Receiving device and laser radar system

Abstract

The invention provides a receiving device and a laser radar system, and relates to the technical field of signal receiving and detection. The receiving device comprises an optical waveguide and a plurality of signal optical ports; the plurality of signal optical ports are distributed on the optical waveguide, and optical port gap values between two adjacent signal optical ports at least comprise two gap values with different sizes; and the signal optical port is used for receiving and / or transmitting an optical signal. According to the invention, in consideration of the signal transmission difference between the receiving optical path and the transmitting optical path, the plurality of signal optical ports are non-uniformly distributed on the optical waveguide, and the position offset during signal transmission is compensated through the non-uniform optical port positions, so that the loss during signal receiving is reduced, the signal-to-noise ratio during measurement is improved, and the measurement accuracy is improved. The signal processing effect of the receiving device is optimized, so that the measurement precision and effectiveness are improved, the measurement effect of the laser radar system is optimized, and the laser radar system is suitable for various different measurement scenes.

Description

Technical Field

[0001] The present application relates to the technical field of signal reception and detection, and in particular to a receiving device and a laser radar system. Background Art

[0002] LiDAR based on the FMCW (Frequency Modulated Continuous Wave) principle has the advantages of strong anti-interference ability, high measurement accuracy, and strong speed measurement ability. It is widely used in automotive radar, drone obstacle avoidance, industrial automation, security monitoring and other fields. For example, in the field of automotive radar, FMCW radar is used in adaptive cruise control, automatic emergency braking, blind spot monitoring and other functions. By detecting the distance and speed information of the vehicle in front, the car can automatically adjust the driving speed and maintain a safe distance, thereby improving driving safety and comfort.

[0003] In the currently designed laser radar, due to the signal transmission difference between the receiving optical path and the transmitting optical path, in some cases with aberrations, the receiving loss will increase, resulting in higher loss during reception, which will have an adverse effect on the signal-to-noise ratio during measurement, resulting in poor measurement results of the laser radar and unable to meet a variety of different measurement needs. Summary of the invention

[0004] In view of this, the purpose of the embodiments of the present application is to provide a receiving device and a laser radar system to improve the problem of poor laser radar measurement effect existing in the prior art.

[0005] In order to solve the above problems, in a first aspect, an embodiment of the present application provides a receiving device, the receiving device comprising: an optical waveguide and a plurality of signal optical ports;

[0006] The plurality of signal optical ports are distributed on the optical waveguide, wherein the optical port gap values ​​between two adjacent signal optical ports include at least two gap values ​​of different sizes;

[0007] The signal optical port is used to receive and / or transmit an optical signal.

[0008] In the above implementation process, taking into account the signal transmission difference between the receiving optical path and the transmitting optical path, the optical port gap values ​​of the multiple signal optical ports on the optical waveguide are set to multiple different gap values, so that based on different gap values, the multiple signal optical ports are unevenly distributed on the optical waveguide, so that the position offset generated during signal transmission is compensated through the uneven signal optical port positions, thereby reducing the loss of the signal optical port when receiving the signal, improving the signal-to-noise ratio during measurement, and optimizing the signal processing effect of the receiving device, thereby improving the accuracy and effectiveness of the measurement, and being suitable for a variety of different measurement scenarios and can meet a variety of different measurement needs.

[0009] Optionally, the signal optical port comprises: a transmitting optical port array and a receiving optical port array which are separately arranged;

[0010] The emission light port array includes a plurality of emission light ports;

[0011] The receiving light port array includes a plurality of receiving light ports.

[0012] In the above implementation process, the signal optical port may include a transmitting optical port array and a receiving optical port array separately arranged on the optical waveguide, wherein the transmitting optical port array includes a plurality of transmitting optical ports for transmitting and processing the optical signal, and the receiving optical port array includes a plurality of receiving optical ports for receiving and processing the optical signal. By separately arranged optical port arrays, the interference between signal transmission and reception can be reduced, the transmission power and receiving sensitivity of the signal can be increased, thereby improving the signal-to-noise ratio and measurement accuracy of the receiving device, which is suitable for large-scale scanning or complex perception scenarios.

[0013] Optionally, the optical port gap value includes a transmitting optical port gap value and a receiving optical port gap value;

[0014] The gap values ​​between the plurality of emission light ports are the same;

[0015] The plurality of receiving light port gap values ​​between the plurality of receiving light ports include at least two gap values ​​of different sizes.

