A laser radar orthogonal transceiver array

Abstract

The present invention provides a laser radar orthogonal transceiver array, comprising: a transmitting unit and a receiving unit; wherein the transmitting unit transmits a light wave signal in a first direction with a specific far-field radiation pattern, and scans in a second direction; the receiving unit receives a light detection signal emitted by the transmitting unit and reflected by an object to be detected in the second direction, and scans in the first direction; the first direction is perpendicular to the second direction. The laser radar orthogonal transceiver array is based on the orthogonal transceiver principle, which can greatly reduce the number of phase shifters required, reduce production costs, and is also conducive to improving integration, and can reduce the control difficulty of the laser radar orthogonal transceiver array.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and more specifically, to an orthogonal transceiver array of a laser radar. Background Art

[0002] LiDAR technology is widely used in fields such as geological exploration, archaeology and autonomous driving.

[0003] At present, LiDAR scanning technology can be roughly divided into two categories: mechanical scanning and solid-state scanning. Traditional mechanical scanning is expensive and not conducive to mass production; existing LiDAR solid-state two-dimensional scanning requires an N×N phase shifter array, and as the measurement accuracy and area increase, the number of phase shifters will increase significantly, causing difficulties in manufacturing and signal configuration.

[0004] Therefore, how to provide a new type of laser radar scanning technology to overcome the problems existing in the prior art is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, in order to solve the above problems, the present invention provides a laser radar orthogonal transceiver array, and the technical solution is as follows:

[0006] A laser radar orthogonal transceiver array, the laser radar orthogonal transceiver array comprising: a transmitting unit and a receiving unit; wherein the transmitting unit transmits a light wave signal along a first direction with a specific far-field radiation pattern, and scans along a second direction;

[0007] The receiving unit receives the light detection signal emitted by the transmitting unit and reflected by the object to be detected along the second direction, and scans along the first direction;

[0008] The first direction is perpendicular to the second direction.

[0009] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the transmitting unit comprises: a first laser, a first beam splitter, and a wide body surface grating having a first waveguide array, wherein the first waveguide array has a plurality of input waveguides;

[0010] The first laser is used to emit laser light;

[0011] The first beam splitter is used to perform beam splitting processing on the laser light emitted by the first laser;

[0012] The laser beam after beam splitting is incident on the wide body surface grating through the first waveguide array for emission;

[0013] Wherein, a phase shifter is provided on part or all of the input waveguides;

[0014] The phase shifter is used to control the phase of the light field in the input waveguide to change the horizontal rotation angle of the wide body surface grating emission for scanning.

[0015] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the transmitting unit further comprises: a first plane concave cylindrical prism;

[0016] The first planar concave cylindrical prism is used to widen the scanning viewing angle of the emitting unit.

[0017] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the transmitting unit further comprises: a second laser, a second beam splitter, and a wide body surface grating having a second waveguide array, wherein the second waveguide array has a plurality of input waveguides;

[0018] Wherein, the second laser is used to emit laser light;

[0019] The second beam splitter is used to perform beam splitting processing on the laser light emitted by the second laser;

[0020] The laser beam after beam splitting is incident on the wide body surface grating through the second waveguide array for emission;

[0021] Wherein, a phase shifter is provided on part or all of the input waveguides;

[0022] The phase shifter is used to control the phase of the light field in the input waveguide to change the horizontal rotation angle of the wide body surface grating emission for scanning;

[0023] The laser light emitted by the first laser and the laser light emitted by the second laser are incident on the wide body surface grating from two opposite directions.

[0024] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the receiving unit includes: a first photodetector, a first beam combiner, and a wide-body surface grating having a third waveguide array, wherein the third waveguide array has a plurality of input waveguides; a phase shifter is provided on some or all of the input waveguides;

[0025] The optical detection signal is incident on the first beam combiner through the wide body surface grating and the third waveguide array in sequence;

[0026] The first beam combiner is used to perform beam combining processing on the light detection signals so as to be received by the first photodetector.

