控阵，实现电控阶跃扫描，缺点是当前的技术水平还难以克服相控阵光学天线尺寸小，损耗大的缺陷；2、用多模波导接收，尽管接收效率提升，然而模式之间的相互干涉会引起信噪比的降低；3、收发分离，适当偏移接收波导位置，预补偿延迟角，代价为近距离接收效率降低。
为解决所述技术问题，本发明提供一种激光雷达的发射模块，包括：
多波长发光单元，所述多波长发光单元适宜于产生光束；波长切换单元，所述波长切换单元接收所述多波长发光单元所产生的光束，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长；分光单元，所述分光单元位于所述波长切换单元下游的光路中，所述分光单元用以对所接收光束进行分束并使所分出的每一束进一步形成多线探测光。
本发明技术方案，所述激光雷达的发射模块中，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长。通过电信号控制开关元件(即光开关)以切换所输出光束的波长，能够有效降低所述波长切换单元的制作工艺难度，有效降低实现高速波长切换的控制难度。
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
参考图3，示出了本发明激光雷达的发射模块一实施例的功能框图。
所述激光雷达的发射模块包括：多波长发光单元110，所述多波长发光单元110适宜于产生光束；波长切换单元120，所述波长切换单元120接收所述多波长发光单元110所产生的光束，所述波长切换单元120通过电信号控制多个开关元件121切换所输出光束的波长；分光单元130，所述分光单元130位于所述波长切换单元120下游的光路中，所述分光单元130用以对所接收光束进行分束并使所分出的每一束进一步形成多线探测光。
通过电信号控制开关元件121以切换所输出光束的波长，能够有效降低所述波长切换单元120的制作工艺难度，有效降低实现高速波长切换的控制难度。
所述多波长发光单元110作为光源以产生光束。
本发明一些实施例中，所述多波长发光单元110包括多个激光器，不同激光器的中心波长不相等。一些实施例中，所述激光雷达为调频连续波激光雷达，因此所述激光器为调频激光器，所述调频激光器例如可以实现线性调频。具体的，所述多波长发光单元110包括：m个独立的调频激光器，每个调频激光器的中心波长分别为λ1、λ2、λ3……λm。
所述波长切换单元120通过电信号控制以实现波长扫描。
本发明一些实施例中，所述波长切换单元120按照预设时序控制多个开关元件以实现所输出光束的波长的分时切换。以分时的方式进行波长切换，能够有效降低激光雷达探测数据的采集和计算难度。
结合参考图4，示出了图3所示激光雷达的发射模块实施例中波长切换单元120的功能框图。
本发明一些实施例中，所述波长切换单元120包括：通道元件121，所述通道元件121适宜于将光路形成m个通道；m个开关元件S1、S2、S3……Sm，所述m个开关元件与所述m个通道一一对应，开关元件Sm控制所对应通道的开启和关断；控制元件123，所述控制元件123按照预设时序控制m个所述开关元件的开启和关断；其中，m为大于1的整数。
需要说明的是，如图4所示，所述多波长发光单元110具有1个出光端口，所述多波长发光单元110所产生的光束均经所述出光端口输出。本发明其他实施例中，所述多波长发光单元110也可以具有多个出光端口，所述多波长发光单元110所产生的光束经所述多个出光端口输出。
具体的，一些实施例中，所述多波长发光单元具有m个出光端口，所述m个出光端口与所述m个通道一一对应；所述多波长发光单元所产生的光束分别经所述出光端口输入至所对应的通道。
此外，一些实施例中，所述多波长发光单元包括m个激光器，不同激光器的中心波长不相等；所述多波长发光单元的m个出光端口与m个激光器一一对应；所述m个出光端口与所述m个通道一一对应，因此每个激光器所产生的光束经所对应的出光端口输入至所对应的通道。
所述通道元件121用以形成多个通道。
本发明一些实施例中，每个通道的光束为单一波长的光束。具体的，一些实施例中，所述多波长发光单元110包括m个中心波长不 同的调频激光器，因此，所述通道元件121形成m个通道，即通道1221、通道1222、通道1223、……、通道122m；其中的每个通道传输一个波长的光束，即通道1221传输波长λ1的光束、通道1222传输波长λ2的光束、通道1223传输波长λ3的光束、……、通道122m传输波长λm的光束。