[0016] In the above implementation process, when the transmitting optical port array and the receiving optical port array are set separately, the optical port gap value may include the transmitting optical port gap value between the transmitting optical ports and the receiving optical port gap value between the receiving optical ports. The transmitting optical port gap value between multiple transmitting optical ports may be set to the same value, that is, multiple transmitting optical ports are evenly distributed on the optical waveguide. Considering the position offset in the signal receiving process, in order to reduce the loss during signal reception, multiple receiving optical port gap values ​​of different sizes may be set, that is, multiple receiving optical ports are unevenly distributed on the optical waveguide, so as to compensate for the position offset of the signal through the position deviation of the unevenly distributed receiving optical ports. The signal processing effect of the receiving device can be effectively optimized by adjusting the position of the receiving optical port to reduce the loss during signal reception.

[0017] Optionally, the plurality of receiving light ports are symmetrically distributed with the first central optical axis of the receiving light port array as the central axis;

[0018] The sizes of the gap values ​​between the plurality of receiving light ports vary in direct proportion or inverse proportion to the distance between the receiving light port and the first central optical axis.

[0019] In the above implementation process, considering that in the case of signal reception, the position offset of the signal usually increases or decreases outward with the central optical axis at the time of reception as the center, therefore, in the case where the transmitting optical port array and the receiving optical port array are set separately, the multiple receiving optical ports can be symmetrically distributed with the first central optical axis of the receiving optical port array as the central axis, and the size of the receiving optical port gap value increases as the distance between the receiving optical port and the first central optical axis increases, or the size of the receiving optical port gap value decreases as the distance between the receiving optical port and the first central optical axis increases. The multiple receiving optical ports can be arranged to be unevenly and symmetrically distributed with the first central optical axis of the receiving optical port array as the center, so that in the process of signal reception, the position offset of the signal can be compensated according to the uneven receiving optical ports, thereby reducing the signal reception loss.

[0020] Optionally, the size of the plurality of receiving light port gap values ​​varies in direct proportion to the distance between the receiving light port and the second central optical axis of the transmitting light port array;

[0021] Or, the size of the gap values ​​of the multiple receiving light ports varies inversely with the distance between the receiving light port and the second central optical axis of the transmitting light port array.

[0022] In the above implementation process, considering the positional offset in the signal transmission process and the signal reception process, when the transmitting optical port array and the receiving optical port array are separately set, the positional accuracy in the signal transmission process is determined according to the second central optical axis of the transmitting optical port array. Therefore, the position of the receiving optical port can be directly adjusted based on the second central optical axis of the transmitting optical port array, and the size of the gap value of the multiple receiving optical ports increases as the distance between the receiving optical port and the second central optical axis increases, or the size of the gap value of the receiving optical port decreases as the distance between the receiving optical port and the second central optical axis increases. From the perspective of signal reception, the multiple receiving optical ports can be non-uniformly and asymmetrically distributed with the second central optical axis of the transmitting optical port array as the center, so as to compensate for the positional offset of the signal during the reception process according to the non-uniform receiving optical ports, thereby reducing the signal reception loss.

[0023] Optionally, the optical port gap value includes a transmitting optical port gap value and a receiving optical port gap value;

[0024] The gap values ​​between the plurality of receiving light ports are the same;

[0025] The plurality of emission light port gap values ​​between the plurality of emission light ports include at least two gap values ​​of different sizes.

[0026] In the above implementation process, when the transmitting optical port array and the receiving optical port array are set separately, the optical port gap value may include the transmitting optical port gap value between the transmitting optical ports and the receiving optical port gap value between the receiving optical ports. The receiving optical port gap value between multiple receiving optical ports may be set to the same value, that is, multiple receiving optical ports are evenly distributed on the optical waveguide. Considering the position offset in the signal transmission process, in order to reduce the loss during signal reception, multiple transmitting optical port gap values ​​of different sizes may be set, that is, multiple transmitting optical ports are non-uniformly distributed on the optical waveguide, so as to compensate for the position offset of the signal through the position deviation of the non-uniformly distributed transmitting optical ports. The position of the transmitting optical port can be adjusted to reduce the loss during signal reception, effectively optimizing the signal processing effect of the receiving device.

[0027] Optionally, the plurality of emission light ports are symmetrically distributed with the second central optical axis of the emission light port array as the central axis;

[0028] The sizes of the gaps between the plurality of emission light ports vary in direct proportion or inverse proportion to the distance between the emission light port and the second central optical axis.

