VCSEL-Based Solid-State LiDAR System

Abstract

The present application discloses a VCSEL-based solid-state lidar system. The VCSEL-based solid-state lidar system of the present application includes a light source module, a coupling and beam splitting module, a dispersion scanning module, and an analysis module. The light source module is used to output a first light beam; the coupling and beam splitting module is coupled to the light source module and is used to obtain a beat signal; the dispersion scanning module is coupled to the coupling and beam splitting module; the analysis module is coupled to the coupling and beam splitting module and is used to receive the beat signal and analyze the beat signal to obtain information about the object to be measured. In the embodiment of the present application, by setting the dispersion scanning module, the first light beam emitted by the light source module is projected onto the surface of the object to be measured, and two-dimensional scanning of the object to be measured is realized with the wavelength scanning of the light source module, and high-speed scanning is realized by using the fast wavelength tuning of the light source module; in addition, there is no need to use mechanical scanning devices, and while realizing scanning, the scanning accuracy and the system stability are improved.

Description

Technical Field

[0001] This application relates to the field of lidar detection, and in particular, to a solid-state lidar system based on VCSEL. Background Art

[0002] As a three-dimensional imaging technology with broad prospects, lidar is widely used in fields such as autonomous driving, drones, robots, and geodetic surveying. Currently, lidar is mainly divided into time-of-flight ranging method and frequency-modulated continuous-wave ranging method. The frequency-modulated continuous-wave ranging method is widely used due to its advantages such as high detection accuracy and eye safety.

[0003] However, currently, the frequency-modulated continuous-wave ranging method mainly uses a mechanical scanning device to detect the surface of an object. However, this scanning method of lidar has low efficiency and poor reliability. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the prior art. For this purpose, this application proposes a solid-state lidar system based on VCSEL, which can improve the scanning efficiency and reliability of the system.

[0005] The solid-state lidar system based on VCSEL according to the first aspect embodiment of this application includes:

[0006] A light source module for outputting a first light beam;

[0007] A coupling and beam splitting module, coupled to the light source module, for splitting the first light beam into a detection light beam and a reference light beam, and also for coupling the detection light beam and the reference light beam to obtain a beat signal;

[0008] A dispersion scanning module, coupled to the coupling and beam splitting module, for projecting the detection light beam onto the surface of the object to be measured to scan the object to be measured; wherein, the detection light beam returns to the coupling and beam splitting module after being reflected by the object to be measured;

[0009] An analysis module, coupled to the coupling and beam splitting module, for receiving the beat signal and analyzing the beat signal to obtain information about the object to be measured.

[0010] The solid-state lidar system based on VCSEL according to the embodiment of this application has at least the following beneficial effects: By setting a dispersion scanning module to project the first light beam emitted by the light source module onto the surface of the object to be measured, two-dimensional scanning of the object to be measured is realized with the wavelength scanning of the light source module, and high-speed scanning is realized by using the fast wavelength tuning of the light source module; in addition, there is no need to use a mechanical scanning device, and while realizing the scanning of the object to be measured, the scanning accuracy and the stability of the system are improved.

[0011] According to some embodiments of the present application, the light source module includes: a vertical cavity surface emitting laser (VCSEL) for outputting a laser beam; and a control unit coupled to the VCSEL for controlling the VCSEL to modulate the laser beam into the first beam.

[0012] According to some embodiments of the present application, the control unit includes: a power supply coupled to the VCSEL for providing a driving voltage to the VCSEL; a wavelength tuning sub-unit coupled to the VCSEL for adjusting the output wavelength of the laser beam; and a temperature regulation sub-unit coupled to the VCSEL for regulating the internal temperature of the VCSEL.

[0013] According to some embodiments of the present application, the coupling and beam splitting module includes: a first fiber optic coupler for splitting the first beam to obtain the probe light and the reference light; a circulator coupled to the first fiber optic coupler for transmitting the probe light to the dispersion scanning module and transmitting the probe light reflected by the object to be measured; a delay fiber coupled to the first fiber optic coupler for transmitting the reference light; and a second fiber optic coupler coupled to the circulator and the delay fiber respectively for coupling the probe light and the reference light to obtain a beat signal.

[0014] According to some embodiments of the present application, the coupling and beam splitting module includes: a beam splitter for splitting the first beam to obtain the probe light and the reference light; and a mirror coupled to the beam splitter for reflecting the reference light; wherein the probe light is transmitted to the dispersion scanning module to scan the object to be measured, and the beam splitter couples the reference light and the probe light reflected by the object to be measured to obtain the beat signal.