本发明一些实施例中，当所述多波长发光单元具有1个出光端口时，所述通道元件121包括：解波分复用滤波器(DEMUX)。解波分复用滤波器可以大规模芯片化生产，而且阵列化的成本很低，因此能够有效降低制作难度和工艺成本。
本发明一些实施例中，当所述多波长发光单元具有m个出光端口时，所述通道元件121例如包括m个光纤组成的光纤阵列，每个出光端口和光纤阵列中的每个光纤相对应，进而形成m个通道。
所述开关元件用以控制所对应通道的开启和关断。
具体的，所述通道元件121分出的每一个通道上均设置有1个所述开关元件以控制其开启和关断。如图4所示实施例中，通道1221上设置开关元件S1以控制波长λ1的光束的传输，通道1222上设置开关元件S2以控制波长λ2的光束的传输，通道1223上设置开关元件S3以控制波长λ3的光束的传输，……，通道122m上设置开关元件Sm以控制波长λm的光束的传输。
本发明一些实施例中，所述开关元件包括：光开关，如硅基光开关、薄膜铌酸锂电光开关和半导体光放大器(SOA)中的一种。所述硅基光开关、薄膜铌酸锂电光开关和半导体放大器的增益是可以调节的，不仅仅能控制所对应通道的开启和关闭，还能够起到调节所对应通道增益的作用。硅基光开关、薄膜铌酸锂电光开关和半导体光放大器都可以大规模芯片化生产，而且阵列化的成本很低，因此能够有效降低制作难度和工艺成本。
本发明一些实施例中，所述波长切换单元120还包括：能量监控 元件124，所述能量监控元件124位于所述通道元件和所述开关元件SOA之间，所述能量监控元件124适宜于监控每个通道的光束的能量。
所述控制元件123用以控制所述多个开关元件。
所述控制元件123内预存有控制所述开关元件的时序；所述控制元件123根据上述时序，依次控制所对应开关元件的开启和关断。通过时序控制波长切换，避免容易干扰的信号同时产生，能够降低信号之间的干扰的可能，能够有效降低所述波长切换单元的制作工艺难度，能够降低波长切换的控制难度。
结合参考图5，示出了图4所示激光雷达的发射模块实施例中波长切换单元120中控制元件控制多个开关元件的时序图。
本发明一些实施例中，所述控制元件123控制m个开关元件使得同一预设时间段内仅有1个通道开启。
具体的，在t11时刻至t12时刻之间，开启所述开关元件S1，关断其他开关元件，仅使波长为λ1的光束经通道1221通过；在t21时刻至t22时刻之间，开启所述开关元件S2，关断其他开关元件，仅使波长为λ2的光束经通道1222通过；在t31时刻至t32时刻之间，开启所述开关元件S3，关断其他开关元件，仅使波长为λ3的光束经通道1223通过；……；在tm1时刻至tm2时刻之间，开启所述开关元件Sm，关断其他开关元件，仅使波长为λm的光束经通道122m通过。
需要说明的是，本发明一些实施例中，所述波长切换单元120还包括监控每个通道的光束的能量监控元件124，因此所述控制元件123根据每个通道的光束的能量和预设值，调节所对应开关元件SOA的增益以使每个通道的能量相等。
本发明一些实施例中，所述发射模块用于调频连续波的收发装置，调频连续波收发装置是通过解析拍频信号分析目标的距离、速度和反射率等信息的，其中拍频信号为探测光被反射后所形成的回波光与从 探测光所分出的本振光进行相干拍频后得到的信号。所以如图4所示，所述发射模块还包括：第一耦合单元141，所述第一耦合单元141位于所述波长切换单元120下游的光路中，所述第一耦合单元141从所述波长切换单元120所输出的光束中分出本振光。
另外，所述通道元件121将光路分成多个通道，因此为了简化设备结构，如图4所示，所述发射模块还包括：合并单元142，所述合并单元142位于所述第一耦合单元141和所述波长切换单元120之间的光路中，以使所述通道元件121分出的多个通道分时共用同一第一耦合单元141。具体的，所述合并单元142可以是复用器(MUX)。
此外，为了提高发光强度，如图4所示，所述发射模块还包括：放大单元143，所述放大单元143位于所述第一耦合单元141和所述合并单元142之间的光路中。具体的，所述放大单元143可以是光放大器。
综上，如图4所示，多波长发光单元110产生多波长光束，所述多波长光束的波长包括：λ1、λ2、λ3……λm；所述多波长光束经所述波长切换单元120的通道元件121后，分别由所述波长切换单元所形成的通道传输；在预设时间段内，开启开关元件λi，关断其他开关元件，仅使波长为λi的光束经对应通道通过；波长为λi的光束在经合并单元142传输、经所述放大单元143进一步功率放大后，被所述第一耦合单元141分为本振光和探测光。