[0029] In the above implementation process, considering that in the case of signal transmission, the position offset of the signal usually increases or decreases outward with the central optical axis at the time of transmission as the center, therefore, in the case where the transmitting optical port array and the receiving optical port array are set separately, the multiple transmitting optical ports can be symmetrically distributed with the second central optical axis of the transmitting optical port array as the central axis, and the size of the transmitting optical port gap value increases as the distance between the transmitting optical port and the second central optical axis increases, or the size of the transmitting optical port gap value decreases as the distance between the transmitting optical port and the second central optical axis increases. The multiple transmitting optical ports can be arranged to be unevenly and symmetrically distributed with the second central optical axis of the transmitting optical port array as the center, so that during the signal transmission process, the position offset of the signal can be compensated according to the uneven transmitting optical ports, thereby reducing the signal reception loss.

[0030] Optionally, the size of the plurality of emission light port gap values ​​varies in direct proportion to the distance between the emission light port and the first central optical axis of the receiving light port array;

[0031] Or, the size of the gap values ​​between the plurality of emission light ports varies inversely with the distance between the emission light port and the first central optical axis of the receiving light port array.

[0032] In the above implementation process, considering the positional offset in the signal transmission process and the signal reception process, when the transmission optical port array and the receiving optical port array are separately arranged, the positional accuracy in the signal reception process is determined according to the first central optical axis of the receiving optical port array. Therefore, the position of the transmission optical port can be directly adjusted based on the first central optical axis of the receiving optical port array, and the size of the gap value of the multiple transmission optical ports increases as the distance between the transmission optical port and the first central optical axis increases, or the size of the gap value of the transmission optical port decreases as the distance between the transmission optical port and the first central optical axis increases. From the perspective of signal transmission, the multiple transmission optical ports can be non-uniformly and asymmetrically distributed with the second central optical axis of the receiving optical port array as the center, so as to compensate for the positional offset of the signal during the transmission process according to the non-uniform transmission optical ports, thereby reducing the signal reception loss.

[0033] Optionally, the signal optical port includes: a processing optical port array;

[0034] The processing optical port array includes a plurality of processing optical ports with transmitting and receiving functions.

[0035] In the above implementation process, the signal optical port can be a processing optical port array that is overlapped or closely adjacently arranged on the optical waveguide, and the processing optical port array can include a processing optical port with transmitting and receiving functions, so as to transmit and receive signals through the same optical port array. Through the shared processing optical port array, the volume and weight of the receiving device can be reduced to improve the integration and reliability of the receiving device, and reduce the cost and complexity of the receiving device, which is suitable for application scenarios with compact structure, fast response or high-resolution measurement.

[0036] Optionally, the optical port gap value includes a processing optical port gap value;

[0037] The plurality of processing light ports are symmetrically distributed with the third central optical axis of the processing light port array as the central axis;

[0038] The sizes of the gaps between the plurality of processing light ports vary in direct proportion or inverse proportion to the distance between the processing light port and the third central optical axis.

[0039] In the above implementation process, considering that in the case of signal reception and transmission, the position offset of the signal usually increases or decreases outward with the central optical axis during reception and transmission as the center, therefore, in the case of a common processing optical port array for transmission and reception, the optical port gap value may include a processing optical port gap value between multiple processing optical ports, and the multiple processing optical ports may be symmetrically distributed with the third central optical axis of the processing optical port array as the central axis, and the size of the processing optical port gap value increases as the distance between the processing optical port and the third central optical axis increases, or the size of the processing optical port gap value decreases as the distance between the processing optical port and the third central optical axis increases. The multiple processing optical ports can be arranged to be unevenly and symmetrically distributed with the third central optical axis of the processing optical port array as the center, so that in the process of signal reception and transmission, the position offset of the signal can be compensated according to the uneven processing optical ports, thereby reducing the signal reception loss.

[0040] Optionally, the optical port gap value is determined based on the number of optical ports, a signal angle and a signal offset.

[0041] In the above implementation process, the sizes of the multiple optical port gap values ​​between the multiple signal optical ports can be determined according to the number of signal optical ports, the angle of signal transmission, and the signal offset during the receiving and transmitting processes, so as to arrange the multiple signal optical ports unevenly on the optical waveguide in combination with actual conditions, thereby compensating for the signal offset through uneven position deviation.

[0042] In a second aspect, an embodiment of the present application further provides a laser radar system, the system comprising a receiving device as described in any one of the above items.

[0043] In summary, the embodiments of the present application provide a receiving device and a laser radar system, which distribute multiple signal optical ports unevenly on an optical waveguide, so as to compensate for the position offset during signal transmission through the uneven optical port positions, thereby reducing the loss when receiving the signal, improving the signal-to-noise ratio during measurement, and optimizing the signal processing effect of the receiving device, thereby improving the accuracy and effectiveness of the measurement, optimizing the measurement effect of the laser radar system, and being suitable for a variety of different measurement scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A schematic diagram of the structure of a first receiving device provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of the structure of a second receiving device provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the structure of a third receiving device provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the structure of a fourth receiving device provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the structure of a fifth receiving device provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the structure of the sixth receiving device provided in an embodiment of the present application.