[0015] According to some embodiments of the present application, the dispersion scanning module includes: a collimator coupled to the coupling and beam splitting module for collimating the probe light; a first one-dimensional dispersion device coupled to the collimator for modulating the collimated probe light; and a second one-dimensional dispersion device coupled to the first one-dimensional dispersion device for secondarily modulating the probe light and projecting the probe light onto the surface of the object to be measured; wherein the second one-dimensional dispersion device and the first one-dimensional dispersion device are perpendicularly arranged.

[0016] According to some embodiments of the present application, the dispersion scanning module includes: a wavelength division multiplexer, which is coupled to the coupling beam splitting module and is used for splitting the detection light; an outgoing optical unit, which is coupled to the wavelength division multiplexer and is used for projecting the detection light after splitting onto the surface of the object to be measured.

[0017] According to some embodiments of the present application, the outgoing optical unit includes: an optical fiber array, which is coupled to the wavelength division multiplexer and is used for arranging the split light beams; a condenser element, which is coupled to the optical fiber array and is used for projecting each light beam to a corresponding position on the surface of the object to be measured.

[0018] According to some embodiments of the present application, the analysis module includes: a detection unit, which is coupled to the coupling beam splitting module and is used for receiving the beat signal and converting the beat signal into an electrical signal; a signal processing unit, which is communicatively connected to the detection unit and is used for analyzing the electrical signal to obtain information about the object to be measured.

[0019] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0020] The following further describes the present application in conjunction with the drawings and embodiments, where:

[0021] Figure 1 is a schematic diagram of a solid-state lidar system based on VCSEL according to an embodiment of the present application;

[0022] Figure 2 is Figure 1 a specific module schematic diagram of the light source module in

[0023] Figure 3 is Figure 2 a specific module schematic diagram of the control unit in

[0024] Figures 4a - 4b is Figure 3 a schematic diagram of the working principle of the wavelength tuning sub-unit in

[0025] Figure 5 is another schematic diagram of a solid-state lidar system based on VCSEL according to an embodiment of the present application;

[0026] Figure 6 is another schematic diagram of a solid-state lidar system based on VCSEL according to an embodiment of the present application;

[0027] Figure 7Another schematic diagram of the VCSEL-based solid-state lidar system according to the embodiments of the present application;

[0028] Figure 8 Another schematic diagram of the VCSEL-based solid-state lidar system according to the embodiments of the present application;

[0029] Figure 9 Another schematic diagram of the VCSEL-based solid-state lidar system according to the embodiments of the present application;

[0030] Figure 10 Specific module schematic diagram of the VCSEL-based solid-state lidar system according to the embodiments of the present application.

[0031] Reference numerals:

[0032] Light source module 100, vertical cavity surface emitting laser 110, control unit 120, power supply 121, wavelength tuning sub-unit 122, temperature regulation sub-unit 123, coupling and beam splitting module 200, first fiber coupler 210, circulator 220, delay fiber 230, second fiber coupler 240, beam splitter 250, mirror 260, dispersion scanning module 300, collimator 310, first one-dimensional dispersion device 320, second one-dimensional dispersion device 330, wavelength division multiplexer 340, outgoing optical unit 350, fiber array 351, condenser element 352, analysis module 400, detection unit 410, signal processing unit 420, object to be measured 500. Detailed implementation manners

[0033] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0034] In the description of the present application, it should be understood that the orientation or positional relationship involved, such as up, down, front, back, left, right, etc., indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present application.

[0035] In the description of the present application, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the base number, and understandings such as "above", "below", "within", etc. include the base number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0036] In the description of the present application, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present application in combination with the specific content of the technical solution.

[0037] In the description of the present application, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0038] Next, refer to Figure 1 Describe a VCSEL-based solid-state lidar system according to an embodiment of the present application.

[0039] As Figure 1 shown, a VCSEL-based solid-state lidar system according to an embodiment of the present application includes a light source module 100, a coupling and beam splitting module 200, a dispersion scanning module 300, and an analysis module 400.