所以，在不同的时间段内，开启不同的开关元件，关断其余开关元件，仅使对应波长的光束经通道通过；通过的光束经合并单元142传输、经所述放大单元143进一步功率放大后，均会被所述第一耦合单元141分为本振光和探测光，也就是说，不同时间段内，经所述第一耦合单元141会形成不同波长的本振光和探测光。
继续参考图3，结合参考图6，所述发射模块还包括：分光单元130以形成单一波长出射的多线探测光，其中图6示出了图3所示激光雷达发射模块实施例中分光单元130的功能框图。
如图6所示，本发明一些实施例中，所述分光单元130包括：1×n分束器131，所述1×n分束器131适宜于对所接收光束进行等能量分束，其中n为大于1的整数；n个波长分离元件132，每个波长分离元件132使所述1×n分束器分出的每一束形成单一波长出射的多线探测光。
所述1×n分束器131用以实现等能量分束；所述1×n分束器131所分出的每一束经1个所述波长分离元件132以形成单一波长的多线探测光。具体的，所述波长分离元件132包括：解波分复用滤波器、棱镜、光栅和光交叉波分复用器中的至少一个。
本发明一些实施例中，所述多波长发光单元110包括m个中心波长不同的调频激光器，因此，所述通道元件121分出m个通道；因此，所述通道元件121分出每个通道，每个通道被对应开关元件分时切换，随后进入合并元件142，由合并元件142出射并被功率放大后，被所述1×n分束器131分成n束。
具体如图6所示，在t11时刻至t12时刻之间，经通道1221通过的波长为λ1的光束，被所述1×n分束器131等能量分束后形成n束子光束，每一束子光束经所对应的波长分离元件132形成一线探测光，所以在t11时刻至t12时刻之间通道1221波长为λ1的光束被通过后，有n线波长为λ1的探测光出射，具体地n线波长为λ1的探测光由n个波长分离元件出射，每个对应一线；在t21时刻至t22时刻之间，经通道1222通过的波长为λ2的光束，被所述1×n分束器131等能量分束后形成n束子光束，每一束子光束经所对应的波长分离元件132形成一线探测光，所以在t21时刻至t22时刻之间通道1222波长为λ2的光束被通过后，有n线波长为λ2的探测光出射，具体地n线波长为λ2的探测光由n个波长分离元件出射，每个对应一线；在t31时刻至t32时刻之间，经通道1223通过的波长为λ3的光束，被所述1×n分束器131等能量分束后形成n束子光束，每一束子光束经所对应的波长分离元件132形成一线探测光，所以在t31时刻至t32时刻之间 通道1223波长为λ3的光束被通过后，有n线波长为λ3的探测光出射，具体地n线波长为λ3的探测光由n个波长分离元件出射，每个对应一线；……；在tm1时刻至tm2时刻之间，经通道122m通过的波长为λm的光束，被所述1×n分束器131等能量分束后形成n束子光束，每一束子光束经所对应的波长分离元件132形成一线探测光，所以在tm1时刻至tm2时刻之间通道122m波长为λm的光束被通过后，有n线波长为λm的探测光出射，具体地n线波长为λm的探测光由n个波长分离元件出射，每个对应一线。
由于，不同波长的光束自所述波长分离元件132的出射角度不一样，所述多波长发光单元110包括m个中心波长不同的调频激光器，所述通道元件121将光路形成m个单一波长的通道，因此，每个通道经所述分光单元130分出n线探测光，因此在开关元件S1～Sm依次开启一次的循环过程中，一个波长分离元件产生λ1、λ2、λ3……λm的m个波长，n个波长分离元件共形成n×m线探测光。
如图7所示，本发明一些实施例中，所述发射模块还包括：多个发射端口151，所述出射端口例如是光纤的端面，自波长分离元件132出射的光进入光纤传输，也可以是其他类型的光波导，如平面光波导的端面，一线所述探测光自一个所述发射端口151出射；多个发射端口151沿第一方向排列以获得出射的光束在第一平面中的扫描；所述发射模块还包括：一维扫描单元152，所述一维扫描单元位于发射端口151出射光下游的的光路中，所述一维扫描单元152使探测光在第二平面中扫描，所述第二平面垂直所述第一平面。
当第一平面内(例如垂直方向)采用多通道电控的方式实现扫描，代替了现有技术中快轴高速扫描，第二平面内(例如水平方向)采用低速的一维扫描单元实现扫描，从而能够有效降低扫描单元的扫描速度，能够缓解延迟角的问题。
所述发射端口151位置可按需求排列，与准直透镜154结合形成第一平面内的线束扫描。具体的，如图7所示实施例中，多个所述发 射端口151等间距分布于所述准直透镜154的焦平面内，即均匀分布于所述准直透镜154的焦平面内。