[0051] Icon: 100-optical waveguide; 200-signal optical port; d-optical port gap value; 210-transmitting optical port array; 220-receiving optical port array; 211-transmitting optical port; 221-receiving optical port; d1-transmitting optical port gap value; d2-receiving optical port gap value; L1-first central optical axis; L2-second central optical axis; 230-processing optical port array; 231-processing optical port; d3-processing optical port gap value; L3-third central optical axis. DETAILED DESCRIPTION

[0052] The technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments of the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the embodiments of the present application.

[0053] In the currently designed laser radars, the receiving optical path and the transmitting optical path are set symmetrically. Due to the difference in signal transmission between the receiving optical path and the transmitting optical path, in some cases with aberrations, the signal will be offset during the transmission and reception process. The symmetrical structure will increase the receiving loss, resulting in higher loss during reception, which will have an adverse effect on the signal-to-noise ratio during measurement, resulting in poor measurement results of the laser radar and failure to meet a variety of different measurement requirements.

[0054] In order to solve the above problems, the present application provides a receiving device, which may include corresponding related receiving systems and other devices. The receiving device can be set in a laser radar system, which can be a laser radar system in the field of coherent reception detection based on the FMCW principle. The laser radar system can be set in various types of measuring equipment to achieve high-precision measurement.

[0055] See also Figure 1 , Figure 1 This is a schematic structural diagram of a first receiving device provided in an embodiment of the present application. The receiving device may include: an optical waveguide 100 and a plurality of signal optical ports 200 .

[0056] Optionally, the optical waveguide 100 may include a core layer of a high refractive index and a cladding layer of a low refractive index material, which can transmit optical signals and effectively reduce power loss and signal distortion. The signal optical port 200 is used to receive and / or transmit optical signals. The signal optical port 200 may include a transmitting optical port 211 for transmitting optical signals and a receiving optical port 221 for receiving optical signals, and may also include a processing optical port 231 having a transmitting function and a receiving function.

[0057] By way of example, the plurality of signal optical ports 200 may be optical ports that implement signal transmission based on edge coupling and / or surface coupling.

[0058] Among them, a plurality of signal optical ports 200 are distributed on the optical waveguide 100. It should be noted that the optical port gap value d between two adjacent signal optical ports 200 includes at least two gap values ​​of different sizes. Figure 1 For example, Figure 1 Only one feasible embodiment including three gap values ​​of different sizes is shown, and other numbers are not described in detail.

[0059] Optionally, the optical port gap value d is the distance between the center points of two adjacent signal optical ports 200 in the signal distribution direction. A plurality of signal optical ports 200 may be distributed on the optical waveguide 100 in a matrix array or a row array. This application only shows a row array structure, and the matrix array structure will not be described in detail.

[0060] It should be noted that, taking into account the aberration situation and other conditions, the position offset of the signal during the emission and transmission process will occur. If the signal is emitted and received with a uniformly set optical port, there will be a deviation between the position of the signal optical port 200 and the signal during reception, thereby causing reception loss. Therefore, the present application sets the optical port gap value d of the multiple signal optical ports 200 on the optical waveguide 100 to multiple different gap values, so that the multiple signal optical ports 200 are unevenly distributed on the optical waveguide 100 based on different gap values, so as to compensate for the position offset generated during signal transmission through the non-uniform position of the signal optical port 200.

[0061] exist Figure 1 In the illustrated embodiment, the position offset generated during signal transmission can be compensated through the non-uniform structure of the signal optical port 200, thereby reducing the loss of the signal optical port 200 when receiving the signal, improving the signal-to-noise ratio during measurement, and optimizing the signal processing effect of the receiving device, thereby improving the accuracy and effectiveness of the measurement. It is suitable for a variety of different measurement scenarios and can meet a variety of different measurement needs.

[0062] Optionally, the signal optical port 200 may include: a transmitting optical port array 210 and a receiving optical port array 220 that are separately arranged. The transmitting optical port array 210 includes a plurality of transmitting optical ports 211, and the receiving optical port array 220 includes a plurality of receiving optical ports 221. The signal optical port 200 may include a transmitting optical port array 210 and a receiving optical port array 220 that are separately arranged on the optical waveguide 100, and transmit and receive optical signals through the transmitting optical ports 211 and the receiving optical ports 221 in the respective arrays. Through the separately arranged optical port arrays, the interference between signal transmission and reception can be reduced, the transmission power and receiving sensitivity of the signal can be improved, thereby improving the signal-to-noise ratio and measurement accuracy of the receiving device, which is suitable for large-scale scanning or complex perception scenarios.

