Laser radar system, laser transmitting module and laser receiving module

Abstract

The invention provides a laser radar system, a laser transmitting module and a laser receiving module, the laser radar system comprises the laser transmitting module and the laser receiving module, and the laser transmitting module comprises a plurality of seed sources used for providing signal light with different wavelengths; the optical fiber filter amplifier is used for performing power amplification and filtering processing on the signal light to obtain target signal light; the beam splitting assembly is used for splitting the target signal light processed by the optical fiber filter amplifier to obtain a plurality of beam splitting signal light arranged according to a preset rule; the preset rule is that the beam splitting signal light with the same wavelength is arranged crosswise; the laser receiving module comprises a plurality of laser receivers used for receiving light return signals reflected by a target object, and each laser receiver is provided with a filtering structure used for filtering interference signals in the light return signals; and the anti-crosstalk and anti-interference capabilities of the system are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of laser equipment, and in particular, to a laser radar system, a laser transmitting module and a laser receiving module. Background Art

[0002] Vehicle-mounted laser radar usually emits multiple laser beams from a central wavelength. Different laser beams are emitted at different angles. With the help of scanning components, different areas of the target can be detected. The receiving end uses multiple APDs (Avalanche PhotoDiodes). Each APD corresponds to each output laser beam and is used to receive lasers reflected from different detection areas of the target. The returned laser signals are processed and calculated to achieve detection and ranging of the target.

[0003] However, when the receiving end receives the return laser signal, usually one APD will receive the reflected return light from different detection areas, that is, crosstalk occurs between different APDs, and the crosstalk between adjacent APDs is more significant. The emergence of crosstalk can cause the laser radar to make misjudgments, and ghost images will appear in the point cloud output, reducing the accuracy of laser radar detection. Summary of the invention

[0004] The purpose of the present disclosure is to provide a laser radar system, a laser transmitting module and a laser receiving module to at least partially solve the above technical problems.

[0005] As a first aspect of the present disclosure, a laser radar system is provided, the system comprising a laser transmitting module and a laser receiving module, the laser transmitting module comprising:

[0006] Multiple seed sources, used for providing signal lights of different wavelengths;

[0007] An optical fiber filter amplifier, used for performing power amplification and filtering processing on the signal light to obtain a target signal light;

[0008] A beam splitting component is used to split the target signal light obtained by the optical fiber filter amplifier to obtain a plurality of split signal lights arranged according to a preset rule; the preset rule is that the split signal lights with the same wavelength are arranged crosswise;

[0009] The laser receiving module comprises: a plurality of laser receivers for receiving the return light signal reflected by the target object, and each of the laser receivers is provided with a filter structure for filtering out interference signals in the return light signal.

[0010] Optionally, the optical fiber filter amplifier comprises:

[0011] A first optical fiber filter amplifier, used for performing a first power amplification and a first filtering process on the signal light to obtain a target coupled signal light;

[0012] A second optical fiber filter amplifier, used for performing a second power amplification and a second filtering process on the target coupled signal light to obtain a target signal light;

[0013] The power supply module is used to provide a first pump light to the first optical fiber filter amplifier and to provide a second pump light to the second optical fiber filter amplifier.

[0014] Optionally, the first optical fiber filter amplifier comprises:

[0015] A first gain fiber, used to amplify the signal light power of the signal light to obtain a first signal light;

[0016] A first signal pump light combiner, used for combining the first signal light and the first pump light in the same optical fiber to obtain a second signal light;

[0017] The filter combiner is used to filter the second signal light and couple the filtered signal light into a beam of target coupled signal light.

[0018] Optionally, the second optical fiber filter amplifier comprises:

[0019] A second gain fiber, used to amplify the signal light power of the target coupled signal light to obtain a third signal light;

[0020] A second signal pump light combiner, used for combining the third signal light and the second pump light in the same optical fiber to obtain a fourth signal light;

[0021] The filter beam splitter is used to filter the fourth signal light and split it into multiple target signal lights.

[0022] Optionally, the laser emission module further includes:

[0023] The wavelength division multiplexer is used to couple the signal lights of different wavelengths provided by the plurality of seed sources into one signal light beam.

[0024] Optionally, the energy supply module includes:

[0025] A pump source, used to provide energy to the signal light;

[0026] The multimode beam splitter is used to split the energy provided by the pump source.

[0027] Optionally, the filter combiner comprises:

[0028] A first isolation chip, used for inputting a second signal light incident into the filter combiner and isolating the reflected light inside the filter combiner;

[0029] a first filter plate, used for transmitting a first target signal light of a first wavelength in the second signal light along the first optical path, and reflecting first intermediate signal lights of other wavelengths along the second optical path;

[0030] The second filter plate is used to transmit the second target signal light of the second wavelength in the first intermediate signal light along the third optical path, and reflect the first target signal light along the third optical path, so that the first target signal light and the second target signal light are simultaneously coupled along the third optical path into a beam of target coupled signal light and then output.

[0031] Optionally, the filter combiner further includes:

[0032] A plurality of first reflectors are used to adjust the optical path direction of the signal light reflected and / or transmitted by the first filter plate and the second filter plate.

[0033] Optionally, the filter combiner further includes:

[0034] A first input collimator, used for inputting the second signal light into the filter combiner;

[0035] The first output collimator is used to output the target coupled signal light to the filter combiner.

[0036] Optionally, the first filter plate and the second filter plate both include:

[0037] a first substrate;

[0038] The first filter fixedly connected to the first substrate is used for transmitting signal light of a preset wavelength and reflecting signal light of other wavelengths.

[0039] Optionally, the filtering beam splitter comprises:

[0040] A second isolation chip, used for inputting a fourth signal light incident into the filter beam splitter and isolating the reflected light inside the filter beam splitter;

[0041] a third filter plate, used for transmitting a third target signal light of a third wavelength in the fourth signal light along a fourth optical path, and reflecting second intermediate signal lights of other wavelengths along a fifth optical path;

[0042] The fourth filter plate is used for transmitting the fourth target signal light of the fourth wavelength in the second intermediate signal light along the sixth optical path, and reflecting the third intermediate signal light of other wavelengths along the seventh optical path, so that the third target signal light of the third wavelength, the fourth target signal light of the fourth wavelength and the third intermediate signal light of other wavelengths in the fourth signal light are split and emitted from the filter beam splitter respectively.

[0043] Optionally, the filter beam splitter further comprises:

[0044] A second input collimator, used for inputting a fourth signal light into the filtering beam splitter;

[0045] At least one second output collimator is used to output the third target signal light of the third wavelength, the fourth target signal light of the fourth wavelength, and the third intermediate signal light of other wavelengths to the filter beam splitter.

[0046] Optionally, the third filter plate and the fourth filter plate both include:

[0047] a second substrate;

[0048] The second filter fixedly connected to the second substrate is used for transmitting signal light of a preset wavelength and reflecting signal light of other wavelengths.

[0049] Optionally, the filtering structure includes at least one of an anti-reflection film, a grating and a filter.

[0050] As a second aspect of the present disclosure, a laser emission module is provided, wherein the laser emission module includes a plurality of seed sources for providing signal lights of different wavelengths, and further includes:

[0051] An optical fiber filter amplifier, used for performing power amplification and filtering processing on the signal light to obtain a target signal light;

[0052] The beam splitting component is used to split the target signal light obtained by the optical fiber filter amplifier to obtain a plurality of split signal lights arranged according to a preset rule; the preset rule is that the split signal lights with the same wavelength are arranged crosswise

[0053] As a third aspect of the present disclosure, a laser receiving module is provided, which includes a plurality of laser receivers for receiving return light signals reflected by a target object, and each of the laser receivers is provided with a filtering structure for filtering out interference signals in the return light signals.

[0054] In the laser radar system, laser transmitting module and laser receiving module provided in the present invention, the laser radar system includes a laser transmitting module and a laser receiving module. The signal light emitted by the laser transmitting module is cross-arranged, and the laser receiving module with a filtering structure receives the reflected return light signal, which greatly improves the anti-crosstalk and anti-interference capabilities of the laser radar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and other purposes and advantages of the present disclosure are further described below in conjunction with specific embodiments and with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding technical features or components will be represented by the same or corresponding reference numerals.

[0056] Figure 1 A schematic diagram of an embodiment of a laser radar system provided by the present disclosure

[0057] Figure 2 is a schematic diagram of an embodiment of a laser emission module provided by the present disclosure;

[0058] Figure 3 is a schematic diagram of an implementation of a laser receiving module provided by the present disclosure;

[0059] Figure 4 is a schematic diagram of another embodiment of the laser radar system provided by the present disclosure;

[0060] Figure 5 is a schematic diagram of an implementation of the filter combiner provided by the present disclosure;

[0061] Figure 6 is a schematic diagram of the filtering effect of the filter combiner provided by the present disclosure;

[0062] Figure 7 is a schematic diagram of an embodiment of the filter beam splitter provided by the present disclosure;

[0063] Figure 8 is a schematic diagram of a laser receiving module provided by the present disclosure and provided with an anti-reflection film;

[0064] Fig. 9 It is a schematic diagram of a laser receiving module for pigtail-writing grating provided by the present disclosure;

[0065] Fig.10 is a schematic diagram of a laser receiving module provided by the present disclosure and provided with a filter;

[0066] Fig.11a An example of laser light emitting point distribution when the laser radar system according to an embodiment of the present disclosure performs field scanning is shown;

[0067] Fig.11b An example of a receiving field of view of a laser radar system according to an embodiment of the present disclosure is shown;

[0068] Fig.11c An example of the structure of an optical receiver of a laser radar system according to an embodiment of the present disclosure is shown;

[0069] Fig.11dAn example of the correspondence relationship between the laser emission point and the receiving field of view of the laser radar system according to an embodiment of the present disclosure is shown;

[0070] Fig.12 A schematic diagram showing the composition of a vehicle integrated with a laser radar system according to an embodiment of the present disclosure.