本发明一些实施例中，所述发射模块还包括：多个端口组153，每个所述端口组153包括多个所述发光端口151，一个端口组153与一个波长分离元件132相对应；同一端口组153的多个所述发光端口151沿所述第一方向连续排列，且不同端口组153的多个所述发光端口151所出射的探测光的波长排序相同。
具体的，如图7中所示，端口组153i中，发射端口1511、端口1512、端口1513、……、端口151m沿第一方向依次排列，波长为λ1、λ2、λ3、……、λm依次自发射端口1511、端口1512、端口1513、……、端口151m出射。
不同端口组153的多个发射端口151的排列方式相同。具体如图7所示实施例中，端口组153j中的多个发射端口151的排列方式与端口组153i中的多个发射端口151的排列方式相同，即发射端口1511、端口1512、端口1513、……、端口151m也沿第一方向依次排列。
而且，不同端口组153的多个所述发光端口151所出射的探测光的波长排序相同。具体如图7所示实施例中，端口组153j中的多个发射端口151所出射的探测光的波长分布情况与端口组153i中的多个发射端口151所出射的探测光的波长分布情况，即端口组153i中波长为λ1、λ2、λ3、……、λm也是依次自发射端口1511、端口1512、端口1513、……、端口151m出射。
使不同端口组153的多个所述发光端口151所出射的探测光的波长排序相同，也即，使得出射相同波长的探测光的发光端口151在准直透镜154焦平面上高度差最大，相同波长的探测光间的视场尽量错开，从而减少相同波长的探测光之间的干扰。
本发明一些实施例中，所述发射模块用于同轴收发的收发装置，所述分光单元130还包括：n个连接器133，每个连接器133位于所 述1×n分束器131和1个所述波长分离元件132之间，所述连接器133的第一端与所述1×n分束器131相连，第二端与所述波长分离元件132相连。具体的，所述连接器133为环形器。
综上，如图4和图6所示，经所述第一耦合单元141形成的探测光，经所述分光单元130的1×n分束器131，分成等能量的n线探测光，每一线自所述连接器133的第一段输入，从所述连接器133的第二端输出；自所述第二端输出的探测光经所述波长分离元件132，从预设的发射端口出射以进行探测。
需要说明的是，如图7所示，多个所述发射端口151等间距分布于所述准直透镜154的焦平面内。但是这种排列方式仅为一实施例。本发明其他实施例中，如图8所示，位于边缘的相邻发射端口251之间的间距d1大于位于中心的相邻发射端口251(如图8中虚线框253内的发射端口251)之间的间距d2，与准直透镜254结合形成垂直方向中心加密的线束扫描。具体的，沿边缘指向中心的方向，相邻发射端口251之间的间距逐渐减小，所述发射端口251的密度逐渐增大以形成自边缘向中心逐渐加密的线束。
还需要说明的是，在所述多波长发光单元110设置多个激光器以产生不同中心波长的光束的做法仅为一示例。本发明其他实施例中，所述多波长发光单元也可以由单激光器和多波长发生组件构成。
此外，如图6所示实施例中，所述连接器133为环形器。但是将所述连接器设置为环形器的做法仅为一示例，本发明其他实施例中，所述连接器也可以为偏振分束器。如图9所示，所述连接器533为偏振分束器。所述连接器533的第一端533a与所述1×n分束器531相连，第二端533b与所述波长分离元件532相连；所述第三端533c与激光雷达的接收模块相连。1×n分束器531产生的探测光自第一端533a进入连接器533，经过连接器533后例如TM偏振部分自第二端533b出射(优选地，再经过1/4波片形成圆偏光)，经过波长分离元件532最终出射到环境，回波光(再次经过1/4波片，由圆偏光转化 为TE偏振光)经第二端533b进入连接器533，被反射从第三端533c出射，形成类似环形器的功能。可选地，也可以是TE偏振部分自第二端533b出射，回波光中的TM偏振部分部反射从第三端533c出射。
参考图10，示出了本发明激光雷达的发射模块另一实施例的功能框图。
与前述实施例相同之处，本发明在此不再赘述。与前述实施例不同之处之一，本实施例中，如图11所示，所述多波长发光单元310包括至少1个激光器311和多波长发生组件312，以控制硬件成本。所述激光雷达为调频连续波激光雷达时，所述激光器311为调频激光器。
具体的，所述激光器311的中心频率为f1，通过所述多波长发生组件312后生成多个频率f1、f2、f3……fi(对应多个波长λ1、λ2、λ3……λi)，多个频率之间的间隔相同均为Δf，如图12所示。