[0027] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the receiving unit further comprises: a second plane concave cylindrical prism;

[0028] The second planar concave cylindrical prism is used to widen the scanning viewing angle of the receiving unit.

[0029] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the receiving unit further includes: a second photodetector, a second beam combiner, and a wide-body surface grating having a fourth waveguide array, wherein the fourth waveguide array has a plurality of input waveguides; a phase shifter is provided on some or all of the input waveguides;

[0030] The optical detection signal is incident on the second beam combiner through the wide body surface grating and the fourth waveguide array in sequence;

[0031] The second beam combiner is used to combine the light detection signals so as to be received by the second photodetector;

[0032] The light detection signal received by the first photodetector and the light detection signal received by the second photodetector have opposite light propagation directions.

[0033] Preferably, in the above-mentioned laser radar orthogonal transceiver array, it is characterized in that the wide body surface grating further includes:

[0034] The first grating parts and the second grating parts are alternately arranged in sequence along the input waveguide direction;

[0035] In a direction perpendicular to the plane where the wide body surface grating is located, the thickness of the first grating part is smaller than the thickness of the second grating part.

[0036] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the wide body surface grating has multiple periods.

[0037] Preferably, in the above-mentioned laser radar orthogonal transceiver array, the transmitting unit and the receiving unit are integrated on the same chip.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention provides a laser radar orthogonal transceiver array comprising: a transmitting unit and a receiving unit; wherein the transmitting unit transmits a light wave signal in a first direction with a specific far-field radiation pattern, and scans in a second direction; the receiving unit receives the light detection signal emitted by the transmitting unit and reflected by the object to be detected in the second direction, and scans in the first direction; the first direction is perpendicular to the second direction. The laser radar orthogonal transceiver array is based on the orthogonal transceiver principle, which can greatly reduce the number of phase shifters required, reduce production costs, and is also conducive to improving integration, and can reduce the control difficulty of the laser radar orthogonal transceiver array. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0041] Figure 1 A schematic diagram of the basic principle of an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention;

[0042] Figure 2 An ideal detection gain mode logarithmic diagram provided by an embodiment of the present invention, assuming that the gains of the lit x-line and the lit y-line are both 20 dB;

[0043] Figure 3 A schematic diagram of the basic structure of a transmitting unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the basic structure of an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of a radiation pattern of a transmitting end and its changing mode during scanning provided by an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of a radiation pattern of a receiving end and its changing mode during scanning provided by an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of another basic structure of a transmitting unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention;

[0048] Figure 8 A schematic diagram of another basic structure of a receiving unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention;

[0049] Fig. 9 A schematic diagram of structural parameters of a planar concave cylindrical prism provided by an embodiment of the present invention;

[0050] Fig.10 A schematic diagram of another basic structure of a transmitting unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention;

[0051] Fig.11 A schematic diagram of the basic structure of another laser radar orthogonal transceiver array provided in an embodiment of the present invention;

[0052] Fig.12A schematic diagram of a top view structure of a wide-body surface grating provided in an embodiment of the present invention;

[0053] Fig.13 A schematic diagram of the cross-sectional structure of a wide-body surface grating provided by an embodiment of the present invention;

[0054] Fig.14 A schematic diagram of a curve showing the variation of the period of a feasible wide-body surface grating with periodic variation with the number of periods provided in an embodiment of the present invention;

[0055] Fig.15 A schematic diagram of a feasible curve showing a change in the duty cycle of the second grating part provided by an embodiment of the present invention;

[0056] Fig.16 A logarithmic schematic diagram of the far-field power of a wide-body surface grating provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] refer to Figure 1 , Figure 1 A schematic diagram of the basic principle of a laser radar orthogonal transceiver array provided in an embodiment of the present invention.

[0060] The laser radar orthogonal transceiver array comprises: a transmitting unit and a receiving unit; wherein the transmitting unit transmits a light wave signal along a first direction x with a specific far-field radiation pattern, and scans along a second direction y;

[0061] The receiving unit receives the light detection signal emitted by the transmitting unit and reflected by the object to be detected along the second direction y, and scans along the first direction x;

[0062] The first direction x is perpendicular to the second direction y.

