Large-view-field focal plane array laser radar receiving module and laser radar system

Abstract

The invention discloses a large-view-field focal plane array laser radar receiving module and a laser radar system, belongs to the field of laser radars and optical waveguide integrated devices, and aims to solve the problems that when the scale of an existing laser radar receiving module is increased, the number of elements is sharply increased, the complexity is too high and the power consumption is too high. The laser radar transmitting module transmits signal light in a single-point, multi-point or one-dimensional array form; the signal light is reflected by a target object and then enters the laser radar receiving module; the optical antenna corresponding to the focusing position is controlled to be in an'on 'state by controlling the on-off state of the resonant ring optical switch array according to one or more angles for transmitting the signal light, so that the signal light is introduced into the waveguide bus; signal light of the waveguide bus is directly transmitted to the photoelectric conversion device to output an electric signal, or the signal light of the waveguide bus and intrinsic light are jointly transmitted to the coherent mixer and then transmitted to the photoelectric conversion device to output the electric signal.

Description

Technical Field

[0001] The invention relates to a large-field-of-view focal plane array laser radar receiving module and a laser radar system, and belongs to the field of laser radar and optical waveguide integrated devices. Background Art

[0002] With the rapid development of intelligent unmanned systems, LiDAR has been widely used as a key sensor in the fields of autonomous driving, robot navigation and high-precision mapping. In the past few years, the compact, low-power and low-cost implementation of LiDAR has mainly focused on two solutions: Optical Phased Array (OPA) and Focal Plane Switch Array (FPSA).

[0003] However, at present, the receiving modules of these two solutions are mainly based on single-point reception, and usually a group of photoelectric conversion devices corresponds to one receiving antenna. This means that when the size of the transmitting or receiving antenna array gradually increases, the photoelectric conversion devices and optical switch networks in the module must also be gradually increased, which increases the complexity of the receiving module and the corresponding circuit system on the one hand, and also increases the overall power consumption of the lidar on the other hand. Summary of the invention

[0004] In order to solve the problem that the existing laser radar receiving module will cause a surge in the number of components, high complexity and high power consumption when the scale is increased, the present invention provides a large field of view focal plane array laser radar receiving module and a laser radar system.

[0005] In a first aspect, the present invention provides a large-field-of-view focal plane array laser radar receiving module, comprising an off-chip lens group 10, a receiving optical antenna array 11, a resonant ring optical switch array 12, M photoelectric conversion devices 13, and N control electrodes 21;

[0006] The receiving optical antenna array 11 and the resonant ring optical switch array 12 are both M×N arrays, and the switch state of each receiving optical antenna of the receiving optical antenna array 11 is controlled by the resonant ring optical switch at the corresponding position of the resonant ring optical switch array 12;

[0007] The resonant ring optical switches in the same column of the resonant ring optical switch array 12 are connected in series and share a control electrode 21;

[0008] The receiving optical antennas in the same row of the receiving optical antenna array 11 share a bus waveguide, and each bus waveguide is interconnected with a photoelectric conversion device 13;

[0009] The off-chip lens group 10 converges the signal light at different angles returned by the target to the surface of the receiving optical antenna array 11 on the focal plane. The focusing point position of the off-chip lens group 10 is a single point, multiple points or a column. Under the control of the resonant ring optical switch array 12, the signal light received by the receiving optical antenna array 11 is transmitted to the corresponding photoelectric conversion device 13 through the bus waveguide. The central wavelength of the receiving optical antenna array 11 is consistent with the wavelength of the signal light.

[0010] The laser radar receiving module is a laser radar receiving module used for time-of-flight ranging method.

[0011] Preferably, the resonant ring optical switch array 12 is composed of a single micro-ring or multiple micro-ring cascade optical switches.

[0012] Preferably, the resonant ring optical switches of the resonant ring optical switch array 12 are thermo-optical optical switches or electro-optical optical switches.

[0013] Preferably, the receiving optical antennas of the receiving optical antenna array 11 use grating couplers.

[0014] Preferably, the off-chip lens group 10 is a lens array group or a microlens array group designed according to the receiving optical antenna array 11, and is used to focus signal lights at different angles on the receiving optical antenna surface at corresponding positions.

[0015] Preferably, the photoelectric conversion device 13 uses a germanium silicon detector to convert the optical signal received by each row of bus waveguides into an electrical signal.