如图11所示，本发明一些实施例中，所述多波长发生组件312包括：电光调制元件312a和半导体光放大器312b。通过基于电光调制效应和四波混频效应能够产生多个波长。
如图11所示，中心频率为f1的激光器311出射的光经所述电光调制元件312a后除原本的频率外，产生至少2个频率值，即频率f2和频率f3；再经过半导体光放大器312b后产生更多数量的波长，即图11中所示的fi。而且通过调节所述半导体光放大器312b的增益，使所述半导体光放大器312b输出的不同波长的光束能量接近相等。
需要说明的是，以所述电光调制元件312a和所述半导体光放大器312b构成所述多波长发生组件312的做法仅为一示例。本发明其他实施例中，所述多波长发生组件也可以包括：微环谐振腔。微环谐振腔中的四波混频效应更强，能产生更多波长，波长范围也更大。而且与所述电光调制元件312a和所述半导体光放大器312b构成多波长发生组件312相比，微环谐振腔中的四波混频效应能够产生更多数量 的波长，以形成光梳。例如利用单激光器、电光调制元件和半导体光放大器构成多波长发光单元的形式可产生16个波长，利用单激光器和微环谐振腔的方式可产生64个波长。
本发明一些实施例中，当利单激光器和微环谐振腔的方式产生更多波长时，所述波长切换单元320中的所述通道元件321包括光交叉波分复用器(Inter Lever)。光交叉波分复用器所形成的每一个通道均为梳状滤波，输出的都是一组等间隔频率的光束。而且光交叉波分复用器可以大规模芯片化生产，阵列化的成本很低，因此能够有效降低制作难度和工艺成本。由于受到功耗的限制，大功率的功率放大元件如图4中的143无法主动散热，只能被动散热；而功率放大元件在不同温度下会产生增益谱漂移的问题。多波长发光单元310形成光梳时，经光交叉波分复用器后每个通道包括多个波长，经对应开关元件分时切换后，每个通道的多个波长同时到达功率放大元件，在该情况下，即使存在增益谱漂移，多个波长中始终存在某个波长落入增益谱范围，因此无需温控。具体而言，如图10所示的发射模块中，每个通道传输包括多个波长的光束时，在使用环境温度变化较大时，功率放大元件的增益也会随之变化，但是由于每个通道传输的光束包括多个波长，至少有1个波长仍处于所述功率放大元件的增益范围内的概率较大，也就是说，能够降低环境温度变化对通道出光能量的影响。
继续参考图10，本发明一些实施例中，每个通道的光束包括一组等间隔频率的光束。具体的，一些实施例中，所述多波长发光单元最终生成包括N个等间隔的频率的光束。每个通道所包括光束的波长的数量是所述多波长发光单元所生成频率数量的约数，也就是说，所述多波长发光单元所生成的光束的波长数量是每个通道所包括光束波长数量的整数倍。所以，基于所述多波长发光单元所生成波长的数量以及每个通道传输的光束所包括波长的数量设置所述通道的数量。
具体的，所述通道元件321中的光交叉波分复用器为1分m的 光交叉波分复用器以形成m个通道，即所述多波长发光单元生成的光束包括N个波长，λ'1、λ'2、λ'3、λ'4、λ'5、……、λ'N，其中N是m的整数倍，即N＝km，k为正整数。
如图10所示实施例中，所述通道元件321中的光交叉波分复用器为1分m的光交叉波分复用器，即所述多波长发光单元生成的光束包括N个波长，分成m组进入m个通道，每个通道包括k，即k＝N/m个波长数，该k个波长对应的频率为等间隔。例如N为64个波长时，通过1分4的光交叉波分复用器，产生4个通道，每个通道包括16个波长数。
所以，通道3221传输波长λ'1、λ'1+m、λ'1+2m、λ'1+3m、λ'1+4m、……、λ'1+(k-1)m的光束；通道3222传输波长λ'2、λ'2+m、λ'2+2m、λ'2+3m、λ'2+4m、……、λ'2+(k-1)m的光束；通道3223传输波长λ'3、λ'3+m、λ'3+2m、λ'3+3m、λ'3+4m、……、λ'3+(k-1)m的光束；通道3224传输波长λ'4、λ'4+m、λ'4+2m、λ'4+3m、λ'4+4m、……、λ'4+(k-1)m的光束；……；通道322m传输波长λ'm、λ'2m、λ'3m、λ'4m、λ'5m、……、λ'km的光束。