[0040] The light source module 100 is used to output a first light beam; the coupling and beam splitting module 200 is coupled to the light source module 100, and is used to divide the first light beam into a detection light beam and a reference light beam, and is also used to couple the detection light beam and the reference light beam to obtain a beat signal; the dispersion scanning module 300 is coupled to the coupling and beam splitting module 200, and is used to project the detection light beam onto the surface of the object to be measured 500 to scan the object to be measured 500; wherein, after the detection light beam is reflected by the object to be measured 500, it returns to the coupling and beam splitting module 200; the analysis module 400 is coupled to the coupling and beam splitting module 200, and is used to receive the beat signal and analyze the beat signal to obtain information about the object to be measured.

[0041] Specifically, the light source module 100 outputs a corresponding first light beam according to the set parameters. The first light beam enters the coupling and beam splitting module 200 coupled to the light source module 100 for beam splitting, divided into a detection light and a reference light. Among them, the detection light enters the dispersion scanning module 300 and is projected onto the surface of the object to be measured 500 by the dispersion scanning module 300. The object to be measured 500 reflects the detection light, and the reflected detection light returns along the original path to the coupling and beam splitting module 200, and is coupled with the reference light to obtain a beat signal. The beat signal enters the analysis module 400 for analysis. Since the beat signal carries information of the object to be measured, such as distance information, angle information, etc., the analysis module 400 can obtain the three-dimensional information of the object to be measured 500 by analyzing the beat signal, realizing the scanning of the object.

[0042] According to the VCSEL-based solid-state lidar system of the embodiments of the present application, by setting the dispersion scanning module 300 to project the first light beam emitted by the light source module 100 onto the surface of the object to be measured 500, two-dimensional scanning of the object to be measured is realized with the wavelength scanning of the light source module, and high-speed scanning is realized by using the fast wavelength tuning of the light source module; in addition, there is no need to use mechanical scanning devices, while realizing the scanning of the object to be measured 500, the scanning accuracy and the system stability are improved.

[0043] In some specific embodiments of the present application, such as Figure 1 and Figure 2 As shown, the light source module 100 includes a vertical cavity surface emitting laser 110 and a control unit 120. The vertical cavity surface emitting laser 110 is used to output a laser beam; the control unit 120 is coupled to the vertical cavity surface emitting laser 110 and is used to control the vertical cavity surface emitting laser 110 to modulate the laser beam into a first light beam.

[0044] Specifically, the light source module 100 includes a vertical cavity surface emitting laser 110 and a control unit 120. The vertical cavity surface emitting laser 110 is used to output a laser beam. Among them, the vertical cavity surface emitting laser 110 can be a single tunable vertical cavity surface emitting laser 110, or a large sweep range laser source formed by connecting multiple vertical cavity surface emitting lasers 110 with different tuning wavelength ranges in series. The control unit 120 is coupled to the vertical cavity surface emitting laser 110 and is used to adjust the parameters of the vertical cavity surface emitting laser 110 to modulate the laser beam, thereby obtaining a first light beam. As a commercial light source, the vertical cavity surface emitting laser 110 has the advantages of low cost and small volume, so that the miniaturization of the VCSEL-based solid-state lidar system can be realized and the cost of the system can be reduced.

[0045] In some specific embodiments of the present application, such as Figures 1 to 4bAs shown, the control unit 120 includes a power supply 121, a wavelength tuning subunit 122, and a temperature regulation subunit 123. The power supply 121 is coupled to the vertical cavity surface emitting laser 110 and is used to provide a driving voltage to the vertical cavity surface emitting laser 110. The wavelength tuning subunit 122 is coupled to the vertical cavity surface emitting laser 110 and is used to adjust the output wavelength of the laser beam. The temperature regulation subunit 123 is coupled to the vertical cavity surface emitting laser 110 and is used to adjust the internal temperature of the vertical cavity surface emitting laser 110.