[0071] Fig.13 A block diagram showing a configuration of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0072] In order to enable those skilled in the art to better understand the technical solution of the present invention, the laser radar system, laser transmitting module and laser receiving module provided by the present invention are described in detail below with reference to the accompanying drawings.

[0073] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present disclosure thorough and complete and to enable those skilled in the art to fully understand the scope of the present disclosure.

[0074] In the absence of conflict, the various embodiments of the present disclosure and the various features therein may be combined with each other.

[0075] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0076] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, it specifies the presence of features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof.

[0077] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0078] The following detailed description is made with reference to the accompanying drawings, and the following detailed description is provided to assist in a comprehensive understanding of the various exemplary embodiments of the present disclosure. The following description includes various details to assist in understanding, but these details are considered to be examples only and not to limit the present disclosure, which is defined by the appended claims and their equivalents. The words and phrases used in the following description are only used to enable a clear and consistent understanding of the present disclosure. In addition, for the sake of clarity and brevity, descriptions of well-known structures, functions, and configurations may be omitted. Those of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the scope of the present disclosure.

[0079] As one aspect of the present disclosure, a laser radar system is provided. Figure 1 and Figure 2 As shown, the system includes a laser transmitting module and a laser receiving module, and the laser transmitting module includes:

[0080] Multiple seed sources, used for providing signal lights of different wavelengths;

[0081] Optical fiber filter amplifier, used to amplify the power of the signal light and filter it to obtain the target signal light;

[0082] A beam splitting component is used to split the target signal light obtained by the optical fiber filter amplifier to obtain a plurality of split signal lights arranged according to a preset rule; the preset rule is that the split signal lights with the same wavelength are arranged crosswise;

[0083] The laser receiving module includes: a plurality of laser receivers for receiving the return light signal reflected by the target object, and each laser receiver is provided with a filtering structure for filtering out the interference signal in the return light signal.

[0084] Reference Figure 1 and Figure 2 In the embodiment of the present disclosure, the laser emission module is used to generate laser outputs of at least two wavelengths, including multiple seed sources that provide signal lights of different wavelengths, and the seed sources can control their output power, pulse width, and repetition frequency, etc.; in an optional example, the laser emission module includes two seed sources of signal lights of two different central wavelengths to achieve dual-wavelength output; further, the seed source can be a semiconductor laser seed source. In another optional embodiment, a TEC (Thermo Electric Cooler) is encapsulated inside the seed source to ensure the stability of the output wavelength of the seed source at different operating temperatures.

[0085] It is worth noting that the seed source timing can be controlled to achieve wavelength division and time division output, and the laser signal can be encoded by time division to further improve the system's anti-crosstalk capability.

[0086] The laser receiver can be an avalanche photodiode APD with a pigtail. When the return light signals from different angles enter the APD pigtail, there is crosstalk between adjacent APDs, that is, signal lights of different wavelengths emitted at different angles are coupled into the same APD channel after being reflected by the target. A filtering structure is set on each laser receiver, which can greatly reduce the crosstalk. At the same time, the filtering structure can also avoid the influence of ambient light such as sunlight and lamplight on laser reception, which greatly improves the anti-interference ability of the system.

[0087] Reference Figure 3 In one example, a first return light signal with a wavelength of 1550 nm (indicated by a dotted line segment with an arrow) and a second return light signal with a wavelength of 1554 nm (indicated by a solid line segment with an arrow) are incident from different angles onto four avalanche photodiodes (APD1, APD2, APD3, and APD4) with pigtails. The pigtails are large-diameter optical fibers with a core diameter of 200 microns, a cladding diameter of 220 microns, and a numerical aperture of 0.39, so as to further improve the efficiency of receiving the return light.

[0088] The signal light emitted by the laser transmitting module is cross-arranged, and the laser receiving module with a filtering structure receives the reflected return light signal, which greatly improves the anti-crosstalk and anti-interference capabilities of the laser radar system.

[0089] Reference Figure 1 As an optional implementation, the laser radar system consists of a laser transmitting module, a scanning system, a laser receiving module and a signal processing system, wherein the laser transmitting module outputs a high-intensity laser signal, and the laser signal realizes two-dimensional scanning in the vertical and horizontal directions through the scanning system. The return light signal of the scanned laser signal after being reflected by the target object is received by the laser receiving module, and the signal output by the laser receiving module is introduced into the signal processing system of the laser radar system. After processing, a point cloud can be generated to obtain information such as the position and distance of the target.

[0090] Reference below Figure 4 A laser radar system 400 according to an embodiment of the present disclosure is described. For illustrative purposes only, Figure 4 The XYZ coordinate system is marked in . Figure 4 FIG. 4 is a schematic diagram showing the components of a laser radar system 400 according to an embodiment of the present disclosure. The laser radar system 400 can be used to detect the distance and speed of a target object.

[0091] In an embodiment of the present disclosure, the laser radar system 400 may include a transmitting device 410 , a scanning device 420 , and a receiving device 430 .

[0092] In various embodiments, the transmitting device 410 can be configured to transmit an emission beam having a uniform energy distribution. Here, uniform energy distribution can also be interpreted as uniform illumination or light intensity. In some embodiments, such an emission beam having a uniform energy distribution can be obtained by shaping (homogenizing) using an emission optical system 412, which will be discussed in detail later.

[0093] In various embodiments, the emission light beam is divergent in a first direction perpendicular to the optical axis of the emission device 410, with a corresponding first divergence angle.

[0094] In addition, in various embodiments, the emission light beam is either parallel in a second direction that is perpendicular to the optical axis of the emission device 410 and perpendicular to the first direction, or divergent and the corresponding second divergence angle is smaller than a preset threshold.

[0095] In practical applications, the first direction ( Figure 4 The Y-axis direction shown in the figure) can usually refer to the vertical direction (V direction), while the second direction ( Figure 4 The Z-axis direction shown in the figure may generally refer to the horizontal direction (H direction). For ease of understanding, the following description is made by taking the case where the first direction corresponds to the vertical direction and the second direction corresponds to the horizontal direction as an example. However, it is easy for those skilled in the art to understand that the present application is not limited thereto. For example, the first direction may also refer to the horizontal direction, and the second direction may refer to the vertical direction.

[0096] On the one hand, the emitted light beam diverges in the vertical direction, and the corresponding first divergence angle is defined as Δθ V That is, the emitted light beam is at an angle Δθ in the vertical direction. V Fan-shaped beam emission.

[0097] On the other hand, the emission light beam may be parallel in the horizontal direction. Alternatively, the emission light beam may also be divergent in the horizontal direction, but the corresponding second divergence angle is less than the preset threshold. That is, the emission light beam is emitted in the horizontal direction as parallel light or at a very small angle. The selection of the preset threshold will be discussed in detail later.

[0098] That is, the emission light beam is a uniform linear or narrow rectangular light beam. As a result, the light spot projected in the field of view can appear as a narrow rectangle or even a line. The long side of the rectangle corresponds to the vertical direction, and the short side corresponds to the horizontal direction. Here, "narrow" may mean that the aspect ratio of the rectangle is greater than a preset aspect ratio threshold. Advantageously, by using an emission light beam that is linear or narrow rectangular, the laser radar system 400 disclosed in the present invention can achieve a more concentrated field of view angle energy, a longer distance detection, and a higher resolution.

[0099] The inventors of the present application have recognized that an emission light beam having the above-mentioned specific illumination distribution can be obtained by shaping a laser beam emitted from a common light source.

[0100] Therefore, in some embodiments, the emission device 410 includes a light source 411 and an emission optical system 412. The emission optical system 412 is configured to shape the laser beam emitted from the light source 411 to convert it into the emission light beam.

[0101] In some embodiments, the light source 411 can be a laser (such as a laser emission module), for example, a solid-state laser (such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), an external-cavity diode laser (ECDL)), a laser diode, and a fiber laser. In some embodiments, the light source 411 can also include a light emitting diode (LED). However, it is easy for those skilled in the art to understand that the present application does not specifically limit the type of device of the light source 411, as long as the output power of the light source 411 is large enough.

[0102] In some embodiments, the light source 411 may be an array light source. For example, the light source 411 may be a VCSEL array including a plurality of VCSELs. In a non-limiting example, the plurality of VCSELs may be configured to light up all at the same time during measurement, rather than lighting up in partitions and / or time divisions.

[0103] Alternatively, in some embodiments, the light source 411 may also be a single point light source. It is easy for those skilled in the art to understand that the present application does not impose any specific limitation on the arrangement of the light source 411.

[0104] In some embodiments, the light source 411 can emit light beams in different forms, including pulsed light, continuous wave (CW) and quasi-continuous light. The operating wavelength of the light source can be 650nm to 1150nm, 800nm ​​to 1000nm, 850nm to 950nm or 1300nm to 1600nm. In some embodiments, the light source 411 can also include an optical component optically coupled to the light source 411 for collimating or focusing the light beam emitted by the light source 411. Each emitted light beam emitted by the light source 411 can be continuous light lasting a certain period of time, or it can be one or more light pulses.

[0105] In some embodiments, the emission optical system 412 may include a diffusion unit configured to diffuse and shape the input laser beam. For example, the diffusion unit may diffuse and shape the beam based on diffraction and / or refraction, etc., to emit the above-mentioned uniform linear or narrow rectangular beam. However, it is easy for those skilled in the art to understand that the present application may also obtain the above-mentioned emission beam through other shaping processes.

[0106] In some embodiments, the diffusion unit may include at least one of the following optical devices: an optical diffuser, a diffractive optical element (DOE), and an aspherical cylindrical mirror. However, those skilled in the art will readily appreciate that the above devices are merely examples of the diffusion unit, and the present application is not limited thereto.