每个通道上设置的开关元件用以控制所对应通道的开启和关断。如图10所示实施例中，通道3221上设置开关元件以控制波长λ'1、λ'1+m、λ'1+2m、λ'1+3m、λ'1+4m、……、λ'1+(k-1)m的光束的传输，通道3222上设置开关元件以控制波长λ'2、λ'2+m、λ'2+2m、λ'2+3m、λ'2+4m、……、λ'2+(k-1) m的光束的传输，通道3223上设置开关元件以控制波长λ'3、λ'3+m、λ'3+2m、λ'3+3m、λ'3+4m、……、λ'3+(k-1)m的光束的传输，通道3224上设置开关元件以控制波长λ'4、λ'4+m、λ'4+2m、λ'4+3m、λ'4+4m、……、λ'4+(k-1)m的光束的传输，……，通道322m上设置开关元件以控制波长λ'm、λ'2m、λ'3m、λ'4m、λ'5m、……、λ'km的光束的传输。
结合参考图13和图14所示，其中图13示出了图10所示激光雷达的发射模块实施例中波长切换单元中控制元件控制多个开关元件的时序图，图14是图13所示激光雷达的发射模块实施例的时序图中虚线框内各光线波长的对应示意图。
本发明一些实施例中，所述控制元件控制多个开关元件使得同一预设时间段内仅有1个通道开启。
具体的，在t11时刻至t12时刻之间，开启所述开关元件SOAi1，关断其他开关元件，仅使波长为λ'1、λ'1+m、λ'1+2m、λ'1+3m、λ'1+4m、……、λ'1+(k-1)m的光束经通道3221通过，也就是说，t11时刻至t12时刻之间，通道3221输出波长为λ'1、λ'1+m、λ'1+2m、λ'1+3m、λ'1+4m、……、λ'1+ (k-1)m的光束(如图13中虚线框at1)；在t21时刻至t22时刻之间，开启所述开关元件SOAi2，关断其他开关元件，仅使波长为λ'2、λ'2+m、λ'2+2m、λ'2+3m、λ'2+4m、……、λ'2+(k-1)m的光束经通道3222通过，也就是说，t21时刻至t22时刻之间，通道3222输出波长为λ'2、λ'2+m、λ'2+2m、λ'2+3m、λ'2+4m、……、λ'2+(k-1)m的光束(如图13中虚线框at2)；在t31时刻至t32时刻之间，开启所述开关元件SOAi3，关断其他开关元件，仅使波长为λ'3、λ'3+m、λ'3+2m、λ'3+3m、λ'3+4m、……、λ'3+(k-1)m的光束经通道3223通过，也就是说，t31时刻至t32时刻之间，通道3223输出波长为λ'3、λ'3+m、λ'3+2m、λ'3+3m、λ'3+4m、……、λ'3+(k-1)m的光束(如图13中虚线框at3)；在t41时刻至t42时刻之间，开启所述开关元件SOAi4，关断其他开关元件，仅使波长为λ'4、λ'4+m、λ'4+2m、λ'4+3m、λ'4+4m、……、λ'4+(k-1)m的光束经通道3224通过，也就是说，t41时刻至t42时刻之间，通道3224输出波长为λ'4、λ'4+m、λ'4+2m、λ'4+3m、λ'4+4m、……、λ'4+(k-1)m的光束(如图13中虚线框at4)；……；在tm1时刻至tm2时刻之间，开启所述开关元件SOAim，关断其他开关元件，仅使波长为λ'm、λ'2m、λ'3m、λ'4m、λ'5m、……、λ'km的光束经通道322m通过，也就是说，tm1时刻至tm2时刻之间，通道322m输出波长为λ'm、λ'2m、λ'3m、λ'4m、λ'5m、……、λ'km的光束(如图13中虚线框atm)。
需要说明的是，图13中虚线框at1、虚线框at2、虚线框at3、虚线框at4以及虚线框atm位置错开以显示清晰。
当多波长发光单元310形成光梳，在波长切换单元320中配合设 置光交叉波分复用器作为通道元件321，光交叉波分复用器所形成的每一个通道均为梳状滤波器，输出为一组等间隔频率的光梳。因此所述通道元件321所形成的每个通道的出射光均为包括多波长的光束。
还需要说明的是，本发明一些实施例中，所述波长分离元件可以为光交叉波分复用器。所述多波长发光单元形成光梳，所述波长分离元件设置为光交叉波分复用器，在开关元件依次开启一次的循环过程中，一个波长分离元件产生m组波长(一组对应一线)，n个波长分离元件共形成n×m线探测光。此时由于所述波长分离元件所形成的每一线探测光包括多个波长，多波长的探测光照射在物体的同一位置，能够有效降低粗糙表面的散斑效应，减小回波功率的抖动。
需要说明的是，所述发射模块中的光束可以通过光纤传输，即不同单元、元件之间通过光纤实现连接。具体的，所述光纤可以是单模光纤或者平面光波导。
相应的，本发明还提供一种激光雷达的收发装置。
参考图4和图6，示出了本发明激光雷达的收发装置一实施例的功能框图。
所述激光雷达的收发装置包括：发射模块，所述发射模块为本发明的发射模块；出射的探测光在三维空间内发生反射以形成回波光；接收模块，所述接收模块适宜于接收所述回波光。