[0063] For example, the transmitting light port 211 may include a laser transmitter, and the receiving light port 221 may include a device structure such as a photodetector.

[0064] Optionally, in order to ensure effective reception of signals, the same number of transmitting optical ports 211 and receiving optical ports 221 may be provided.

[0065] Optionally, in the case where the transmitting optical port array 210 and the receiving optical port array 220 are separately provided, the optical port gap value d may include a transmitting optical port gap value d1 and a receiving optical port gap value d2, wherein the transmitting optical port gap value d1 is the gap value between two adjacent transmitting optical ports 211, and the receiving optical port gap value d2 is the gap value between two adjacent receiving optical ports 221. Considering the position offset in the signal receiving process, in order to reduce the loss during signal receiving, the distribution method may include: the multiple transmitting optical port gap values ​​d1 between the multiple transmitting optical ports 211 are the same, that is, the multiple transmitting optical ports 211 are evenly distributed on the optical waveguide 100, and the multiple receiving optical port gap values ​​d2 between the multiple receiving optical ports 221 include at least two gap values ​​of different sizes. Multiple receiving optical port gap values ​​d2 of different sizes may be set, that is, the multiple receiving optical ports 221 are non-uniformly distributed on the optical waveguide 100, so as to compensate the position offset of the signal through the position deviation of the non-uniformly distributed receiving optical ports 221. The position of the receiving optical port 221 can be adjusted to reduce the loss during signal reception, thereby effectively optimizing the signal processing effect of the receiving device.

[0066] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of a second receiving device provided in an embodiment of the present application. When the transmitting optical port array 210 and the receiving optical port array 220 are separately arranged and the receiving optical ports 221 are non-uniformly distributed, considering that in the case of signal reception, the position offset of the signal usually diverges outward with the central optical axis at the time of reception as the center, increasing or decreasing. Therefore, when the receiving optical port 221 is non-uniformly designed, the multiple receiving optical ports 221 can be symmetrically distributed with the first central optical axis L1 of the receiving optical port array 220 as the central axis, and the size of the gap value d2 of the multiple receiving optical ports changes in direct proportion or inverse proportion to the distance between the receiving optical port 221 and the first central optical axis L1, that is, the size of the receiving optical port gap value d2 increases with the increase of the distance between the receiving optical port 221 and the first central optical axis L1, or the size of the receiving optical port gap value d2 decreases with the increase of the distance between the receiving optical port 221 and the first central optical axis L1. The plurality of receiving optical ports 221 can be non-uniformly and symmetrically distributed around the first central optical axis L1 of the receiving optical port array 220 , so that during the signal reception process, the position offset of the signal can be compensated according to the non-uniform receiving optical ports 221 , thereby reducing the signal reception loss.

[0067] Optionally, Figure 2 Only one feasible embodiment with four receiving light ports 221 is shown, and structures with other numbers are not described in detail.

[0068] For example, among the four receiving light ports 221, the midline between the second receiving light port 221 and the third receiving light port 221, which can be located in the center, is the first central optical axis L1. The first receiving light port 221 and the fourth receiving light port 221 are symmetrically distributed with the first central optical axis L1 as the central axis. The second receiving light port 221 and the third receiving light port 221 are symmetrically distributed with the first central optical axis L1 as the central axis. When calculating the distance, the central axis of the light port can be used as the base point for calculation. The distances between the first receiving light port 221 and the fourth receiving light port 221 and the first central optical axis L1 are both 170 μm. The distances between the first receiving light port 221 and the third receiving light port 221 and the first central optical axis L1 are both 50 μm. Therefore, the receiving light port gap value d2 between the first receiving light port 221 and the second receiving light port 221 is 120 μm, the receiving light port gap value d2 between the second receiving light port 221 and the third receiving light port 221 is 100 μm, and the receiving light port gap value d2 between the third receiving light port 221 and the fourth receiving light port 221 is 120 μm, thereby achieving a non-uniform distribution in which the size of the receiving light port gap value d2 increases as the distance between the receiving light port 221 and the first central optical axis increases.