[0107] In the case of using an optical diffuser or DOE to perform diffusion shaping, the emission optical system 412 may further include a collimating unit, wherein the collimating unit may be configured to collimate the laser beam emitted from the light source to obtain a collimated laser beam to be input into the diffuser or DOE.

[0108] In some embodiments, the collimating unit may include at least one of the following optical devices: a microlens or a collimating mirror. For example, the collimating unit may be an array of microlenses. However, it is easy for those skilled in the art to understand that the above devices are only examples of collimating units, and the present application is not limited thereto.

[0109] In some embodiments, the laser radar system 400 further includes a transceiver separation device. The transceiver separation device may be a plane reflector 440 or a beam splitter having a hole 441. Specifically, taking a plane reflector with a hole as an example, the plane reflector 440 uses the hole 441 to transmit the emission light beam to guide the emission light beam to the scanning device 420, and uses a mirror to reflect the receiving light beam to guide the receiving light beam to the receiving device 430. That is, the emission light beam emitted from the transmitting device 410 can be directly transmitted through the plane reflector 440 via the hole 441, and the reflected receiving light beam can be reflected by the mirror in the plane reflector 440. That is, the reverse receiving path can be separated from the forward transmitting path at the plane reflector 440. Thus, with the help of the plane reflector 440 with a hole, the laser radar system 400 can achieve coaxial transmission and reception. Advantageously, the coaxial transmission and reception can avoid the imaging position deviation problem of the return light spot of the close-range and long-range detection caused by the separation of the optical axes of the two, thereby avoiding the additional calibration caused by the problem, which is conducive to mass production of products. However, it is easy for those skilled in the art to understand that the present application may also be a non-coaxial lidar system.

[0110] The inventor of the present application realizes that the plane reflector with a hole has relatively loose requirements on the precision of the manufacturing and adjustment of the hole, as long as the emitted light beam can pass through. On this basis, by reducing the size of the hole, the loss of reflected light can be reduced.

[0111] Therefore, in some embodiments, the emission light beam is in a focused state when passing through the hole. For example, by designing the light beam characteristics of the emission light beam and / or adjusting the position of the plane reflector relative to the emission device, it can be ensured that the emission light beam is in a focused state when passing through the hole. Advantageously, by focusing the emission light beam at the hole, the hole can be minimized while ensuring that the emission light beam passes through the hole, thereby minimizing the loss of reflected light and further reducing the precision requirements for the manufacture and adjustment of the hole. However, it is easy to understand for those skilled in the art that the present application is not limited to this.

[0112] The hole is usually located at the center of the plane reflector, but the present application is not limited thereto. In addition, to reduce the loss of reflected light, the shape of the hole can correspond to the cross-sectional shape of the emitted light beam when passing through the hole, and therefore is not necessarily circular.

[0113] Those skilled in the art will readily appreciate that the present application may also use other methods to achieve coaxial transmission and reception. However, compared to other methods such as a beam splitter, the plane reflector with holes proposed in the present disclosure can reduce light loss and improve efficiency.

[0114] In various embodiments, the scanning device 420, such as a rotating mirror, can be configured to rotate around a rotation axis oriented in a vertical direction (a first direction, the Y-axis direction in the figure) to guide the emission light beam to scan the target object in the field of view. The target object can be any object that can reflect the scanning laser within the scanning field of view of the laser radar system, such as vehicles, pedestrians, animals, road signs, obstacles, trees, shelves, furniture, etc.

[0115] After irradiating the target object, the transmitted light beam is scattered back, and a portion of it returns to the laser radar system 400 as a received light beam and is received by the receiving device 430.

[0116] In various embodiments, the receiving device 430 may be configured to receive and detect a receiving light beam returned from the target object. For example, the receiving light beam scattered and returned by the target object may return to the scanning device 420 along the original path, and then be guided by the scanning device 420 to the plane reflector 440, and then reflected by the plane reflector 440 to the receiving device 430.

[0117] In some embodiments, the receiving device 430 may include a photodetector 431. The photodetector 431 may measure the power, phase, or time characteristics of the received light and generate a corresponding current output.

[0118] In some embodiments, Figure 4 As shown, the photodetector 431 may include a plurality of photodetection units 4310 arranged in one direction. Different photodetection units 4310 are configured to receive and detect light signals returned from target objects at different relative angles in the vertical direction of the field of view. The photodetector 431 may also include a receiving circuit (not shown) associated with each photodetection unit 4310. Each receiving circuit may be used to process the output electrical signal of the corresponding photodetection unit 4310.

[0119] The photodetection unit 4310 may include various forms of photodetection devices or one-dimensional or two-dimensional arrays of photodetection devices, and accordingly, the receiving circuit may be an array of one circuit or multiple circuits. In various embodiments, the photodetection device may be an avalanche diode (APD), a single photon avalanche diode (SPAD), a PN photodiode, or a PIN photodiode.

[0120] For example, the photodetection unit 4310 can be a photodetection device SPAD or a one-dimensional or two-dimensional array thereof, so the photodetector 431 is an array of SPADs. Advantageously, since the spacing between SPADs is very small and they are closely arranged, the spatial resolution can be greatly improved. Moreover, different SPADs can simultaneously and individually perform direct Time-of-Flight (dToF) measurements without the need to light up the light source in different zones and at different times, which can greatly improve the temporal resolution.

[0121] In some embodiments, the receiving device 430 may further include a receiving optical system 432. The receiving optical system 432 may be configured to image the received light onto the photodetector 431. For example, in some embodiments, the receiving optical system 432 may include a receiving lens and an aperture. The receiving lens and the aperture are located upstream of the photodetector 431 on the receiving path. For example, the receiving lens may include an imaging system lens so that the focus of the received light beam is in front of or behind the receiving surface of the photodetector or just above the receiving surface. In some cases, instead of existing as a separate component, the receiving lens may also be integrated into the photodetector 431. The aperture is used to limit the angle of incident light incident on the photodetector 431, block stray light, etc.

[0122] As described above, the light spot projected into the field of view by the laser radar system 400 can be a uniform line or a narrow rectangle extending in the vertical direction, so the received light beam returned from the target object will form a similar pattern on the receiving surface of the photodetector 431. By arranging a plurality of photodetection units 4310 correspondingly along the direction of the long side of the line or rectangle, and imaging the light returned from the target object at different relative angles in the vertical direction of the field of view to different photodetection units 4310 using the receiving optical system 432, these photodetection units 4310 can be made to correspond to the target objects at different relative angles in the vertical direction of the field of view, respectively. That is, different photodetection units 4310 are configured to receive and detect light signals returned from target objects at different relative angles in the vertical direction of the field of view. Therefore, based on the arrangement information of the photodetection unit 4310 and the parameter information of the optical system, etc., the relative angle of the corresponding target object can be accurately calculated.

[0123] Since a uniform linear (or narrow rectangular) transmitting light beam is adopted, it is only necessary to perform a simple adjustment on the laser radar system 400 so that the receiving light spot imaged by the receiving optical system 432 on the photodetector 431 can cover the receiving surface of the photodetection unit 4310 (i.e., the photosensitive surface of all photodetection units 4310), and there is no need to perform separate alignment of the transmitting module and the receiving module. Here, the receiving light spot "covering" the receiving surface can be understood as the receiving light spot at least partially overlapping with the receiving surface, so that each photodetection unit can receive the light signal returned from the target object. For example, in some embodiments, the size of the receiving light spot can be made relatively small, and can only cover a portion of the receiving surface, so that the returned light signal can be received by the photodetection unit as much as possible to reduce waste. Therefore, advantageously, the scheme proposed in the present disclosure can greatly simplify the difficulty of adjustment and is conducive to realizing automated production.

[0124] The angular resolution δθ of the laser radar system 400 in the vertical direction according to the embodiment of the present disclosure is V =Δθ V / Q, where Q is the number of photodetection units 4310 included in the photodetector 431. By reducing the emission angle Δθ V And / or increasing the number Q of the photodetection units 4310 in the photodetector 431 can reduce the angular resolution δθ in the vertical direction. V value, thereby improving the angular resolution in the vertical direction.

[0125] It is worth noting that, in some embodiments, each photodetection unit 4310 may include a plurality of photodetection devices (such as SPADs) arranged along one direction, wherein the arrangement direction of the plurality of photodetection devices is perpendicular to the arrangement direction of the plurality of photodetection units 4310. With this arrangement, the number of photodetection devices in each photodetection unit 4310 can be increased without affecting the spacing of the photodetection units 4310, thereby improving the accuracy of detection without affecting the spatial resolution.

[0126] Reference Figure 4 In one example, the laser radar system is a system of dual-wavelength four-beam laser emission and dual-wavelength laser reception. The light source 411 is a high-power dual-wavelength fiber laser. The four laser beams (two beams λ1 and two beams λ2 arranged crosswise) emitted by the fiber laser are collimated by the fiber collimator and then incident on the hole 441 of the plane mirror 440 at different angles. The plane reflector 440 uses the hole 441 to transmit the emission light beam to guide the emission light beam to the scanning device 420, and uses the mirror surface to reflect the receiving light beam to guide the receiving light beam to the receiving device 430, that is, the reverse receiving path can be reflected by the plane reflector 440 and separated from the forward emission path to achieve coaxial emission and reception of the laser radar system 400;

[0127] The reflected return light signal is injected into the receiving optical system 432. The receiving device 430 is composed of four parallel avalanche photodiodes with pigtails (i.e., photodetection units 4310). The return light signals received by adjacent avalanche photodiodes are two cross-arranged beams λ1 and two beams λ2.

[0128] The dual-wavelength emission and reception mode of the lidar system in the above example greatly improves the anti-crosstalk and anti-interference capabilities of the lidar system; the high spectral signal-to-noise ratio output and the improvement of anti-crosstalk capabilities can effectively reduce the difficulty of signal processing, while helping to accurately detect target objects; the high spectral signal-to-noise ratio output and the improvement of anti-crosstalk capabilities can further reduce the output power of the laser emission module under the same detection distance requirements, improve the reliability of the emission module, and reduce the power consumption of the lidar system.