[0046] Specifically, the power supply 121, the wavelength tuning subunit 122, and the temperature regulation subunit 123 are all coupled to the vertical cavity surface emitting laser 110. Among them, the power supply 121 is used to provide a suitable driving voltage to the vertical cavity surface emitting laser 110 so that the vertical cavity surface emitting laser 110 can emit a laser beam. The wavelength tuning subunit 122 can modulate the wavelength of the beam emitted by the vertical cavity surface emitting laser 110 by outputting triangular wave signals with different repetition frequencies, different voltage magnitudes, and different duty cycles. It can be understood that other waveforms such as sine waves can also be used to modulate the wavelength of the beam emitted by the vertical cavity surface emitting laser 110. As Figure 4a and Figure 4b shown, within the ΔT time, when the tuning voltage output by the wavelength tuning subunit 122 rises from 0V to UV, the laser frequency emitted by the vertical cavity surface emitting laser 110 will be tuned from f1 to f2 (i.e., the wavelength will change). The temperature regulation subunit 123 will adjust the temperature inside the light source module 100 so that the vertical cavity surface emitting laser 110 can operate at room temperature to ensure its stable operation. By setting the power supply 121, the wavelength tuning subunit 122, and the temperature regulation subunit 123, the parameters of the laser beam can be adjusted to achieve wavelength tuning and enable the vertical cavity surface emitting laser 110 to operate at a suitable temperature, which can effectively improve the service life of the laser.

[0047] In some other embodiments, the control unit 120 may also be provided with an optical amplifier for amplifying the energy of the beam emitted by the vertical cavity surface emitting laser 110, so that the solid-state lidar system based on VCSEL can detect objects at long distances. Among them, the optical amplifier can be an erbium-doped fiber amplifier, a semiconductor optical amplifier, a fiber amplifier, etc.

[0048] In some specific embodiments of the present application, such as Figure 5As shown in the figure, the coupling beam splitting module 200 includes a first fiber optic coupler 210, a circulator 220, a delay fiber 230, and a second fiber optic coupler 240. The first fiber optic coupler 210 is used to split the first light beam to obtain a probe light and a reference light. The circulator 220 is coupled to the first fiber optic coupler 210 and is used to transmit the probe light to the dispersion scanning module 300 and transmit the probe light reflected by the object to be measured 500. The delay fiber 230 is coupled to the first fiber optic coupler 210 and is used to transmit the reference light. The second fiber optic coupler 240 is respectively coupled to the circulator 220 and the delay fiber 230 and is used to couple the probe light and the reference light to obtain a beat signal.

[0049] Specifically, the first light beam output by the light source module 100 enters the coupling beam splitting module 200 through the first fiber optic coupler 210, and the first fiber optic coupler 210 splits the first light beam into a probe light and a reference light.

[0050] The probe light enters the circulator 220. The circulator 220 is a three-port device that can transmit light beams unidirectionally. When the light beam enters from the first port of the circulator 220, it will be output from the second port. When it enters from the second port, it will be output from the third port. The probe light is input from the first port of the circulator 220 and output from the second port to the dispersion scanning module 300. The dispersion scanning module 300 projects the probe light onto the surface of the object to be measured 500 to perform point-by-point scanning on the object to be measured 500. The object to be measured 500 will reflect the probe light carrying information. The probe light will enter the second port of the circulator 220 through the dispersion scanning module 300 and be output from the third port and enter the second fiber optic coupler 240. The reference light enters the delay fiber 230 and enters the second fiber optic coupler 240 after being processed by the delay fiber 230. The probe light and the reference light will interfere in the second fiber optic coupler 240 to generate a beat signal. The analysis module 400 processes and analyzes the beat signal, and then the relevant position information of the object to be measured 500 can be obtained. By setting up this optical path to obtain the information of the object to be measured 500, while improving the scanning accuracy, the optical path structure is simplified, which is convenient for large-scale and wide use.

[0051] In some specific embodiments of the present application, as Figure 6 shown, the coupling beam splitting module 200 includes a beam splitter 250 and a mirror 260. The optical beam splitter is used to split the first light beam to obtain a probe light and a reference light. The mirror 260 is coupled to the beam splitter 250 and is used to reflect the reference light. Among them, the probe light is transmitted to the dispersion scanning module 300 to scan the object to be measured 500, and the beam splitter couples the reference light and the probe light reflected by the object to be measured to obtain a beat signal.

[0052] Specifically, the coupling and beam splitting module 200 may also be a beam splitter 250 and a mirror 260, and the transmission medium is air. The beam splitter 250 splits the first beam emitted by the light source module 100 to obtain a detection light and a reference light. The detection light is directly input into the coupling and beam splitting module 200, and the dispersion scanning module 300 projects the detection light onto the surface of the object to be measured 500 for point-by-point scanning of the object to be measured 500. The object to be measured 500 then reflects the detection light carrying information back into the beam splitter 250. After the reference light is output by the beam splitter 250, it irradiates the surface of the mirror 260, and the mirror 260 reflects the reference light so that the reference light returns to the beam splitter 250. In the beam splitter 250, the detection light and the reference light interfere to form a beat signal. After the analysis module 400 analyzes the beat signal, the three-dimensional information of the object to be measured 500 can be obtained.