[0063] In this embodiment, the first direction x and the second direction y represent two mutually orthogonal directions, the transmitting unit is located at the transmitting end, the receiving unit is located at the receiving end, and the transmitting unit and the receiving unit transmit and receive signals at the antennas in the first direction x and the second direction y respectively.

[0064] The laser is emitted along a first direction x through a transmitting antenna, and the radiation pattern of the transmitting end covers a certain x-line. Objects on this lit x-line can be detected, and the light detection signal is reflected back to the orthogonal transceiver array of the laser radar.

[0065] The radiation patterns of different configurations at the receiving end cover different y lines, and the light detection signals emitted in different y coordinate directions are received by receiving antennas with different configurations. By scanning the configuration of the receiving end, the y coordinate of the detected object can be determined. Combined with the configuration of the transmitting antenna at the transmitting end, the two-dimensional position information of the detected object can be obtained.

[0066] After that, by changing the x-rays emitted by the transmitting end and using the same operation to receive the signal, the entire area can be scanned.

[0067] refer to Figure 2 , Figure 2 An ideal detection gain mode logarithmic diagram provided in an embodiment of the present invention, assuming that the gains of the lit x-line and the lit y-line are both 20 dB.

[0068] like Figure 2 As shown, the intersection obtains a gain of 40dB compared to the area on the x-line and y-line that are not lit, and a gain of 20dB is obtained compared to the other areas on the x-line and y-line that are lit. And through this orthogonal transmission and reception method, the original N×N phase shifter array can be reduced to only 2N phase shifters.

[0069] Optionally, in another embodiment of the present invention, refer to Figure 3 , Figure 3 A schematic diagram of the basic structure of a transmitting unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention.

[0070] The transmitting unit includes: a first laser, a first beam splitter, and a wide body surface grating having a first waveguide array, wherein the first waveguide array has a plurality of input waveguides;

[0071] The first laser is used to emit laser light;

[0072] The first beam splitter is used to perform beam splitting processing on the laser light emitted by the first laser;

[0073] The laser beam after beam splitting is incident on the wide body surface grating through the first waveguide array for emission;

[0074] Wherein, a phase shifter is provided on part or all of the input waveguides;

[0075] The phase shifter is used to control the phase of the light field in the input waveguide to change the horizontal rotation angle of the wide body surface grating emission for scanning.

[0076] In this embodiment, it is assumed that the laser light emitted by the first laser is split into N paths by the first beam splitter and respectively input into N input waveguides, and the phase of the light field in the input waveguide is modulated via N-1 phase shifters, and finally emitted through the wide body surface grating for output scanning.

[0077] refer to Figure 4 , Figure 4 A schematic diagram of the basic structure of an orthogonal laser radar transceiver array provided in an embodiment of the present invention.

[0078] The receiving unit comprises: a first photodetector, a first beam combiner, and a wide body surface grating having a third waveguide array, wherein the third waveguide array has a plurality of input waveguides; a phase shifter is arranged on part or all of the input waveguides;

[0079] The optical detection signal is incident on the first beam combiner through the wide body surface grating and the third waveguide array in sequence;

[0080] The first beam combiner is used to perform beam combining processing on the light detection signals so as to be received by the first photodetector.

[0081] In this embodiment, the transmitting unit and the receiving unit are placed vertically. After the detection light emitted outward by the transmitting unit is reflected by the object to be detected, part of the light is received by the optical phased array receiving unit which is also composed of N-1 phase shifters, N input waveguides and a wide body surface grating. Then, the N optical detection signals are received and processed by the first photodetector through the first combiner.

[0082] refer to Figure 5 , Figure 5 A schematic diagram of a radiation pattern of a transmitting end and its changing manner during scanning provided by an embodiment of the present invention.