[0129] In some embodiments, the fiber filter amplifier comprises:

[0130] A first optical fiber filter amplifier, used for performing a first power amplification and a first filtering process on the signal light to obtain a target coupled signal light;

[0131] A second optical fiber filter amplifier, used for performing a second power amplification and a second filtering process on the target coupled signal light to obtain the target signal light;

[0132] The power supply module is used to provide a first pump light to the first optical fiber filter amplifier and to provide a second pump light to the second optical fiber filter amplifier.

[0133] In the embodiments of the present disclosure, the first optical fiber filter amplifier is used to realize the first stage power amplification of the signal light, and the second optical fiber filter amplifier is used to realize the second stage power amplification of the signal light. The energy supply module provides the first pump light to the first optical fiber filter amplifier and the second pump light to the second optical fiber filter amplifier, respectively, to provide energy for the two-stage amplification.

[0134] In some embodiments, Figure 2 As shown, the laser emission module also includes:

[0135] A wavelength division multiplexer is used to couple signal lights of different wavelengths provided by multiple seed sources into one signal light beam.

[0136] In an embodiment of the present disclosure, the wavelength division multiplexer can couple seed signal lights of different wavelengths output by at least two seed sources to be suitable for subsequent transmission of multi-wavelength signal lights on one optical fiber, that is, the coupled signal light is suitable for transmission to the first optical fiber filter amplifier through the gain fiber.

[0137] In some embodiments, the first fiber filter amplifier comprises:

[0138] A first gain fiber, used to amplify the signal light power of the signal light to obtain a first signal light;

[0139] A first signal pump light combiner, used for combining the first signal light and the first pump light in the same optical fiber to obtain a second signal light;

[0140] The filter combiner is used to filter the second signal light and couple the filtered signal light into a beam of target coupled signal light.

[0141] In the embodiments of the present disclosure, the gain fiber may also be referred to as a gain optical fiber, which is used to amplify the signal light power. The amplification function of the gain fiber on the signal light depends on the doped rare earth ions (such as erbium ions, ytterbium ions, etc.); the first gain fiber is fused with the wavelength division multiplexer; the first signal pump light combiner is used to combine the first signal light and the first pump light in the same optical fiber to obtain the second signal light, so as to realize the amplification or laser output of the first signal light; the filter combiner is an optical fiber device with isolation, at least dual-wavelength filtering and combining functions.

[0142] In some embodiments, the second fiber filter amplifier comprises:

[0143] A second gain fiber is used to amplify the signal light power of the target coupled signal light to obtain a third signal light;

[0144] A second signal pump light combiner is used to combine the third signal light and the second pump light into the same optical fiber to obtain a fourth signal light;

[0145] The filter beam splitter is used to filter the fourth signal light and split it into multiple target signal lights.

[0146] In the embodiments of the present disclosure, the filter beam splitter is an optical fiber device with isolation, at least dual-wavelength filtering and beam splitting functions, and the filter combiner and the filter beam splitter are both used to filter out other light in the amplification process to improve the amplification efficiency.

[0147] After two-stage amplification by the fiber filter amplifier, the peak power of the signal light can reach the kW level. In order to improve the scanning line beam of the system, the signal lights of multiple wavelengths are split by the beam splitting component, and the target signal light processed by the fiber filter amplifier is split to obtain multiple split signal lights arranged according to preset rules; the preset rule is that the split signal lights with the same wavelength are cross-arranged to reduce crosstalk between channels.

[0148] Accordingly, in some embodiments, the energy supply module includes:

[0149] A pump source, used to provide energy to the signal light;

[0150] The multimode beam splitter is used to split the energy provided by the pump source.

[0151] In the present disclosure, a pump source is used to provide pump light, which can provide energy to the gain fiber, so that the rare earth ions in the gain fiber absorb the energy of the pump light and are in an excited state, and then the signal light passes through the gain fiber, and the rare earth ions transfer energy to the signal light through the stimulated emission process, thereby achieving amplification of the signal light;

[0152] A multimode beam splitter, specifically a diaphragm-type multimode beam splitter, reduces the cost and power consumption of the module; the multimode beam splitter is used to separate the energy of the pump source according to a preset ratio, and the two output ends of the multimode beam splitter are respectively fused with the pump input ends of the first signal pumping photosynthesizer and the second signal pumping photosynthesizer, wherein the end with a smaller splitting ratio is fused with the first signal pumping photosynthesizer; in an optional embodiment, the two-stage amplifier uses reverse pumping to provide energy, suppresses ASE (Amplified Spontaneous Emission), and improves the signal light amplification efficiency.

[0153] like Figure 5As shown, in some embodiments, the filter combiner includes: a first isolation chip 101, used to input the second signal light injected into the filter combiner and isolate the reflected light inside the filter combiner; a first filter plate 102, used to transmit the first target signal light of the first wavelength in the second signal light along the first optical path, and reflect the first intermediate signal light of other wavelengths along the second optical path; a second filter plate 103, used to transmit the second target signal light of the second wavelength in the first intermediate signal light along the third optical path, and reflect the first target signal light along the third optical path, so that the first target signal light and the second target signal light are simultaneously coupled into a beam of target coupled signal light along the third optical path and then output.

[0154] In the present disclosure, the specific structure of the first isolation chip 101 is not particularly limited. As an optional embodiment, the first isolation chip 101 is a semiconductor isolator chip. Further, the first isolation chip 101 can be an ISO (Isolation), which has the function of allowing the forward-transmitted signal light to pass through and isolating the reverse-transmitted signal light, thereby preventing the reflected light from affecting the stability of the system and avoiding the reverse return light from damaging the optical fiber device. The reflected light here refers to the reverse light generated in the filter combiner due to various reasons; by setting the first isolation chip 101 in the filter combiner, the problem of self-coupling effect in the filter combiner caused by the reverse light is overcome, the working stability of the filter combiner is improved, and the gain of the first optical fiber filter amplifier is prevented from changing and self-excitation is generated, which causes the entire laser emission module to fail to work normally.

[0155] Furthermore, the first isolation chip 101 can be a single-stage isolator core or a double-stage isolator core. The single-stage isolator core can achieve a certain degree of isolation effect, that is, it allows forward signal light to pass through, while suppressing reverse signal light. Its isolation is usually in the range of 30-40dB, and the double-stage isolator core is generally composed of two single-stage isolator cores connected in series, and its isolation effect is better. By superimposing two single-stage isolator cores, the double-stage isolator core can achieve higher isolation, usually in the range of 40-50dB. The present disclosure does not impose any restrictions on this, and the first isolation chip 101 can be selected according to the specific application scenario and system performance.

[0156] The first filter plate 102 and the second filter plate 103 are both used to transmit target signal light of a specific wavelength and reflect other signal lights except the specific wavelength, so as to reduce the total power consumption and improve the spectral signal-to-noise ratio of the signal light. Accordingly, the first filter plate 102 and the second filter plate 103 both include: a first substrate; a first filter fixedly connected to the first substrate, used to transmit signal light of a preset wavelength and reflect signal light of other wavelengths.

[0157] like Figure 5As shown, in the present disclosure, the first filter plate 102 is composed of a first target substrate 1021 and a first target filter 1022, and the second filter plate 103 is composed of a second target substrate 1031 and a second target filter 1032. The first target substrate 1021 and the second target substrate 1031 are both first substrates, and the first target filter 1022 and the second target filter 1032 are both first filters. The present disclosure does not impose any special restrictions on the material of the first substrate, as long as it is a material with good anti-reflection performance. At the same time, the first substrate is provided with an opening suitable for installing the first filter, and the first filter is fixedly connected to the first substrate. The material of the first filter can be optical glass material, acrylic material, or other materials that can realize the function of transmitting signal light of a preset wavelength and reflecting signal light of other wavelengths. The present disclosure is not limited to this. In some embodiments, the filters of the first filter plate 102 and the second filter plate 103 are narrow-band filters.

[0158] By providing the first filter plate 102 and the second filter plate 103, the input second light can be filtered in two stages in sequence, and signal lights of two specific wavelengths can be filtered out, thereby realizing the dual-wavelength narrow-band filtering function of the filter combiner.

[0159] It is worth noting that, although only the first isolation chip 101, the first filter plate 102 and the second filter plate 103 are described here, it does not exclude the case where more filter plates are provided to achieve a multi-wavelength narrow-band filtering function.

[0160] Correspondingly, the filter combiner may further include: a plurality of first reflectors for adjusting the optical path direction of the signal light reflected and / or transmitted by the first filter plate 102 and the second filter plate 103 .

[0161] In the present disclosure, there is no specific restriction on the number of first reflectors. The fewer the number of first reflectors, the smaller the optical path insertion loss and the smaller the volume of the filter combiner when in use. The number and installation angle of the first reflectors can be adjusted according to actual conditions. In addition, the material of the first reflector can be metal (such as aluminum Al, silver Ag, copper Cu, etc.), or a synthetic graphene material with a higher reflectivity in a specific band, or any other material with a reflectivity higher than a preset reflectivity value. The present disclosure is not limited to this.

[0162] It should be noted that, unlike the filter plate, the first reflector does not transmit or nearly does not transmit the signal light, see Figure 5In one example, after the second signal light (spectral components include λ1, λ2 and λ3) is incident on the first filter plate 102, the spectral components of the first intermediate signal light reflected by the first filter plate 102 include λ2 and λ3. After the first intermediate signal light is reflected by the first reflector 104 of the first stage, it is still the first intermediate signal light including λ2 and λ3 in spectral components, and then it is reflected again by the first reflector 104 of the second stage and incident on the second filter plate 103. During the reflection process of the first intermediate signal light passing through the first reflector 104 twice, the higher the reflectivity of the first reflector 104, the smaller the optical path insertion loss, and the better the system performance of the filter combiner.