[0069] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of the third receiving device provided in an embodiment of the present application. In the case where the transmitting optical port array 210 and the receiving optical port array 220 are separately arranged and the receiving optical ports 221 are non-uniformly distributed, taking into account the positional offset in the signal transmitting process and the signal receiving process, the positional accuracy in the signal transmitting process is determined according to the second central optical axis L2 of the transmitting optical port array 210. Therefore, when the receiving optical port 221 is non-uniformly designed, the position of the receiving optical port 221 can be directly adjusted based on the second central optical axis L2 of the transmitting optical port array 210. The size of the receiving optical port gap value d2 may vary in direct proportion to the distance between the receiving optical port 221 and the second central optical axis L2 of the transmitting optical port array 210; or, the size of the multiple receiving optical port gap values ​​d2 may also vary in inverse proportion to the distance between the receiving optical port 221 and the second central optical axis L2 of the transmitting optical port array 210, that is, the size of the multiple receiving optical port gap values ​​d2 increases as the distance between the receiving optical port 221 and the second central optical axis L2 increases, or the size of the receiving optical port gap value d2 decreases as the distance between the receiving optical port 221 and the second central optical axis L2 increases. From the perspective of signal reception, the multiple receiving optical ports 221 can be distributed non-uniformly and asymmetrically with the second central optical axis L2 of the transmitting optical port array 210 as the center, so as to compensate for the position offset of the signal during the receiving process according to the non-uniform receiving optical ports 221, thereby reducing the signal reception loss.

[0070] Optionally, the values ​​of multiple receiving light port gap values ​​d2 can be presented as an increasing or decreasing arithmetic sequence, for example, 100μm, 90μm, 80μm, etc., and the tolerance of the arithmetic sequence can be set to 0~10um. The values ​​of multiple receiving light port gap values ​​d2 can also be presented as an increasing or decreasing irregular sequence, for example, 100μm, 80μm, 30μm, etc.

[0071] Optionally, taking the example that the transmitting light port array 210 has four transmitting light ports 211 and the receiving light port array 220 has four receiving light ports 221, the spacing value d1 of each transmitting light port in the transmitting light port array 210 is 150 μm, the distance between the first receiving light port 221 and the second central optical axis L2 can be set to 1500 μm, the distance between the second receiving light port 221 and the second central optical axis L2 can be set to 1600 μm, the distance between the third receiving light port 221 and the second central optical axis L2 can be set to 1710 μm, and the distance between the fourth receiving light port 221 and the second central optical axis L2 can be set to 1800 μm. The distance of the central optical axis L2 can be set to 1830μm, and accordingly, the first receiving light port gap value d2 between the first receiving light port 221 and the second receiving light port 221 is 100μm, the second receiving light port gap value d2 between the second receiving light port 221 and the third receiving light port 221 is 110μm, and the third receiving light port gap value d2 between the third receiving light port 221 and the fourth receiving light port 221 is 120μm, so that the receiving light port gap value d2 changes proportionally to the distance, that is, the receiving light port gap value d2 increases with the increase of the distance. Non-uniform distribution.

[0072] Optionally, in the case where the transmitting optical port array 210 and the receiving optical port array 220 are separately provided, the optical port gap value d may include a transmitting optical port gap value d1 and a receiving optical port gap value d2, wherein the transmitting optical port gap value d1 is the gap value between two adjacent transmitting optical ports 211, and the receiving optical port gap value d2 is the gap value between two adjacent receiving optical ports 221. Considering the position offset in the signal transmission process, in order to reduce the loss during signal reception, the distribution method may include: the multiple receiving optical port gap values ​​d2 between the multiple receiving optical ports 221 are the same, that is, the multiple receiving optical ports 221 are evenly distributed on the optical waveguide 100. The multiple transmitting optical port gap values ​​d1 between the multiple transmitting optical ports 211 include at least two gap values ​​of different sizes. Multiple transmitting optical port gap values ​​d1 of different sizes may be set, that is, the multiple transmitting optical ports 211 are non-uniformly distributed on the optical waveguide 100, so as to compensate for the position offset of the signal through the position deviation of the non-uniformly distributed transmitting optical ports 211. The loss during signal reception can be reduced by adjusting the position of the transmitting optical port 211, thereby effectively optimizing the signal processing effect of the receiving device.

[0073] See also Figure 4 , Figure 4A schematic diagram of the structure of a fourth receiving device provided in an embodiment of the present application, in which the transmitting optical port array 210 and the receiving optical port array 220 are separately arranged, and the transmitting optical ports 211 are non-uniformly distributed, considering that in the case of signal transmission, the position offset of the signal usually radiates outward with the central optical axis at the time of transmission as the center, increasing or decreasing, therefore, when the transmitting optical port 211 is non-uniformly designed, the multiple transmitting optical ports 211 can be symmetrically distributed with the second central optical axis L2 of the transmitting optical port array 210 as the central axis, and the size of the gap value d1 of the multiple transmitting optical ports changes in direct proportion or inverse proportion to the distance between the transmitting optical port 211 and the second central optical axis L2, that is, the size of the transmitting optical port gap value d1 increases with the increase of the distance between the transmitting optical port 211 and the second central optical axis L2, or the size of the transmitting optical port gap value d1 decreases with the increase of the distance between the transmitting optical port 211 and the second central optical axis L2. The plurality of emission optical ports 211 can be non-uniformly and symmetrically distributed around the second central optical axis L2 of the emission optical port array 210, so that during the signal transmission process, the position offset of the signal can be compensated according to the non-uniform emission optical ports 211, thereby reducing the signal reception loss.