所述发射模块为本发明的发射模块。因此所述发射模块的具体技术方案参考前述发射模块的实施例，本发明在此不再赘述。
如图6所示，本发明一些实施例中，所述分光单元130包括：1×n分束器131，所述1×n分束器131适宜于对所接收光束进行等能量分束，其中n为大于1的整数；n个波长分离元件132，每个波长分离元件132使所述1×n分束器分出的每一束形成单一波长出射的多线探测光。
本发明一些实施例中，所述发射模块用于同轴收发的收发装置， 所述分光单元130还包括：n个连接器133，每个连接器133位于所述1×n分束器131和1个所述波长分离元件132之间，所述连接器133的第一端与所述1×n分束器131相连，第二端与所述波长分离元件132相连。具体的，所述连接器133为环形器或偏振分束器中的至少一种。
此外，本发明一些实施例中，所述收发装置为调频连续波的收发装置。所以如图4所示，所述发射模块还包括：第一耦合单元141，所述第一耦合单元141位于所述波长切换单元120下游的光路中，所述第一耦合单元141从所述波长切换单元120所输出的光束中分出本振光。
所述接收模块用以接收回波信号以实现探测。
本发明一些实施例中，所述收发装置为同轴收发的调频连续波收发装置；而且为了分光单元130中通过1×n分束器131进行等能量分束；因此所述接收模块包括：1×n分束器410，所述接收模块的1×n分束器410适宜于将所述第一耦合单元141分出的本振光进行等能量分束；n个接收单元420，所述n个接收单元420与n个分束后的本振光一一对应，且每个接收单元420与1个所述连接器133的第三端相连。具体的，所述接收单元420包括：依次相连的耦合器421和平衡探测器(BPD)422。
回波光经所述波长分离元件132接收后，经所述连接器133的第二端输入，自所述连接器133的第三端输出至所述接收单元420；本振光经等能量分束后，也输入至所述接收单元420；输入至所述接收单元420的本振光和回波光在所述耦合器421进行混频，之后被平衡探测器422探测以实现探测。
需要说明的是，所述收发装置中的光束可以通过光纤传输，即不同单元、元件之间通过光纤实现连接。具体的，所述光纤可以是单模光纤或者平面光波导。
此外，本发明还提供一种激光雷达，包括：收发装置，所述收发装置为本发明的收发装置。
所述收发装置为本发明的收发装置。因此所述收发装置的具体技术方案参考前述收发装置的实施例，本发明在此不再赘述。
所述收发装置的发射模块中，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长。通过电信号控制开关元件(即光开关)以切换所输出光束的波长，能够有效降低所述波长切换单元的制作工艺难度，有效降低实现高速波长切换的控制难度。
而且所述波长切换单元的通道元件包括：解波分复用滤波器和光交叉波分复用器中的一个；所述开关元件包括：硅基光开关、薄膜铌酸锂电光开关和半导体光放大器中的一种。解波分复用滤波器和光交叉波分复用器、硅基光开关、薄膜铌酸锂电光开关、半导体光放大器都可以大规模芯片化生产，而且阵列化的成本很低，因此能够有效降低制作难度和工艺成本。
虽然本发明披露如上，但本发明并非限定于此。任何本领域技术人员，在不脱离本发明的精神和范围内，均可作各种更动与修改，因此本发明的保护范围应当以权利要求所限定的范围为准。

Claims (21)

  1. 一种激光雷达的发射模块，其特征在于，包括：
    多波长发光单元，所述多波长发光单元适宜于产生光束；
    波长切换单元，所述波长切换单元接收所述多波长发光单元所产生的光束，所述波长切换单元通过电信号控制多个开关元件切换所输出光束的波长；
    分光单元，所述分光单元位于所述波长切换单元下游的光路中，所述分光单元用以对所接收光束进行分束并使所分出的每一束进一步形成多线探测光。
  2. 如权利要求1所述的发射模块，其特征在于，所述波长切换单元按照预设时序控制多个开关元件以实现所输出光束的波长的分时切换。
  3. 如权利要求1所述的发射模块，其特征在于，所述波长切换单元包括：
    通道元件，所述通道元件适宜于将光路形成m个通道；
    m个开关元件，所述m个开关元件与所述m个通道一一对应，所述开关元件控制所对应通道的开启和关断；
    控制元件，所述控制元件按照预设时序控制m个所述开关元件的开启和关断；
    其中，m为大于1的整数。
  4. 如权利要求3所述的发射模块，其特征在于，每个通道的光束为单一波长的光束；