[0163] As an optional implementation, the filter combiner further includes: a first input collimator 105, used to input the second signal light into the filter combiner; and a first output collimator 106, used to output the target coupled signal light from the filter combiner.

[0164] In the present disclosure, the first input collimator 105 is used to shape the second signal light (divergent light beam) from the optical fiber into a parallel light beam, and input it into the filter combiner, and the first output collimator 106 is used to couple the first target signal light and the second target signal light (parallel light beam) filtered by the first filter plate 102 and the second filter plate 103 into a target coupled signal light, and output the filter combiner. In some embodiments, the input collimator 105 and the output collimator 106 are both single-fiber collimators.

[0165] The filter combiner is provided with a first packaging structure 100, and a first volume space 1001 is provided inside the first packaging structure 100. The first volume space 1001 is suitable for fixing the above-mentioned first isolation chip 101, the first filter plate 102, the second filter plate 103, the first reflector 104, the first input collimator 105 and the first output collimator 106, etc., so as to realize the integration and isolation of these devices in the first packaging structure 100, and to realize the filtering of other wavelength spectra of the second signal, thereby improving the spectral signal-to-noise ratio of the signal light, and finally realizing the beam combining and multiplexing of the signal light through the first output collimator 106. Among them, the first packaging structure 100 is provided with at least one positioning hole, which corresponds to the first input collimator 105 and the first output collimator 106, and the positioning hole is suitable for fixing the first input collimator 105 and the first output collimator 106.

[0166] In some embodiments, the inner sidewall of the first packaging structure 100 is covered with a material having a light blocking rate higher than a preset light blocking rate. In the embodiments of the present disclosure, the first packaging structure 100 is used to package the first isolation chip 101, the first filter plate 102, the second filter plate 103, etc., to reduce the volume, which is conducive to the miniaturization of the module; the inner sidewall of the first packaging structure 100 is covered with a material that does not absorb signal light and has a light blocking rate higher than a preset light blocking rate, so as to improve the filtering effect of the optical fiber device.

[0167] See also Figure 6 In one example, the spectral components of the second signal light include λ1, λ2 and λ3, wherein λ1=1550nm, λ2=1554nm, and λ3 is a clutter signal light of other wavelengths. The second signal light is input into the filter combiner to filter out λ3, and then the second signal light is input into the first isolation chip 101. The second signal light output by the first isolation chip 101 is incident into the first target filter 1022 of the first filter plate 102. The first target filter 1022 transmits the first target signal light of 1550nm (i.e., λ1) in the second signal light along the first optical path, and reflects the first intermediate signal light of other wavelengths (i.e., λ2 and λ3) along the second optical path. The spectral components in the first intermediate signal light include both the λ2 signal light of 1554nm and the λ3 signal light of other wavelengths except 1550nm and 1554nm.

[0168] After the first intermediate signal light passes through the first and second first reflectors 104 in sequence, the λ2 signal light (i.e., the second target signal light) with a wavelength of 1554nm in the first intermediate signal light is transmitted from the second surface of the second filter plate 103. At the same time, the first target signal light with a wavelength of 1550nm is incident from the first surface of the second filter plate 103. After being reflected by the second filter plate 103, the first target signal light with a wavelength of 1550nm and the λ2 signal light with a wavelength of 1554nm are incident along a unified optical path into the first output collimator 106. The first output collimator 106 couples the λ1 signal light with the λ2 signal light and then outputs the filter combiner, so that the λ3 signal light is filtered out.

[0169] The light intensity attenuation of the first filter plates of the first filter plate 102 and the second filter plate 103 does not exceed 0.3 dB, and the error between the wavelength of the transmitted target signal light and the specified wavelength is within 1.2 nm.

[0170] See also Figure 6 , Figure 6It is a schematic diagram of the spectrum of the output signal light of the filter combiner through the dual-wavelength narrowband filter. It can be seen from the figure that the second signal light whose spectral components include λ1, λ2 and λ3 after being processed by the filter combiner includes signal lights of 1550nm and 1554nm, and the error floats within 1.2nm. The signal-to-noise ratio of the two wavelength spectra is greater than 50dB, and the filtering effect is good.

[0171] The first isolation chip 101 is used to input the second signal light injected into the filter combiner and isolate the reflected light inside the filter combiner; the first filter plate 102 is used to transmit the first target signal light of the first wavelength in the second signal light along the first optical path, and reflect the first intermediate signal light of other wavelengths along the second optical path; the second filter plate 103 is used to transmit the second target signal light of the second wavelength in the first intermediate signal light along the third optical path, and reflect the first target signal light along the third optical path, so that the first target signal light and the second target signal light are simultaneously coupled into a beam of target coupled signal light along the third optical path and then output. The filter combiner formed by the above can act on the first optical fiber filter amplifier, realizes the integrated isolation, filtering and beam combining of multiple devices, and improves the spectral signal-to-noise ratio of the signal light.

[0172] In some embodiments, Figure 7 As shown, the filter beam splitter includes: a second isolation chip 201, used for inputting the fourth signal light injected into the filter beam splitter, and isolating the reflected light inside the filter beam splitter; a third filter plate 202, used for transmitting the third target signal light of the third wavelength in the fourth signal light along the fourth optical path, and reflecting the second intermediate signal light of other wavelengths along the fifth optical path; a fourth filter plate 203, used for transmitting the fourth target signal light of the fourth wavelength in the second intermediate signal light along the sixth optical path, and reflecting the third intermediate signal light of other wavelengths along the seventh optical path, so that the third target signal light of the third wavelength in the fourth signal light, the fourth target signal light of the fourth wavelength, and the third intermediate signal light of other wavelengths are respectively emitted from the filter beam splitter after being split.

[0173] In the present disclosure, the specific structure of the second isolation chip 201 is not particularly limited. As an optional embodiment, the second isolation chip 201 is a semiconductor isolator chip. Further, the second isolation chip 201 can be an ISO, which has the function of allowing the forward-transmitted signal light to pass through and isolating the reverse-transmitted signal light at the same time, thereby preventing the reflected light from affecting the stability of the system and avoiding the reverse return light from damaging the filter beam splitter. The reflected light here refers to the reverse light generated in the filter beam splitter due to various reasons; by setting the second isolation chip 201 in the filter beam splitter, the problem of self-coupling effect in the filter beam splitter caused by the reverse light is overcome, the working stability of the filter beam splitter is improved, and the gain of the second optical fiber filter amplifier is prevented from changing and self-excitation, which causes the entire laser emission module to fail to work normally.

[0174] Correspondingly, the second isolation chip 201 can be a single-stage isolator core or a double-stage isolator core. The single-stage isolator core can achieve a certain degree of isolation effect, that is, it allows forward signal light to pass through, while suppressing reverse signal light. Its isolation is usually in the range of 30-40dB, and the double-stage isolator core is generally composed of two single-stage isolator cores connected in series, and its isolation effect is better. By superimposing two single-stage isolator cores, the double-stage isolator core can achieve a higher isolation, usually in the range of 40-50dB. The present disclosure does not impose any restrictions on this, and the second isolation chip 201 can be selected according to the specific application scenario and system performance.

[0175] The third filter plate 202 and the fourth filter plate 203 are both used to transmit signal light of a specific wavelength and reflect signal light other than the specific wavelength, so as to reduce total power consumption and improve the spectral signal-to-noise ratio of the signal light. Accordingly, the third filter plate 202 and the fourth filter plate 203 both include: a second substrate; a second filter fixedly connected to the second substrate, used to transmit signal light of a preset wavelength and reflect signal light of other wavelengths.

[0176] like Figure 7 As shown, in the present disclosure, the third filter plate 202 is composed of a third target substrate 2021 and a third target filter 2022, and the fourth filter plate 203 is composed of a fourth target substrate 2031 and a fourth target filter 2032. The third target substrate 2021 and the fourth target substrate 2031 are both second substrates, and the third target filter 2022 and the fourth target filter 2032 are both second filters. The present disclosure does not impose any special restrictions on the material of the second substrate, as long as it is a material with good anti-reflection performance. At the same time, the second substrate is provided with an opening suitable for installing the second filter, and the second filter is fixedly connected to the second substrate. The material of the second filter can be optical glass material, acrylic material, or other materials that can realize the function of transmitting signal light of a preset wavelength and reflecting signal light of other wavelengths. The present disclosure is not limited to this. In some embodiments, the third filter plate 202 and the fourth filter plate 203 are narrow-band filters.

[0177] By setting the third filter plate 202 and the fourth filter plate 203, the input fourth signal light can be filtered in two stages in sequence, and at least two specific wavelengths and signal lights of other wavelengths can be filtered out, thereby realizing the dual-wavelength narrow-band filtering function of the filter beam splitter. It is worth noting that although only the second isolation chip 201, the third filter plate 202 and the fourth filter plate 203 are described here, it is not excluded that more filter plates are provided to realize the multi-wavelength narrow-band filtering function. Of course, the above-mentioned filter beam splitter may also include: a plurality of second reflectors for adjusting the optical path direction of the signal light, so that each signal light after filtering by the filter beam splitter is emitted from any position of the filter beam splitter according to the specified optical path direction.

[0178] At the same time, when the filter beam splitter is provided with a second reflector, the number of the second reflectors is not specifically limited. The fewer the number of second reflectors, the smaller the optical path insertion loss and the smaller the volume of the filter beam splitter when in use. The number and installation angle of the second reflectors can be adjusted according to actual conditions. In addition, the material of the second reflector can be metal (such as aluminum Al, silver Ag, copper Cu, etc.), or a synthetic graphene material with a high reflectivity in a specific band, or any other material with a reflectivity higher than a preset reflectivity value, and the present disclosure is not limited thereto. Similarly, the second reflector does not transmit or nearly does not transmit signal light.