[0074] Optionally, Figure 4 Only one feasible embodiment with four emission light ports 211 is shown, and structures with other numbers are not described in detail.

[0075] See also Figure 5 , Figure 5A schematic diagram of the structure of a fifth receiving device provided in an embodiment of the present application, in which the transmitting optical port array 210 and the receiving optical port array 220 are separately arranged, and the transmitting optical ports 211 are non-uniformly distributed, taking into account the positional offset in the signal transmitting process and the signal receiving process, the positional accuracy in the signal receiving process is determined according to the first central optical axis L1 of the receiving optical port array 220. Therefore, when the receiving optical port 221 is non-uniformly designed, the position of the transmitting optical port 211 can be directly adjusted based on the first central optical axis L1 of the receiving optical port array 220. The size of the optical port gap value d1 may vary in direct proportion to the distance between the transmitting optical port 211 and the first central optical axis L1 of the receiving optical port array 220, and the sizes of the multiple transmitting optical port gap values ​​d1 may also vary in inverse proportion to the distance between the transmitting optical port 211 and the first central optical axis L1 of the receiving optical port array 220, that is, the sizes of the multiple transmitting optical port gap values ​​d1 increase as the distance between the transmitting optical port 211 and the first central optical axis L1 increases, or the sizes of the transmitting optical port gap values ​​d1 decrease as the distance between the transmitting optical port 211 and the first central optical axis L1 increases. From the perspective of signal transmission, the multiple transmitting optical ports 211 can be distributed non-uniformly and asymmetrically with the second central optical axis L2 of the receiving optical port array 220 as the center, so as to compensate for the position offset of the signal during the transmission process according to the non-uniform transmitting optical ports 211, thereby reducing the signal reception loss.

[0076] Optionally, the non-uniform distribution structure of the emission light port 211 is similar to the non-uniform distribution structure of the reception light port 221 , and will not be described in detail.

[0077] Optionally, the signal optical port 200 may further include: a processing optical port array 230, wherein the processing optical port array 230 includes a plurality of processing optical ports 231 having transmitting and receiving functions. The signal optical port 200 may be a processing optical port array 230 that is overlapped or closely adjacently arranged on the optical waveguide 100, so as to transmit and receive signals through the same optical port array. By using a shared processing optical port array 230, the volume and weight of the receiving device can be reduced, so as to improve the integration and reliability of the receiving device, and reduce the cost and complexity of the receiving device, which is suitable for application scenarios with compact structure, fast response or high-resolution measurement.

[0078] Optionally, the optical port gap value d may include a processing optical port gap value d3 between adjacent processing optical ports 231. Figure 6 , Figure 6A structural schematic diagram of a sixth receiving device provided in an embodiment of the present application, in the case of a common processing optical port array 230 for transmission and reception, considering that in the case of signal reception and transmission, the position offset of the signal usually diverges outward with the central optical axis during reception and transmission as the center, thereby, the multiple processing optical ports 231 can be symmetrically distributed with the third central optical axis L3 of the processing optical port array 230 as the central axis, and the sizes of the multiple processing optical port gap values ​​d3 vary directly or inversely with the distance between the processing optical port 231 and the third central optical axis L3, that is, the size of the processing optical port gap value d3 increases with the increase of the distance between the processing optical port 231 and the third central optical axis L3, or the size of the processing optical port gap value d3 decreases with the increase of the distance between the processing optical port 231 and the third central optical axis L3. The plurality of processing optical ports 231 can be unevenly and symmetrically distributed with the third central optical axis L3 of the processing optical port array 230 as the center, so that during the reception and transmission of the signal, the position offset of the signal can be compensated according to the uneven processing optical ports 231, thereby reducing the reception loss of the signal.

[0079] Optionally, Figure 6 Only one feasible embodiment with five processing light ports 231 is shown, and the structures with other numbers are not described in detail. The non-uniform distribution structure of the processing light ports 231 is similar to the non-uniform distribution structure of the receiving light ports 221, and is not described in detail.