[0083] like Figure 5 As shown, the transmitting unit is located at the transmitting end, and the transmitting unit scans at different angles by controlling N-1 phase shifters to form different linear phase relationships.

[0084] refer to Figure 6 , Figure 6 A schematic diagram of a radiation pattern of a receiving end and its changing manner during scanning provided by an embodiment of the present invention.

[0085] like Figure 6 As shown, the receiving unit is located at the receiving end, and the scanning of the receiving unit is also performed by controlling N-1 phase shifters to form different linear phase relationships to perform scanning at different angles.

[0086] For each scanning configuration of the transmitting unit, the receiving unit needs to perform a scanning cycle to obtain the two-dimensional position information of the detected object, and then obtain the radial coordinates and velocity information of the detected object based on the flight time or continuous wave modulation, and then continue to scan the transmitting unit to finally realize the detection of the entire detection area.

[0087] Optionally, in another embodiment of the present invention, refer to Figure 7 , Figure 7 Another basic structural diagram of a transmitting unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention.

[0088] The transmitting unit further comprises: a first planar concave cylindrical prism;

[0089] The first planar concave cylindrical prism is used to widen the scanning viewing angle of the emitting unit.

[0090] In this embodiment, a plane concave cylindrical prism is used to widen the line length of the emitting unit perpendicular to the scanning dimension, thereby widening the scanning viewing angle of the receiving unit in the scanning dimension.

[0091] based on Figure 1 In other words, the line length of the radiation pattern of the transmitting unit along the first direction x is widened, so as to widen the scanning angle of view that the receiving unit can scan, thereby expanding the scanning range.

[0092] Optionally, in another embodiment of the present invention, refer to Figure 8 , Figure 8 Another basic structural diagram of a receiving unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention.

[0093] The receiving unit further includes: a second plane concave cylindrical prism;

[0094] The second planar concave cylindrical prism is used to widen the scanning viewing angle of the receiving unit.

[0095] In this embodiment, a planar concave cylindrical prism is used to widen the line length of the receiving unit perpendicular to the scanning dimension, thereby widening the scanning viewing angle of the transmitting unit in the scanning dimension.

[0096] based on Figure 1 In other words, the line length of the radiation pattern of the receiving unit along the first direction y is widened, so as to widen the scanning angle of view that the transmitting unit can scan, thereby expanding the scanning range.

[0097] Optional, reference Fig. 9 , Fig. 9 A schematic diagram of structural parameters of a planar concave cylindrical prism provided in an embodiment of the present invention.

[0098] The distance between the concave surface and the bottom surface of the planar concave cylindrical prism is 2 cm, the bottom surface width is 1.1 cm, and the concave surface radius R=1.25 cm.

[0099] The planar concave cylindrical prism based on the structural parameters can widen the input line length of ±20° to the output line length of ±53.8°.

[0100] It should be noted that the transmitting unit and the receiving unit may be integrated on different chips. In order to improve the integration level, the transmitting unit and the receiving unit may also be integrated on the same chip.

[0101] When the transmitting unit and the receiving unit are integrated on the same chip, only one plane concave cylindrical prism is needed.

[0102] Optionally, in another embodiment of the present invention, refer to Fig.10 , Fig.10 A schematic diagram of another basic structure of a transmitting unit in an orthogonal transceiver array of a laser radar provided in an embodiment of the present invention.

[0103] The transmitting unit further comprises: a second laser, a second beam splitter, and a wide body surface grating having a second waveguide array, wherein the second waveguide array has a plurality of input waveguides;

[0104] Wherein, the second laser is used to emit laser light;

[0105] The second beam splitter is used to perform beam splitting processing on the laser light emitted by the second laser;

[0106] The laser beam after beam splitting is incident on the wide body surface grating through the second waveguide array for emission;

[0107] Wherein, a phase shifter is provided on part or all of the input waveguides;

[0108] The phase shifter is used to control the phase of the light field in the input waveguide to change the horizontal rotation angle of the wide body surface grating emission for scanning;

[0109] The laser light emitted by the first laser and the laser light emitted by the second laser are incident on the wide body surface grating from two opposite directions.