[0179] As an optional embodiment, the filter beam splitter also includes: a second input collimator 204, used to input the fourth signal light into the filter beam splitter; at least one second output collimator 205, used to output the third target signal light of the third wavelength, the fourth target signal light of the fourth wavelength, and the third intermediate signal light of other wavelengths into the filter beam splitter.

[0180] In the present disclosure, the second input collimator 204 is used to shape the fourth signal light (divergent light beam) from the optical fiber into a parallel light beam, and input it into the filter beam splitter, and the second output collimator 205 is used to split the third target signal light, the fourth target signal light and the third intermediate signal light (all parallel light beams) filtered by the third filter plate 202 and / or the fourth filter plate 203 and output them to the filter beam splitter. In some embodiments, the second input collimator 204 and at least one second output collimator 205 are both single-fiber collimators.

[0181] It is worth noting that the second input collimator 204 and the plurality of second output collimators 205 disclosed in the present invention can be single-mode collimators or multi-mode collimators, and the type of collimator can be selected according to factors such as the actual application scenario, the type of optical fiber, and the system performance requirements. Among them, the single-mode collimator uses a single-mode optical fiber as input and output, and its core diameter is relatively small (such as 9 microns). When shaping the light beam or coupling the optical signal, the single-mode characteristic of the optical signal is maintained, and it is suitable for optical fiber communication, optical fiber sensing, optical fiber lasers and other scenes requiring high speed, long-distance transmission, and high resolution; the multi-mode collimator uses a multi-mode optical fiber as input and output, and its core diameter is relatively large (such as 50-100 microns), allowing multiple modes of light to be transmitted simultaneously. When shaping the light beam and coupling the optical signal, the multi-mode characteristic of the optical signal is maintained, and it is suitable for short-distance transmission, optical experiments, optical fiber lighting and some low-speed communication scenes.

[0182] The filter beam splitter is provided with a second packaging structure 200, and a second volume space 2001 is provided inside the second packaging structure 200. The second volume space 2001 is suitable for fixing the second isolation chip 201, the third filter plate 202, the fourth filter plate 203, the second reflector, the second input collimator 204 and multiple second output collimators 205, etc., so as to realize the integration and isolation of these devices in the second packaging structure 200, and to realize the filtering of other wavelength spectra of the fourth signal, thereby improving the spectral signal-to-noise ratio of the signal light, and finally realizing the splitting output of each signal light through the second output collimator 205. Among them, the second packaging structure 200 is provided with at least one positioning hole, which corresponds to the second input collimator 204 and the at least one second output collimator 205, and the positioning hole is suitable for fixing the second input collimator 204 and the at least one second output collimator 205.

[0183] In some embodiments, the inner sidewall of the second encapsulation structure 200 is covered with a material having a light blocking rate higher than a predetermined light blocking rate.

[0184] In the embodiment of the present disclosure, the second packaging structure 200 is used to package the second isolation chip 201, the third filter plate 202, the fourth filter plate 203, etc. to reduce the volume, which is conducive to the miniaturization of the module; the inner wall of the second packaging structure 200 is covered with a material that does not absorb signal light and has a light blocking rate higher than a preset light blocking rate to improve the filtering effect of the optical fiber device.

[0185] See also Figure 7 In one example, the spectral components of the fourth signal light include λ1, λ2, and λ ASE , where, λ1=1550nm, λ2=1554nm, λ ASEThe fourth signal light enters the filter beam splitter, is collimated by the second input collimator 204, passes through the second isolation chip 201, and then enters the third filter plate 202. The third filter plate 202 can transmit the third target signal light with a wavelength of 1550nm and reflect the signal light of other wavelengths (the second intermediate signal light). Therefore, the third target signal light with a wavelength of λ1 (i.e., 1550nm) in the fourth signal light is transmitted by the third filter plate 202, and the third target signal light with a wavelength of λ1 is coupled by the second output collimator 205 to exit the filter beam splitter. The spectral components of the second intermediate signal light reflected by the third filter plate 202 include λ2 and λ ASE ;

[0186] The fourth filter plate 203 can transmit the signal light with a wavelength of 1554 nm and reflect the signal light with other wavelengths. Therefore, the fourth target signal light with a wavelength of λ2 (i.e., 1554 nm) in the second intermediate signal light is transmitted by the fourth filter plate 203, and the fourth target signal light with a wavelength of λ2 is coupled by the second output collimator 205 to emit the filter beam splitter, and the signal light with other wavelengths (i.e., λ ASE The third intermediate signal light) is coupled by another second output collimator 205 and emitted from the filter beam splitter;

[0187] The spectral components including λ1, λ2 and λ ASE The clutter signal light in the fourth signal light (ie, λ ASE ) are filtered out, and at the same time, signal lights of different wavelengths are split and output.

[0188] The second isolation chip 201 is used to input the fourth signal light injected into the filter beam splitter and isolate the reflected light inside the filter beam splitter; the third filter plate 202 is used to transmit the third target signal light of the third wavelength in the fourth signal light along the fourth optical path, and reflect the second intermediate signal light of other wavelengths along the fifth optical path; the fourth filter plate 203 is used to transmit the fourth target signal light of the fourth wavelength in the second intermediate signal light along the sixth optical path, and reflect the third intermediate signal light of other wavelengths along the seventh optical path, so that the third target signal light of the third wavelength, the fourth target signal light of the fourth wavelength and the third intermediate signal light of other wavelengths in the fourth signal light are respectively emitted from the filter beam splitter after being split. The filter beam splitter formed can be used in the second optical fiber filter amplifier, realizing the isolation, filtering and splitting of multiple devices, so that the third target signal light and the fourth target signal light in the fourth signal light can be split and multiplexed.

[0189] In an alternative embodiment, if Figure 2As shown, the laser emission module is a pulse fiber laser with a MOPA (Master Oscillator Power-Amplifier) ​​structure. The MOPA is composed of a seed source and a two-stage fiber filter amplifier, which can realize dual-wavelength laser signal output. Two semiconductor laser seed sources with different central wavelengths are used. The wavelengths of these two seed sources are 1550nm and 1554nm. Of course, in other optional implementations, other wavelengths can also be used. Considering the cost issue, the wavelength of DWDM (Dense Wavelength Division Multiplexer) of optical communication is selected. The difference between the wavelengths of the two seed sources is not more than 10nm, which fully considers the gain spectrum of the fiber filter amplifier and the gain effect of signal light of different wavelengths in the fiber filter amplifier. At the same time, the two seed sources can control their output power, pulse width and repetition frequency respectively, and TEC is encapsulated inside to ensure the stability of the output wavelength of the seed source at different working temperatures.

[0190] The seed signal lights of 1550nm and 1554nm wavelengths are respectively coupled to the same first gain fiber for transmission after passing through the wavelength division multiplexer, and the coupled seed signal light and pump light are combined into the same optical fiber through the first signal pump light combiner to achieve amplification or laser output of the signal light;

[0191] The pump light is provided by a pump source, specifically a 940nm pump source, and the energy of the 940nm pump source is split according to a splitting ratio of 1:9. Then, the two output ends of the multimode beam splitter are respectively fused with the pump ends of the first signal pump optical combiner and the second signal pump optical combiner, and the end with a splitting ratio of 1 is fused with the first signal pump optical combiner.

[0192] The signal light processed by the first signal pump optical combiner is isolated, dual-wavelength filtered and combined by a filter combiner (narrowband filter), and amplified by a second gain fiber and a second signal pump optical combiner. The amplified signal light is isolated, dual-wavelength filtered and split by a filter beam splitter (narrowband filter). After two stages of amplification, the peak power of the signal light with wavelengths of 1550nm and 1554nm can reach the kW level. The signal light of the two wavelengths is then split to improve the scanning line beam of the laser radar.

[0193] Accordingly, a single-mode beam splitter with a splitting ratio of 50:50 is used to split the two laser beams into four beams (or a one-to-four beam splitter is used to split the two beams into eight beams), and the two wavelengths of the four or eight signal beams are arranged in a cross manner to increase the channel spacing to reduce the crosstalk between channels;

[0194] Among them, the first signal pumped optical combiner and the second signal pumped optical combiner are respectively reversely pumped, which can suppress ASE and improve the signal light amplification efficiency. The signal light powers of the two wavelengths are amplified together in the gain fiber of the two-stage optical fiber filter amplifier and finally output from the signal output end of the second signal pumped optical combiner.

[0195] The above-mentioned laser emission module realizes dual-wavelength, high-power, and high spectral signal-to-noise ratio output, and adopts dual-wavelength shared optical fiber filter amplifier, pump source, and multi-film beam splitter to realize two-stage amplification, which greatly reduces the cost; at the same time, it adopts functional integrated filter combiner and filter beam splitter to reduce the insertion loss caused by multiple devices, improve the electro-optical efficiency of the emission module, reduce the overall power consumption of the radar, and also help to reduce the number of components in the laser emission module, reduce the size of the emission module, and reduce the cost of the lidar system.

[0196] In some embodiments, the filtering structure in the laser receiving module includes at least one of an anti-reflection film, a grating, and a filter.

[0197] See also Figure 8 In an optional embodiment, a first return light signal with a wavelength of 1550nm (indicated by a dotted line segment with an arrow) and a second return light signal with a wavelength of 1554nm (indicated by a solid line segment with an arrow) are incident on four avalanche photodiodes with pigtails (APD1, APD2, APD3 and APD4) from different angles; a 1550nm anti-reflection film is coated on the first ends of the pigtails of APD1 and APD3, which can achieve the minimum reflection loss of the return light signal with a wavelength of 1550nm received by APD1 and APD3, and improve the transmittance of the light with a wavelength of 1550nm; a 1554nm anti-reflection film is coated on the first ends of the pigtails of APD2 and APD4, which can achieve the minimum reflection loss of the return light signal with a wavelength of 1554nm received by APD2 and APD4, and improve the transmittance of the light with a wavelength of 1554nm;

[0198] By setting an anti-reflection film, the transmittance of the laser receiving system can be significantly improved, and the reflection and scattering of light on the surface of the optical element can be reduced, thereby improving the signal-to-noise ratio of the system.