[0080] It should be noted that the optical port gap value d is determined based on the number of optical ports, the signal angle, and the signal offset. The number of optical ports is the number of signal optical ports 200, the signal angle may include the angle of signal transmission and the angle of signal reception obtained by testing, and the signal offset may be the distance value of the position offset of the signal during the signal transmission and / or reception process obtained by testing. Multiple optical port gap values ​​d may be designed based on various factors and in combination with actual accuracy requirements, so that multiple signal optical ports 200 are non-uniformly arranged on the optical waveguide 100, thereby compensating for the signal offset through non-uniform position deviation.

[0081] Optionally, before designing the optical port gap value d, multiple simulation tests may be performed on a test receiving device having multiple uniformly designed signal optical ports 200 to obtain corresponding signal angle and signal offset data.

[0082] It should be noted that the greater the numerical difference between the multiple optical port gap values ​​d, the greater the non-uniformity of the signal optical port 200. The number of optical ports and the signal transmission angle are proportional to the non-uniformity of the signal optical port 200, that is, the greater the number of optical ports and the greater the signal transmission angle, the greater the non-uniformity of the signal optical port 200.

[0083] In several embodiments provided in the present application, it should be understood that the disclosed device can also be implemented in other ways. The structural embodiments described above are merely schematic, for example, the block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices according to the multiple embodiments of the present application. In this regard, each box in the block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram, and the combination of the block diagrams, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0084] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0085] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0086] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

[0087] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including 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, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A receiving device, characterized in that: The receiving device comprises: an optical waveguide and a plurality of signal optical ports; The plurality of signal optical ports are distributed on the optical waveguide, wherein the optical port gap values ​​between two adjacent signal optical ports include at least two gap values ​​of different sizes; The signal optical port is used to receive and / or transmit an optical signal.

2. The receiving device according to claim 1, characterized in that in, The signal optical port comprises: a transmitting optical port array and a receiving optical port array which are arranged separately; The emission light port array includes a plurality of emission light ports; The receiving light port array includes a plurality of receiving light ports.

3. The receiving device according to claim 2, characterized in that in, The optical port gap value includes a transmitting optical port gap value and a receiving optical port gap value; The gap values ​​between the plurality of emission light ports are the same; The plurality of receiving light port gap values ​​between the plurality of receiving light ports include at least two gap values ​​of different sizes.

4. The receiving device according to claim 3, characterized in that in, The plurality of receiving light ports are symmetrically distributed with the first central optical axis of the receiving light port array as the central axis; The sizes of the gap values ​​between the plurality of receiving light ports vary in direct proportion or inverse proportion to the distance between the receiving light port and the first central optical axis.

5. The receiving device according to claim 3, characterized in that in, The size of the gap values ​​of the plurality of receiving light ports varies in direct proportion to the distance between the receiving light port and the second central optical axis of the transmitting light port array; Or, the size of the gap values ​​of the multiple receiving light ports varies inversely with the distance between the receiving light port and the second central optical axis of the transmitting light port array.

6. The receiving device according to claim 2, characterized in that in, The optical port gap value includes a transmitting optical port gap value and a receiving optical port gap value; The gap values ​​between the plurality of receiving light ports are the same; The plurality of emission light port gap values ​​between the plurality of emission light ports include at least two gap values ​​of different sizes.

7. The receiving device according to claim 6, characterized in that in, The plurality of emission light ports are symmetrically distributed with the second central optical axis of the emission light port array as the central axis; The sizes of the gaps between the plurality of emission light ports vary in direct proportion or inverse proportion to the distance between the emission light port and the second central optical axis.

8. The receiving device according to claim 6, characterized in that in, The size of the gap values ​​of the plurality of emission light ports varies in direct proportion to the distance between the emission light port and the first central optical axis of the receiving light port array; Or, the size of the gap values ​​between the plurality of emission light ports varies inversely with the distance between the emission light port and the first central optical axis of the receiving light port array.

9. The receiving device according to claim 1, characterized in that: in, The signal optical port comprises: a processing optical port array; The processing optical port array includes a plurality of processing optical ports with transmitting and receiving functions.

10. The receiving device according to claim 9, characterized in that in, The optical port gap value includes a processing optical port gap value; The plurality of processing light ports are symmetrically distributed with the third central optical axis of the processing light port array as the central axis; The sizes of the gaps between the plurality of processing light ports vary in direct proportion or inverse proportion to the distance between the processing light port and the third central optical axis.

11. The receiving device according to any one of claims 1 to 10, characterized in that: in, The optical port gap value is determined based on the number of optical ports, the signal angle and the signal offset.

12. A laser radar system, characterized in that: The system comprises the receiving device according to any one of claims 1-11.

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