[0053] In some specific embodiments of the present application, as Figure 7 shown, the dispersion scanning module 300 includes a collimator 310, a first one-dimensional dispersion device 320, and a second one-dimensional dispersion device 330. The collimator 310 is coupled to the coupling and beam splitting module 200 and is used for collimating the detection light; the first one-dimensional dispersion device 320 is coupled to the collimator 310 and is used for modulating the collimated detection light; the second one-dimensional dispersion device 330 is coupled to the first one-dimensional dispersion device 320 and is used for secondarily modulating the detection light and projecting the detection light onto the surface of the object to be measured 500; wherein, the second one-dimensional dispersion device 330 and the first one-dimensional dispersion device 320 are placed perpendicular to each other.

[0054] Specifically, the dispersion scanning module 300 includes a collimator 310 and two one-dimensional dispersion devices placed perpendicular to each other. By setting the first one-dimensional dispersion device 320 and the second one-dimensional dispersion device 330 perpendicular to each other, a two-dimensional dispersion device can be formed to realize the scanning of the object to be measured 500 and obtain the three-dimensional information of the object to be measured 500. Among them, the first one-dimensional dispersion device 320 and the second one-dimensional dispersion device 330 include virtual phased arrays, echelle gratings, blazed gratings, projection gratings, etc., which can be selected according to user needs.

[0055] In some specific embodiments of the present application, as Figure 8 shown, the dispersion scanning module 300 includes a wavelength division multiplexer 340 and an output optical unit 350. The wavelength division multiplexer 340 is coupled to the coupling and beam splitting module 200 and is used for splitting the detection light; the output optical unit 350 is coupled to the wavelength division multiplexer 340 and is used for projecting the split detection light onto the surface of the object to be measured 500.

[0056] Specifically, the wavelength division multiplexer 340 is coupled to the coupling and splitting module 200 and can separate optical signals of different wavelengths in the first light beam. After separation, the first light beam enters the output optical unit 350 that is coupled to the wavelength division multiplexer 340. The output optical unit 350 projects lights of different wavelengths onto the surface of the object to be measured 500, and each wavelength of light respectively obtains information within a certain range of the object to be measured 500. The light reflected back by the object to be measured 500 returns along the original path. The wavelength division multiplexer 340 synthesizes optical signals of different wavelengths into one beam and then inputs it into the single-mode optical fiber. After the analysis module 400 obtains the beat signal, it can analyze and process the information carried by each wavelength of light to obtain the three-dimensional information of the entire object to be measured 500. Among them, the wavelength division multiplexer 340 can be an arrayed waveguide grating, a prism dispersion type wavelength division multiplexer, a multi-layer dielectric film type wavelength division multiplexer, etc.

[0057] In some specific embodiments of the present application, as Figure 8 shown, the output optical unit 350 includes an optical fiber array 351 and a condenser element 352. The optical fiber array 351 is coupled to the wavelength division multiplexer 340 and is used to arrange the split light beams. The condenser element 352 is coupled to the optical fiber array 351 and is used to project each light beam onto the corresponding position on the surface of the object to be measured 500.

[0058] Specifically, the optical fiber array 351 is composed of multiple single-mode optical fibers closely arranged in a certain order and is coupled to the wavelength division multiplexer 340. After the wavelength division multiplexer 340 separates optical signals of different wavelengths in the first light beam, the optical signals enter different single-mode optical fibers. The condenser element 352 is coupled to the optical fiber array 351 and converges the light beams of different wavelengths output through the optical fiber array 351 to the corresponding areas on the surface of the object to be measured 500 respectively, so as to achieve point-by-point scanning in a certain order. For example, from bottom to top and from right to left. After the scanning is completed, the light beam is emitted from the surface of the object to be measured 500 back into the corresponding single-mode optical fiber of the optical fiber array 351 and then enters the wavelength division multiplexer 340 to transmit the light beam to the analysis module 400, so as to obtain the information of the object to be measured 500. Among them, the condenser element 352 can be a converging lens, a Fresnel lens or other devices with the function of converging light beams.