[0016] In a second aspect, the present invention provides a large field of view focal plane array laser radar receiving module, comprising an off-chip lens group 10, a receiving optical antenna array 11, a resonant ring optical switch array 12, a photoelectric conversion device 13, N control electrodes 21, an intrinsic light receiving antenna 30, a power beam splitter 31 and M coherent mixers 32;

[0017] The receiving optical antenna array 11 and the resonant ring optical switch array 12 are both M×N arrays, and the switch state of each receiving optical antenna of the receiving optical antenna array 11 is controlled by the resonant ring optical switch at the corresponding position of the resonant ring optical switch array 12;

[0018] The resonant ring optical switches in the same column of the resonant ring optical switch array 12 are connected in series and share a control electrode 21;

[0019] The receiving optical antennas in the same row of the receiving optical antenna array 11 share a bus waveguide, and each bus waveguide is connected to an input end of a coherent mixer 32;

[0020] The intrinsic light receiving antenna 30 couples the intrinsic light into the waveguide, and the power beam splitter 31 evenly divides the light coupled into the waveguide into M beams of waveguide mode field light, and the two output ends of the power beam splitter 31 are connected to the other input ends of the two coherent mixers 32;

[0021] The off-chip lens group 10 converges the signal light of different angles returned by the target to the surface of the receiving optical antenna array 11 on the focal plane. The focusing point position of the off-chip lens group 10 is a single point, multiple points or a column. Under the control of the resonant ring optical switch array 12, each row of signal light and intrinsic light is synchronously input into a coherent mixer 32, and after mixing, it is output in multiple channels to the corresponding photoelectric conversion device 13.

[0022] The central wavelength of the receiving optical antenna array 11 is consistent with the wavelength of the signal light;

[0023] The laser radar receiving module is a laser radar receiving module used for frequency modulated continuous wave ranging method.

[0024] Preferably, the intrinsic light receiving antenna 30 uses an edge coupler or a grating coupler to couple the intrinsic light into the waveguide.

[0025] Preferably, the coherent mixer 32 is a 90-degree coherent mixer or a 120-degree coherent mixer. The 90-degree coherent mixer has four output ends, and the receiving module is equipped with 4×M photoelectric conversion devices 13 ; the 120-degree coherent mixer has three output ends, and the receiving module is equipped with 3×M photoelectric conversion devices 13 .

[0026] In a third aspect, the present invention provides a photon integrated laser radar system, including a laser radar transmitting module and a laser radar receiving module, wherein the laser radar receiving module is the large field of view focal plane array laser radar receiving module according to claim 1 or 2;

[0027] The laser radar transmitting module transmits signal light in the form of single point, multi-point or one-dimensional array; the signal light enters the laser radar receiving module after being reflected by the target object; according to the single or multiple angles of the transmitted signal light, the switching state of the resonant ring optical switch array 11 is controlled to control the optical antenna corresponding to the focusing position to be in the "on" state, thereby introducing the signal light into the waveguide bus; the signal light of the waveguide bus is directly transmitted to the photoelectric conversion device 13 to output an electrical signal, or the signal light of the waveguide bus and the intrinsic light are transmitted together to the coherent mixer 32, and then transmitted to the photoelectric conversion device 13 to output an electrical signal.

[0028] Beneficial effects of the present invention: The present invention can realize the reception and detection of single point, multi-point and even one-dimensional array through time division multiplexing technology and space division multiplexing technology. Compared with the single-point receiving module, the number of optical switch arrays and photoelectric conversion devices of the present invention has been greatly reduced, which greatly simplifies the complexity of the overall system and improves the overall receiving efficiency. At the same time, the overall power consumption of the laser radar has not been greatly increased. The present invention provides a large-scale, low-power laser radar receiving module. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 1 is a schematic diagram of the structure of a laser radar receiving module used for time-of-flight ranging method in implementation mode 1;

[0030] Figure 2 is a schematic diagram of the structure of the resonant ring optical switch array described in the first embodiment;

[0031] Figure 3 It is a schematic diagram of the structure of a laser radar receiving module used for frequency modulated continuous wave ranging method in implementation mode 2;

[0032] Figure 4 is a transmission curve of the coherent mixer in the second implementation mode as the phase difference between the intrinsic light and the signal light changes;