[0199] In some embodiments, when there are multiple anti-reflection films, the anti-reflection films of adjacent pigtail fibers have different transmission bandwidths, and the transmission bandwidth reflects the transmittance of the anti-reflection film within a preset wavelength range.

[0200] In the embodiment of the present disclosure, the transmission bandwidths of the anti-reflection films of adjacent pigtail fibers are different. Figure 8 For example, the interval between the 1550nm anti-reflection film and the 1554nm anti-reflection film can improve the signal-to-noise ratio during laser reception.

[0201] See also Fig. 9In another optional implementation, a first return light signal with a wavelength of 1550nm (indicated by a dotted line segment with an arrow) and a second return light signal with a wavelength of 1554nm (indicated by a solid line segment with an arrow) are incident from different angles on four avalanche photodiodes with pigtails (APD1, APD2, APD3 and APD4), and a grating is engraved on each APD to make it a fiber grating. The fiber grating has spectral selectivity and can reflect light of other wavelengths and transmit light of specific wavelengths. This characteristic can be used to filter out non-specific signal light before the APD receives the return light signal, thereby reducing crosstalk between the receiving channels.

[0202] See also Fig.10 In another optional embodiment, a first return light signal with a wavelength of 1550nm (indicated by a dotted line segment with an arrow) and a second return light signal with a wavelength of 1554nm (indicated by a solid line segment with an arrow) are incident on four avalanche photodiodes with pigtails (APD1, APD2, APD3 and APD4) from different angles, and a 1550nm filter is arranged between the second ends of the pigtails of APD1 and APD3 and their corresponding APDs, and the 1550nm filter can selectively transmit light with a wavelength of 1550nm, and a 1554nm filter is arranged between the second ends of the pigtails of APD2 and APD4 and their corresponding APDs, and the 1554nm filter can selectively transmit light with a wavelength of 1554nm, and the filter can effectively filter out background light and improve the signal-to-noise ratio of the return light signal.

[0203] In some embodiments, the filter is a narrow band filter.

[0204] In the embodiments of the present disclosure, the narrowband filter has the characteristic of being able to selectively transmit a narrow wavelength range. By setting the narrowband filter, the return light signals of other wavelengths can be filtered out more accurately, so that the receiving effect of the APD can be optimized.

[0205] By coating the first end of the pigtail with an anti-reflection film, performing grating writing on the pigtail, and setting a filter between the pigtail and the APD, non-signal light can be filtered out, reducing the crosstalk between the various receiving channels. By cooperating with the laser transmitting module for reception, the return light from other angles is filtered out by filtering, which greatly reduces the crosstalk between the laser receivers. At the same time, it can also avoid the influence of ambient light such as sunlight and lamplight on laser reception, thereby improving the anti-interference ability of the system.

[0206] As a second aspect of the present disclosure, a laser emission module is provided. Figure 2 As shown, the laser emission module includes multiple seed sources, which are used to provide signal lights of different wavelengths, and also includes:

[0207] Optical fiber filter amplifier, used to amplify the power of the signal light and filter it to obtain the target signal light;

[0208] The beam splitting component is used to split the target signal light obtained by processing the optical fiber filter amplifier to obtain multiple split signal lights arranged according to a preset rule; the preset rule is that the split signal lights with the same wavelength are cross-arranged.

[0209] As a third aspect of the present disclosure, a laser receiving module is provided, such as Figure 3 , 8 As shown in , 9 and 10, they are used to receive the return light signal reflected by the target object, and each laser receiver is provided with a filtering structure for filtering out the interference signal in the return light signal.

[0210] In the embodiment of the present disclosure, the signal lights emitted by the laser transmitting module are cross-arranged, and at the same time, a laser receiving module with a filtering structure is used to receive the reflected return light signal, which greatly improves the anti-crosstalk and anti-interference capabilities of the laser radar system.

[0211] In some embodiments, the laser radar system can control the scanner to guide the emission beam according to a predetermined scanning pattern. Generally, the scanner presents a closed scanning pattern in space when scanning, and the scanning is repeated periodically. Common scanning patterns include row and column grating, Lissajous figure, spiral figure, etc. Fig.11a An example of a laser point cloud image when the laser radar system scans in a row and column raster scanning pattern is shown. Each pixel 1104 in the point cloud image represents the position where the scanner guides the transmission beam into the transmission field of view (or scanning field of view). The collection of all pixel points 1104 constitutes the transmission field of view 1102 of the laser radar system. Depending on the predetermined scanning pattern, the transmission field of view 1102 can have various shapes, not limited to Fig.11a Each pixel 1104 may be associated with one or more emission beams or one or more measurements.

[0212] Fig.11b An example of receiving field of view distribution of a laser radar system including a non-coaxial optical transceiver system is shown. In this example, the optical receiver of the laser radar system is composed of multiple receiving submodules, each of which includes one or more receiving units and their corresponding receiving circuits. Each receiving submodule is capable of receiving reflected light within a relatively small range. For example, Fig.11b Each rectangle 1108 in the figure represents the range of reflected light that can be received by a corresponding receiving submodule of the laser radar system, also referred to as the receiving field of view of the corresponding receiving submodule. The collection of the receiving fields of view of all receiving submodules constitutes the total receiving field of view 1106 of the optical receiver.

[0213] Fig.11cShown in order to provide Fig.11b Schematic diagram of the composition of the optical receiver of the receiving field of view laser radar system. The optical receiver includes one or more receiving units 1110 and one or more corresponding receiving circuits 1114. The receiving unit 1110 is connected to the corresponding receiving circuit 1114 through an electrical connector 1112. For example, Fig.11b The receiving field of view 1108 in corresponds to Fig.11c The receiving submodule consists of the receiving unit 1116 and the corresponding receiving circuit 1118.

[0214] Fig.11d Shows that there is Fig.11a Scanning laser point cloud and Fig.11b An example of the correspondence between the laser emission and the receiving field of view of a laser radar system in normal operation. In normal operation, as the scanner deflects, the transmission light beam is directed to different positions in the transmission field of view, and the controller instructs the receiving submodule in the optical receiver corresponding to the receiving field of view at that position to turn on to receive the reflected light beam and complete the measurement. For example, pixel 1118 may correspond to Fig.11a Pixel 1104 in, receiving field of view 1120 may correspond to Fig.11b When the laser radar system generates a transmission beam pointing to the pixel point 1118, the receiving submodule corresponding to the receiving field of view 1120 needs to be turned on, that is, the receiving submodule can be turned on. Fig.11c The receiving submodule in the optical receiver includes a receiving unit 1116 and a receiving circuit 1118. The receiving submodules in the optical receiver except for the receiving submodule corresponding to the receiving field of view 1120 can be turned off or dormant.

[0215] It should be recognized that Figures 11a to 11d The illustrated transmit field of view, receive field of view, and corresponding receiving submodule distribution are merely illustrative. The laser radar system according to the present disclosure may have different scanning patterns, transmit field of view, receive field of view distribution, shape, number, and distribution of receiving submodules, and the corresponding relationship between the transmit field of view and the receive field of view.

[0216] Fig.12 FIG. 1 is a schematic diagram showing a vehicle 1200 integrated with a laser radar system according to an embodiment of the present disclosure. The vehicle 1200 may include at least a laser radar system 1202, a vehicle controller 1204, and a motor system 1206. The laser radar system 1202 may be used Figure 41214, the laser radar system 400 is implemented. Accordingly, the light source 1212, the scanner 1214, the light receiver 1216 and the controller 1218 correspond to the light source 402, the scanner 404, the light receiver 406 and the controller 408 of the laser radar system 400, respectively. The difference is that the vehicle controller 1204 can be communicatively coupled with the light source 1212, the scanner 1214 and the light receiver 1216 through the controller 1218. In other embodiments, the vehicle controller 1204 can also be directly communicatively coupled with the light source 1212, the scanner 1214 and the light receiver 1216. In some embodiments, the laser radar system 1202 may not include the controller 1218. The technology for calibrating the laser radar system according to an embodiment of the present disclosure can be implemented independently by the vehicle controller 1204, or it can be implemented in part by the vehicle controller 1204 and in part by the controller 1218. The motorized system 1206 may include a power subsystem, a braking subsystem, a steering subsystem, and the like. The vehicle controller 1204 may adjust the motorized system 1206 based on the detection results of the lidar system 1202 .

[0217] Fig.13 1 shows a block diagram of a configuration of an electronic device 1300 according to an embodiment of the present disclosure. The electronic device 1300 may be any type of general or special computing device, such as a desktop computer, a laptop computer, a server, a mainframe computer, a cloud-based computer, a tablet computer, a wearable device, a vehicle electronic device, etc. Fig.13 As shown, the electronic device 1300 includes an input / output (I / O) interface 1301 , a network interface 1302 , a memory 1304 and a processor 1303 .

[0218] I / O interface 1301 is a collection of components that can receive input from a user and / or provide output to a user. I / O interface 1301 may include, but is not limited to, buttons, keyboards, keypads, LCD displays, LED displays, or other similar display devices, including display devices with touch screen capabilities that enable interaction between a user and an electronic device.

[0219] The network interface 1302 may include various adapters and circuit systems implemented in software and / or hardware to enable communication with the laser radar system using wired or wireless protocols. The wired protocol is, for example, any one or more of a serial port protocol, a parallel port protocol, an Ethernet protocol, a USB protocol, or other wired communication protocols. The wireless protocol is, for example, any IEEE802.11 Wi-Fi protocol, a cellular network communication protocol, etc.