[0059] In some specific embodiments of the present application, as Figure 9 shown, the analysis module 400 includes a detection unit 410 and a signal processing unit 420. The detection unit 410 is coupled to the coupling and splitting module 200 and is used to receive the beat signal and convert the beat signal into an electrical signal. The signal processing unit 420 is communicatively connected to the detection unit 410 and is used to analyze the electrical signal to obtain the information of the object to be measured 500.

[0060] Specifically, the detection unit 410 receives the light beam reflected by the object 500 to be measured, converts the beat signal (i.e., optical signal) obtained by interfering the detection light with the reference light into an electrical signal, and transmits the electrical signal to the signal processing unit 420. Among them, the detection unit 410 can be a balanced photodetector, an avalanche photodetector, a PIN photodetector, etc. After receiving the electrical signal, the signal processing unit 420 performs calculation and processing on the electrical signal to obtain the three-dimensional information of the object 500 to be measured. Among them, the signal processing unit 420 can be an ADC data acquisition card, a TDC data acquisition card, an oscilloscope, etc.

[0061] Next, with reference to Figure 1 , Figure 2 , Figure 3 and Figure 10 a specific embodiment is used to describe in detail the VCSEL-based solid-state lidar system according to the embodiments of the present application. It should be understood that the following description is only an exemplary illustration and not a specific limitation of the present application.

[0062] As Figure 1 , Figure 2 , Figure 3 and Figure 10 shown, the light source module 100 includes a vertical cavity surface emitting laser 110 and a control unit 120. The control unit 120 includes a power supply 121, a wavelength tuning sub-unit 122, and a temperature regulation sub-unit 123. Through the control unit 120, the wavelength of the laser beam emitted by the vertical cavity surface emitting laser 110 can be adjusted so that it can emit a linearly swept laser signal, thereby obtaining a first light beam.

[0063] The first light beam enters the coupling and beam splitting module 200 for processing. The coupling and beam splitting module 200 includes a first fiber optic coupler 210, a circulator 220, a delay fiber 230, and a second fiber optic coupler 240. The first fiber optic coupler 210 splits the first light beam into a detection light and a reference light. The detection light enters the dispersion scanning module 300 through the circulator 220. Among them, the dispersion scanning module 300 includes a wavelength division multiplexer 340, an optical fiber array 351, and a condenser 352.

[0064] The detection light is input into the wavelength division multiplexer 340 by the circulator 220. The wavelength division multiplexer 340 decomposes the detection light and inputs it into the fiber array 351 composed of different single-mode fibers. A condensing element 352 is arranged behind the fiber array 351, which is used to converge the light output by the fiber array 351 to the corresponding area on the surface of the object to be measured 500, and the object to be measured 500 is scanned point by point in a certain order. After the detection light reaches the surface of the object to be measured 500, it will be reflected, and the reflected detection light will return along the original path to the corresponding single-mode fiber in the fiber array 351, and then be coupled into the single-mode fiber through the wavelength division multiplexer 340. Finally, the detection light is transmitted back to the second fiber coupler 240 through the circulator 220. The reference light directly enters the delay optical fiber 230, and after being transmitted through the delay optical fiber 230, it enters the second fiber coupler 240. The detection light and the reference light will interfere in the second fiber coupler 240 to generate a beat signal.

[0065] After the detection unit 410 in the analysis module 400 receives the beat signal, it converts the beat signal (i.e., the optical signal) into an electrical signal and inputs it into the signal processing unit 420 for calculation and processing, so as to obtain the three-dimensional information of the object to be measured 500.

[0066] According to the VCSEL-based solid-state lidar system of the embodiments of the present application, by setting like this, at least the following effects can be achieved. By setting the vertical cavity surface emitting laser 110, the cost of the VCSEL-based solid-state lidar system can be reduced and the complexity of the system can be reduced. In addition, the vertical cavity surface emitting laser 110 has a small volume, which can reduce the volume of the system and is convenient for carrying and using. The control unit 120 can adjust the parameters of the laser beam emitted by the vertical cavity surface emitting laser 110, so that it can perform fast frequency scanning, thereby effectively improving the scanning speed of the object to be measured 500. At the same time, by scanning through the dispersion scanning module 300, the interference of the external environment can be reduced, thereby improving the scanning accuracy and the stability of the system.