[0033] Figure 5 It is a schematic diagram of the structure of the laser radar in implementation mode three. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0037] Specific implementation method 1: The following is combined Figure 1 and Figure 2 This embodiment is described. The large field of view focal plane array laser radar receiving module described in this embodiment is a laser radar receiving module used for time-of-flight ranging method. The laser radar receiving module includes an off-chip lens group 10, a receiving optical antenna array 11, a resonant ring optical switch array 12, M photoelectric conversion devices 13 and N control electrodes 21;

[0038] The receiving optical antenna array 11 and the resonant ring optical switch array 12 are both M×N arrays, and the switch state of each receiving optical antenna of the receiving optical antenna array 11 is controlled by the resonant ring optical switch at the corresponding position of the resonant ring optical switch array 12;

[0039] The resonant ring optical switches in the same column of the resonant ring optical switch array 12 are connected in series and share a control electrode 21;

[0040] The receiving optical antennas in the same row of the receiving optical antenna array 11 share a bus waveguide, and each bus waveguide is interconnected with a photoelectric conversion device 13;

[0041] The off-chip lens group 10 converges the signal light at different angles returned by the target to the surface of the receiving optical antenna array 11 on the focal plane. The focusing point position of the off-chip lens group 10 is a single point, multiple points or a column. Under the control of the resonant ring optical switch array 12, the signal light received by the receiving optical antenna array 11 is transmitted to the corresponding photoelectric conversion device 13 through the bus waveguide. The central wavelength of the receiving optical antenna array 11 is consistent with the wavelength of the signal light.

[0042] The laser radar receiving module of this embodiment is a laser radar receiving module used for time-of-flight ranging method.

[0043] The resonant ring optical switch array 12 is composed of a single micro-ring or a plurality of micro-ring cascade optical switches, which are used to control the switching of the "on" and "off" states of the corresponding optical antennas, and transmit the mode field light coupled by the grating coupler corresponding to the "on" state to the bus waveguide of the corresponding row.

[0044] The resonant ring optical switches of the resonant ring optical switch array 12 are thermo-optical optical switches or electro-optical optical switches.

[0045] The receiving optical antenna of the receiving optical antenna array 11 adopts a grating coupler.

[0046] The off-chip lens group 10 is a lens array group or a microlens array group designed according to the receiving optical antenna array 11, and is used to focus signal lights at different angles on the receiving optical antenna surface at corresponding positions.

[0047] The large field of view focal plane array lidar receiving module is manufactured based on the silicon-on-insulator (SOI) platform. The platform consists of a 2mm silicon substrate layer, a 2um thick SiO2 buffer layer, a 220nm silicon waveguide layer and a 2um thick silicon dioxide cladding layer from bottom to top.

[0048] The laser radar receiving module for time-of-flight ranging provided in this embodiment supports single-point reception, multi-point reception and one-dimensional array reception modes.

[0049] When using single-point receiving mode, the basic process is as follows:

[0050] (1) the off-chip lens group receives the signal light at angle 1, and focuses the signal light at the grating coupler at the first row and first column of the receiving optical antenna array 11 according to the relationship between the pre-designed angle and the focus point position;

[0051] (2) applying a bias voltage to the resonant ring optical switch in the first column through the control electrode 21 to put it in the "on" state, that is, modulating the central transmission wavelength to the incident wavelength, ensuring that the coupled light from the grating coupler in the first row and first column continues to be introduced into the bus waveguide in the first row;

[0052] (3) The light in the bus waveguide continues to be transmitted to the photoelectric converter in row 1, converting the optical signal into an electrical signal and introducing it into the subsequent circuit and signal system, completing the signal light reception for angle 1;

[0053] (4) When the off-chip lens group receives the signal light of angle 2, it will focus on the grating coupler at the corresponding position (taking the second row and second column as an example);

[0054] (5) Similarly, a bias voltage is applied to the resonant ring optical switch in the second column to make it in the "on" state. At this time, no bias voltage is applied to the resonant ring optical switches in other columns, which results in only the central transmission wavelength of the resonant ring optical switch in the second column being consistent with the incident wavelength, thereby allowing the coupled light of the grating coupler in the second column to continue to be introduced into the bus waveguide in the second row, and no leakage occurs when passing through the resonant ring in the first column;

[0055] (6) The light in the bus waveguide continues to be transmitted to the photoelectric converter in the second row, realizing the conversion of optical signal into electrical signal and introducing it into the subsequent circuit and signal system, completing the signal light reception for angle 2.