[0220] Memory 1304 includes a single memory or one or more memories or storage locations, including but not limited to random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), EPROM, EEPROM, flash memory, logic blocks of FPGA, hard disk, or any other layers of the memory hierarchy. Memory 1304 can be used to store any type of instructions, software, or algorithms, including instructions 1305 for controlling the general functions and operations of electronic device 1300.

[0221] The processor 1303 controls the general operation of the electronic device 1300. The processor 1303 may include, but is not limited to, a CPU, a hardware microprocessor, a hardware processor, a multi-core processor, a single-core processor, a microcontroller, an application-specific integrated circuit (ASIC), a DSP, or other similar processing device, capable of executing any type of instructions, algorithms, or software for controlling the operation and functions of the electronic device 1300 according to the embodiments described in the present disclosure. The processor 1303 may be various implementations of a digital circuit system, an analog circuit system, or a mixed signal (a combination of analog and digital) circuit system that performs functions in a computing system. The processor 1303 may include, for example, a portion or circuit of a separate processor core, an entire processor core, a separate processor, a programmable hardware device such as a field programmable gate array (FPGA), and / or a system including multiple processors.

[0222] An internal bus 1306 may be used to establish communications between components of the electronic device 1300 .

[0223] The electronic device 1300 is communicatively coupled to the laser radar system to be calibrated to control the operation of the laser radar system. For example, the calibration method according to the present disclosure can be stored in the form of computer-readable instructions on the memory 1304 of the electronic device 1300. The processor 1303 implements the calibration method by reading the stored computer-readable instructions.

[0224] Although specific components are used to describe the electronic device 1300, in alternative embodiments, different components may be present in the electronic device 1300. For example, the electronic device 1300 may include one or more additional processors, memories, network interfaces, and / or I / O interfaces. In addition, one or more of the components may not be present in the electronic device 1300. In addition, although in Fig.13 1300 , but in some embodiments, some or all of a given component may be integrated into one or more of the other components in the electronic device 1300 .

[0225] The present disclosure may be implemented as any combination of an apparatus, a system, an integrated circuit, and a computer program or a program product on a non-transitory computer-readable medium.

[0226] It should be understood that the computer executable instructions in the computer readable storage medium or program product according to the embodiments of the present disclosure can be configured to perform operations corresponding to the above-mentioned device and method embodiments. When referring to the above-mentioned device and method embodiments, the embodiments of the computer readable storage medium or program product are clear to those skilled in the art, so they are not repeatedly described. Computer readable storage media and program products for carrying or including the above-mentioned computer executable instructions also fall within the scope of the present disclosure. Such storage media may include, but are not limited to, floppy disks, optical disks, magneto-optical disks, memory cards, memory sticks, and the like.

[0227] In addition, it should be understood that the above series of processes and devices can also be implemented by software and / or firmware. In the case of being implemented by software and / or firmware, the storage medium of the relevant device stores the corresponding program constituting the corresponding software, and when the program is executed, various functions can be performed.

[0228] For example, a plurality of functions included in one unit in the above embodiments can be implemented by separate devices. Alternatively, a plurality of functions implemented by a plurality of units in the above embodiments can be implemented by separate devices respectively. In addition, one of the above functions can be implemented by a plurality of units. Such a configuration is included in the technical scope of the present disclosure.

[0229] In the present disclosure, the steps described in the flowchart include not only processing performed in order in time series, but also processing performed in parallel or individually rather than necessarily in time series. In addition, even in the steps processed in time series, the order can be appropriately changed.

[0230] The terms "comprises," "comprising," or any other variations thereof of the disclosed embodiments are intended to encompass non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0231] The term "or" in the present disclosure means an inclusive "or" rather than an exclusive "or". A reference to a "first" component does not necessarily require the provision of a "second" component. Furthermore, unless explicitly indicated, a "first" or "second" component does not limit the referenced components to a particular order. The term "based on" means "based at least in part on".

[0232] The present invention is generally illustrative in nature and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly noted, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present disclosure as set forth in the appended claims.

Claims

1. A laser radar system, comprising a laser transmitting module and a laser receiving module, characterized in that: The laser emission module comprises: Multiple seed sources, used for providing signal lights of different wavelengths; An optical fiber filter amplifier, used for performing power amplification and filtering processing on the signal light to obtain a target signal light; A beam splitting component is used to split the target signal light obtained by the optical fiber filter amplifier to obtain a plurality of split signal lights arranged according to a preset rule; the preset rule is that the split signal lights with the same wavelength are arranged crosswise; The laser receiving module comprises: a plurality of laser receivers for receiving the return light signal reflected by the target object, and each of the laser receivers is provided with a filter structure for filtering out interference signals in the return light signal.

2. The laser radar system according to claim 1, characterized in that: The optical fiber filter amplifier comprises: A first optical fiber filter amplifier, used for performing a first power amplification and a first filtering process on the signal light to obtain a target coupled signal light; A second optical fiber filter amplifier, used for performing a second power amplification and a second filtering process on the target coupled signal light to obtain a target signal light; The power supply module is used to provide a first pump light to the first optical fiber filter amplifier and to provide a second pump light to the second optical fiber filter amplifier.

3. The laser radar system according to claim 2, characterized in that: The first optical fiber filter amplifier comprises: A first gain fiber, used to amplify the signal light power of the signal light to obtain a first signal light; A first signal pump light combiner, used for combining the first signal light and the first pump light in the same optical fiber to obtain a second signal light; The filter combiner is used to filter the second signal light and couple the filtered signal light into a beam of target coupled signal light.

4. The laser radar system according to claim 2, characterized in that: The second optical fiber filter amplifier comprises: A second gain fiber, used to amplify the signal light power of the target coupled signal light to obtain a third signal light; A second signal pump light combiner, used for combining the third signal light and the second pump light in the same optical fiber to obtain a fourth signal light; The filter beam splitter is used to filter the fourth signal light and split it into multiple target signal lights.

5. The laser radar system according to claim 1, characterized in that: The laser emission module also includes: The wavelength division multiplexer is used to couple the signal lights of different wavelengths provided by the plurality of seed sources into one signal light beam.

6. The laser radar system according to claim 2, characterized in that: The energy supply module comprises: A pump source, used to provide energy to the signal light; The multimode beam splitter is used to split the energy provided by the pump source.

7. The laser radar system according to claim 3, characterized in that: The filter combiner comprises: A first isolation chip, used for inputting a second signal light incident into the filter combiner and isolating the reflected light inside the filter combiner; a first filter plate, used for transmitting a first target signal light of a first wavelength in the second signal light along the first optical path, and reflecting first intermediate signal lights of other wavelengths along the second optical path; The second filter plate is used to transmit the second target signal light of the second wavelength in the first intermediate signal light along the third optical path, and reflect the first target signal light along the third optical path, so that the first target signal light and the second target signal light are simultaneously coupled along the third optical path into a beam of target coupled signal light and then output.

8. The laser radar system according to claim 7, characterized in that: The filter combiner also includes: A plurality of first reflectors are used to adjust the optical path direction of the signal light reflected and / or transmitted by the first filter plate and the second filter plate.

9. The laser radar system according to claim 3, characterized in that: The filter combiner also includes: A first input collimator, used for inputting the second signal light into the filter combiner; The first output collimator is used to output the target coupled signal light to the filter combiner.

10. The laser radar system according to claim 7, characterized in that: The first filter plate and the second filter plate both include: a first substrate; The first filter fixedly connected to the first substrate is used for transmitting signal light of a preset wavelength and reflecting signal light of other wavelengths.

11. The laser radar system according to claim 4, characterized in that: The filter beam splitter comprises: A second isolation chip, used for inputting a fourth signal light incident into the filter beam splitter and isolating the reflected light inside the filter beam splitter; a third filter plate, used for transmitting a third target signal light of a third wavelength in the fourth signal light along a fourth optical path, and reflecting second intermediate signal lights of other wavelengths along a fifth optical path; The fourth filter plate is used for transmitting the fourth target signal light of the fourth wavelength in the second intermediate signal light along the sixth optical path, and reflecting the third intermediate signal light of other wavelengths along the seventh optical path, so that the third target signal light of the third wavelength, the fourth target signal light of the fourth wavelength and the third intermediate signal light of other wavelengths in the fourth signal light are split and emitted from the filter beam splitter respectively.

12. The laser radar system according to claim 11, characterized in that: The filter beam splitter also includes: A second input collimator, used for inputting a fourth signal light into the filtering beam splitter; At least one second output collimator is used to output the third target signal light of the third wavelength, the fourth target signal light of the fourth wavelength, and the third intermediate signal light of other wavelengths to the filter beam splitter.

13. The laser radar system according to claim 11, characterized in that: The third filter plate and the fourth filter plate both include: a second substrate; The second filter fixedly connected to the second substrate is used for transmitting signal light of a preset wavelength and reflecting signal light of other wavelengths.

14. The laser radar system according to claim 1, characterized in that: The filtering structure includes at least one of an anti-reflection film, a grating and a filter.

15. A laser emission module, comprising a plurality of seed sources for providing signal lights of different wavelengths, characterized in that: Also includes: An optical fiber filter amplifier, used for performing power amplification and filtering processing on the signal light to obtain a target signal light; The beam splitting component is used to split the target signal light obtained by the optical fiber filter amplifier to obtain a plurality of split signal lights arranged according to a preset rule; the preset rule is that the split signal lights with the same wavelength are cross-arranged.

16. A laser receiving module, characterized in that: The laser receiving module includes a plurality of laser receivers for receiving return light signals reflected by a target object, and each of the laser receivers is provided with a filtering structure for filtering out interference signals in the return light signals.

Images