    或者，每个通道的光束包括一组等间隔频率的光束。
  5. 如权利要求3或4所述的发射模块，其特征在于，所述通道元件包括：解波分复用滤波器和光交叉波分复用器中的一个。
  6. 如权利要求3所述的发射模块，其特征在于，所述开关元件包括：
    硅基光开关、薄膜铌酸锂电光开关和半导体光放大器中的一种。
  7. 如权利要求6所述的发射模块，其特征在于，所述波长切换单元还包括：
    能量监控元件，所述能量监控元件位于所述通道元件和所述开关元件之间，所述能量监控元件适宜于监控每个通道的光束的能量；
    所述控制元件根据每个通道的光束的能量和预设值，调节所对应开关元件的增益。
  8. 如权利要求3所述的发射模块，其特征在于，所述控制元件控制m个开关元件使得同一预设时间段内仅有1个通道开启。
  9. 如权利要求1所述的发射模块，其特征在于，所述多波长发光单元包括多个激光器，不同激光器的中心波长不相等；
    或者，所述多波长发光单元包括至少1个激光器和多波长发生组件。
  10. 如权利要求9所述的发射模块，其特征在于，所述多波长发生组件包括：电光调制元件和半导体光放大器；
    或者，所述多波长发生组件包括：微环谐振腔。
  11. 如权利要求1所述的发射模块，其特征在于，还包括：多个发射端口，一线所述探测光自一个所述发射端口出射；
    多个发射端口沿第一方向排列以获得出射的光束在第一平面中的扫描；
    所述发射模块还包括：一维扫描单元，所述一维扫描单元位于发射端口下游的的光路中，所述一维扫描单元使探测光在第二平面中扫描，所述第二平面垂直所述第一平面。
  12. 如权利要求11所述的发射模块，其特征在于，还包括：多个端口 组，每个所述端口组包括多个所述发光端口；
    同一端口组的多个所述发光端口沿所述第一方向连续排列，且不同端口组的多个所述发光端口所出射的探测光的波长排序相同。
  13. 如权利要求1所述的发射模块，其特征在于，所述分光单元包括：
    1×n分束器，所述1×n分束器适宜于对所接收光束进行等能量分束，其中n为大于1的整数；
    n个波长分离元件，每个波长分离元件使所述1×n分束器分出的每一束进一步形成多线探测光。
  14. 如权利要求13所述的发射模块，其特征在于，所述波长分离元件包括：解波分复用滤波器、棱镜、光栅和光交叉波分复用器中的至少一个。
  15. 如权利要求13所述的发射模块，其特征在于，所述发射模块用于同轴收发的收发装置，所述分光单元还包括：n个连接器，每个连接器位于所述1×n分束器和1个所述波长分离元件之间，所述连接器的第一端与所述1×n分束器相连，第二端与所述波长分离元件相连。
  16. 如权利要求15所述的发射模块，其特征在于，所述连接器为环形器或偏振分束器中的至少一种。
  17. 如权利要求1所述的发射模块，其特征在于，所述发射模块用于调频连续波的收发装置，所述发射模块还包括：第一耦合单元，所述第一耦合单元位于所述波长切换单元和所述分光单元之间的光路中，所述第一耦合单元从所述波长切换单元所输出的光束中分出本振光。
  18. 一种激光雷达的收发装置，其特征在于，
    发射模块，所述发射模块如权利要求1至16中任一项所述；
    出射的探测光在三维空间内发生反射以形成回波光；
    接收模块，所述接收模块适宜于接收所述回波光。
  19. 如权利要求18所述的收发装置，其特征在于，所述收发装置为调频连续波的收发装置，所述发射模块还包括：
    第一耦合单元，所述第一耦合单元位于所述波长切换单元和所述分光单元之间的光路中，所述第一耦合单元从所述波长切换单元所输出的光束中分出本振光；
    所述接收模块包括：
    1×n分束器，所述接收模块的1×n分束器适宜于将所述第一耦合单元分出的本振光进行等能量分束；
    n个接收单元，所述n个接收单元与n个分束后的本振光一一对应，且每个接收单元与1个连接器的第三端相连。
  20. 如权利要求19所述的收发装置，其特征在于，所述接收单元包括：
    依次相连的耦合器和平衡探测器。
  21. 一种激光雷达，其特征在于，包括：
    收发装置，所述收发装置如权利要求18～20任一项所述。
PCT/CN2023/081256 2022-08-29 2023-03-14 激光雷达的发射模块、收发装置和激光雷达 WO2024045550A1 (zh)

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