[0110] refer to Fig.11 , Fig.11 A schematic diagram of the basic structure of another laser radar orthogonal transceiver array provided in an embodiment of the present invention.

[0111] The receiving unit further includes: a second photodetector, a second beam combiner, and a wide body surface grating having a fourth waveguide array, wherein the fourth waveguide array has a plurality of input waveguides; a phase shifter is disposed on some or all of the input waveguides;

[0112] The optical detection signal is incident on the second beam combiner through the second wide body surface grating and the fourth waveguide array in sequence;

[0113] The second beam combiner is used to combine the light detection signals so as to be received by the second photodetector;

[0114] The light detection signal received by the first photodetector and the light detection signal received by the second photodetector have opposite light propagation directions.

[0115] In this embodiment, both the transmitting unit and the receiving unit adopt a bidirectional transmission layout structure, so as to expand the angle range that the wide-body surface grating array can emit, thereby expanding the scanning range of the laser radar.

[0116] Optionally, in another embodiment of the present invention, refer to Fig.12 , Fig.12 A schematic diagram of a top view of a wide surface grating provided by an embodiment of the present invention. Fig.13 , Fig.13 A schematic diagram of the cross-sectional structure of a wide-body surface grating provided in an embodiment of the present invention.

[0117] The wide body surface grating also includes:

[0118] The first grating parts 11 and the second grating parts 12 are alternately arranged in sequence along the input waveguide direction;

[0119] In a direction perpendicular to the plane where the wide body surface grating is located, the thickness of the first grating part 11 is smaller than the thickness of the second grating part 12 .

[0120] In this embodiment, the wide-body surface grating can control the emission direction of the radiation pattern while eliminating crosstalk, and different radiation patterns can be generated by changing the period of the wide-body surface grating.

[0121] Optionally, the wide body surface grating has multiple periods;

[0122] This is the same for every cycle.

[0123] That is to say, when each independent wide-body surface grating has multiple periods, each period is the same, and illustratively, the length of each period is 0.8 um.

[0124] Or, each cycle is different.

[0125] That is to say, when each independent wide-body surface grating has multiple periods, each period is different. For example, the length of one period is 0.8um, and the length of another period may be 0.4um or 1.8um, etc.

[0126] Or, the periods of some cycles are the same, and the periods of the rest are different.

[0127] That is to say, in the embodiment of the present invention, there is no strict limitation on the period of the wide-body surface grating, and it can be flexibly set according to actual conditions to achieve different optical functions.

[0128] Optionally, when each period is different, a strip-shaped far-field radiation pattern can be achieved.

[0129] That is to say, when each independent wide-body surface grating has multiple periods, each period is different. For example, the length of one period is 0.8um, and the length of another period may be 0.4um or 1.8um, etc.

[0130] refer to Fig.14 , Fig.14 A schematic diagram of a curve showing a variation of the period of a wide-body surface grating with a feasible period variation according to an embodiment of the present invention as a function of the number of periods; Fig.15 , Fig.15 A feasible curve diagram of the change of the duty cycle of the second grating part provided by an embodiment of the present invention; Fig.16 , Fig.16 A logarithmic schematic diagram of the far-field power of a wide-body surface grating provided in an embodiment of the present invention.

[0131] Combination Fig.14 , Fig.15 and Fig.16 It can be seen that, on the wide body surface, the period and / or duty cycle of the grating changes with the propagation direction of the light field, and a far-field radiation pattern with strip distribution can be achieved.

[0132] It should be noted that the use of the wide-body surface grating can increase the input waveguide spacing without generating grating lobes, eliminating the problem of input waveguide crosstalk; and replacing the traditional grating array with a single wide-body surface grating eliminates the error caused by the difference between gratings; and different radiation patterns can be achieved by controlling the period of the wide-body surface grating.