[0067] The above has described the embodiments of the present application in detail with reference to the drawings, but the present application is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art to which the present application pertains, various changes can be made without departing from the purpose of the present application. In addition, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Claims

1. A solid-state lidar system based on VCSEL, characterized in that, Comprising: A light source module for outputting a first light beam; A coupling and beam splitting module, coupled to the light source module, for splitting the first light beam into a detection light and a reference light, and also for coupling the detection light and the reference light to obtain a beat signal; A dispersion scanning module, coupled to the coupling and beam splitting module, for projecting the detection light onto the surface of the object to be measured to scan the object to be measured; wherein, the detection light is reflected by the object to be measured and then returns to the coupling and beam splitting module; The dispersion scanning module includes: a wavelength division multiplexer and an outgoing optical unit. The wavelength division multiplexer is coupled to the coupling and beam splitting module for splitting the detection light to obtain optical signals of different wavelengths; the outgoing optical unit is coupled to the wavelength division multiplexer for projecting the optical signals of different wavelengths onto the surface of the object to be measured, and each optical signal of a wavelength respectively obtains information on the corresponding area on the surface of the object to be measured; the optical signals of different wavelengths are reflected by the object to be measured and then return to the wavelength division multiplexer, and the wavelength division multiplexer combines the reflected optical signals of different wavelengths into one beam and transmits it to the analysis module to obtain the three-dimensional information of the object to be measured; An analysis module, coupled to the coupling and beam splitting module, for receiving the beat signal and analyzing the beat signal to obtain information about the object to be measured.

2. The solid-state lidar system based on VCSEL according to claim 1, characterized in that, The light source module includes: A vertical cavity surface emitting laser for outputting a laser beam; A control unit, coupled to the vertical cavity surface emitting laser, for controlling the vertical cavity surface emitting laser to modulate the laser beam into the first light beam.

3. The solid-state lidar system based on VCSEL according to claim 2, characterized in that, The control unit includes: A power supply, coupled to the vertical cavity surface emitting laser, for providing a driving voltage to the vertical cavity surface emitting laser; A wavelength tuning sub-unit, coupled to the vertical cavity surface emitting laser, for adjusting the output wavelength of the laser beam; A temperature regulation sub-unit, coupled to the vertical cavity surface emitting laser, for regulating the internal temperature of the vertical cavity surface emitting laser.

4. The solid-state lidar system based on VCSEL according to claim 1, characterized in that, The coupling and beam splitting module includes: A first fiber optic coupler for splitting the first light beam to obtain the detection light and the reference light; A circulator, coupled to the first fiber optic coupler, for transmitting the detection light to the dispersion scanning module and transmitting the detection light reflected by the object to be measured; A delay fiber, coupled to the first fiber optic coupler, for transmitting the reference light; A second fiber optic coupler, respectively coupled to the circulator and the delay fiber, for coupling the detection light and the reference light to obtain a beat signal.

5. The solid-state lidar system based on VCSEL according to claim 1, characterized in that, The coupling and beam splitting module includes: A beam splitter for splitting the first light beam to obtain the detection light and the reference light; A mirror, coupled to the beam splitter, for reflecting the reference light; Among them, the detection light is transmitted to the dispersion scanning module to scan the object to be measured, and the beam splitter couples the reference light and the detection light reflected by the object to be measured to obtain the beat signal.

6. The solid-state lidar system based on VCSEL according to claim 1, characterized in that, The dispersion scanning module includes: A collimator, which is coupled to the coupling and splitting module and is used for collimating the detection light; A first one-dimensional dispersion device, which is coupled to the collimator and is used for modulating the collimated detection light; A second one-dimensional dispersion device, which is coupled to the first one-dimensional dispersion device and is used for secondarily modulating the detection light and projecting the detection light onto the surface of the object to be measured; wherein, the second one-dimensional dispersion device and the first one-dimensional dispersion device are placed perpendicular to each other.

7. The solid-state lidar system based on VCSEL according to claim 1, characterized in that, The outgoing optical unit includes: An optical fiber array, which is coupled to the wavelength division multiplexer and is used for arranging the split light beams; A condenser, which is coupled to the optical fiber array and is used for projecting each light beam onto the surface of the object to be measured.

8. The VCSEL-based solid-state lidar system according to claim 1, wherein The analysis module includes: A detection unit, which is coupled to the coupling and splitting module and is used for receiving the beat signal and converting the beat signal into an electrical signal; A signal processing unit, which is communicatively connected to the detection unit and is used for analyzing the electrical signal to obtain the information of the object to be measured.

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