[0133] The above is a detailed introduction to a laser radar orthogonal transceiver array provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0134] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0135] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device that includes a series of elements is inherent to the elements, or also includes elements inherent to these processes, methods, articles or devices. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0136] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A laser radar orthogonal transceiver array, characterized in that: The laser radar orthogonal transceiver array comprises: a transmitting unit and a receiving unit; wherein the transmitting unit transmits a light wave signal along a first direction with a preset far-field radiation pattern, and scans along a second direction; The receiving unit receives the light detection signal emitted by the transmitting unit and reflected by the object to be detected along the second direction, and scans along the first direction; The first direction is perpendicular to the second direction; The transmitting unit includes: a first laser, a first beam splitter, and a wide body surface grating having a first waveguide array, wherein the first waveguide array has a plurality of input waveguides; The first laser is used to emit laser light; The first beam splitter is used to perform beam splitting processing on the laser light emitted by the first laser; The laser beam after beam splitting is incident on the wide body surface grating through the first waveguide array for emission; Wherein, a phase shifter is provided on part or all of the input waveguides; The phase shifter is used to control the phase of the light field in the input waveguide to change the horizontal rotation angle of the wide body surface grating emission for scanning; The receiving unit comprises: a first photodetector, a first beam combiner, and a wide body surface grating having a third waveguide array, wherein the third waveguide array has a plurality of input waveguides; a phase shifter is arranged on part or all of the input waveguides; The optical detection signal is incident on the first beam combiner through the wide body surface grating and the third waveguide array in sequence; The first beam combiner is used to perform beam combining processing on the light detection signals so as to be received by the first photodetector.

2. The laser radar orthogonal transceiver array according to claim 1, characterized in that: The transmitting unit further comprises: a first planar concave cylindrical prism; The first planar concave cylindrical prism is used to widen the scanning viewing angle of the emitting unit.

3. The laser radar orthogonal transceiver array according to claim 1, characterized in that: The transmitting unit further comprises: a second laser, a second beam splitter, and a wide body surface grating having a second waveguide array, wherein the second waveguide array has a plurality of input waveguides; Wherein, the second laser is used to emit laser light; The second beam splitter is used to perform beam splitting processing on the laser light emitted by the second laser; The laser beam after beam splitting is incident on the wide body surface grating through the second waveguide array for emission; Wherein, a phase shifter is provided on part or all of the input waveguides; The phase shifter is used to control the phase of the light field in the input waveguide to change the horizontal rotation angle of the wide body surface grating emission for scanning; The laser light emitted by the first laser and the laser light emitted by the second laser are incident on the wide body surface grating from two opposite directions.

4. The laser radar orthogonal transceiver array according to claim 1, characterized in that: The receiving unit further includes: a second plane concave cylindrical prism; The second planar concave cylindrical prism is used to widen the scanning viewing angle of the receiving unit.

5. The laser radar orthogonal transceiver array according to claim 1, characterized in that: The receiving unit further includes: a second photodetector, a second beam combiner, and a wide body surface grating having a fourth waveguide array, wherein the fourth waveguide array has a plurality of input waveguides; a phase shifter is disposed on some or all of the input waveguides; The optical detection signal is incident on the second beam combiner through the wide body surface grating and the fourth waveguide array in sequence; The second beam combiner is used to combine the light detection signals so as to be received by the second photodetector; The light detection signal received by the first photodetector and the light detection signal received by the second photodetector have opposite light propagation directions.

6. The laser radar orthogonal transceiver array according to any one of claims 1 to 5, characterized in that: Widebody surface gratings also include: The first grating parts and the second grating parts are alternately arranged in sequence along the input waveguide direction; In a direction perpendicular to the plane where the wide body surface grating is located, the thickness of the first grating part is smaller than the thickness of the second grating part.

7. The laser radar orthogonal transceiver array according to claim 6, characterized in that: The wide body surface grating has multiple periods.

8. The laser radar orthogonal transceiver array according to claim 1, characterized in that: The transmitting unit and the receiving unit are integrated on the same chip.

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