[0056] When using the one-dimensional array receiving mode, the basic process is as follows:

[0057] (1) The off-chip lens group receives the signal light with angles of 1 to M, where the angles of the signal light need to be consistent in the x direction. The signal light with angles of 1 to M passing through the off-chip lens group is incident on the grating coupler positions at the 1st row of the 1st column to the 1st row of the Mth column respectively;

[0058] (2) applying a bias voltage to the resonant ring optical switches in the first column, so that the entire column of optical switches is in the "on" state, ensuring that the coupled light of all grating couplers in the first column can continue to be introduced into the bus waveguides of the first to Mth rows;

[0059] (3) The light in the bus waveguide continues to be transmitted to all optoelectronic converters, realizing the conversion of optical signals into electrical signals and introducing them into the subsequent circuits and signal systems, completing the signal light reception for angles 1 to M;

[0060] (4) When the off-chip lens group 10 receives signal light at other angles, it is only necessary to apply a bias voltage to the corresponding column of resonant ring optical switches so that the entire column of optical switches is in the "on" state, thereby realizing the reception of one-dimensional array signal light.

[0061] Specific implementation method 2: The following is combined Figure 3 and Figure 4 The present embodiment is described. The large field of view focal plane array laser radar receiving module described in the present embodiment is a laser radar receiving module for frequency modulated continuous wave ranging method, including an off-chip lens group 10, a receiving optical antenna array 11, a resonant ring optical switch array 12, a photoelectric conversion device 13, N control electrodes 21, an intrinsic light receiving antenna 30, a power beam splitter 31 and M coherent mixers 32;

[0062] The receiving optical antenna array 11 and the resonant ring optical switch array 12 are both M×N arrays, and the switch state of each receiving optical antenna of the receiving optical antenna array 11 is controlled by the resonant ring optical switch at the corresponding position of the resonant ring optical switch array 12;

[0063] The resonant ring optical switches in the same column of the resonant ring optical switch array 12 are connected in series and share a control electrode 21;

[0064] The receiving optical antennas in the same row of the receiving optical antenna array 11 share a bus waveguide, and each bus waveguide is connected to an input end of a coherent mixer 32;

[0065] The intrinsic light receiving antenna 30 couples the intrinsic light into the waveguide, and the power beam splitter 31 evenly divides the light coupled into the waveguide into M beams of waveguide mode field light, and the two output ends of the power beam splitter 31 are connected to the other input ends of the two coherent mixers 32;

[0066] The off-chip lens group 10 converges the signal light of different angles returned by the target to the surface of the receiving optical antenna array 11 on the focal plane. The focusing point position of the off-chip lens group 10 is a single point, multiple points or a column. Under the control of the resonant ring optical switch array 12, each row of signal light and intrinsic light is synchronously input into a coherent mixer 32, and after mixing, it is output in multiple channels to the corresponding photoelectric conversion device 13.

[0067] The central wavelength of the receiving optical antenna array 11 is consistent with the wavelength of the signal light;

[0068] The laser radar receiving module of this embodiment is a laser radar receiving module used for frequency modulated continuous wave ranging method.

[0069] The resonant ring optical switch array 12 is composed of a single micro-ring or a plurality of micro-ring cascade optical switches, which are used to control the switching of the "on" and "off" states of the corresponding optical antennas, and transmit the mode field light coupled by the grating coupler corresponding to the "on" state to the bus waveguide of the corresponding row.

[0070] The resonant ring optical switches of the resonant ring optical switch array 12 are thermo-optical optical switches or electro-optical optical switches.

[0071] The receiving optical antenna of the receiving optical antenna array 11 adopts a grating coupler.

[0072] The off-chip lens group 10 is a lens array group or a microlens array group designed according to the receiving optical antenna array 11, and is used to focus signal lights at different angles on the receiving optical antenna surface at corresponding positions.

[0073] The photoelectric conversion device 13 uses a germanium silicon detector to convert the optical signal received by each row of bus waveguide into an electrical signal.

[0074] The intrinsic light receiving antenna 30 uses an edge coupler or a grating coupler to couple the intrinsic light into the waveguide.

[0075] The power beam splitter 31 may adopt a beam splitter network structure based on a multimode interference beam splitter, a beam splitter network structure based on a Y-junction beam splitter, or the like.

[0076] The coherent mixer has two input ends, which are respectively connected to the output waveguide bus of the resonant ring optical switch array 12 and the output port of the power beam splitter 31 .

[0077] The coherent mixer 32 uses a 90-degree coherent mixer or a 120-degree coherent mixer. The 90-degree coherent mixer has four output ends, and the receiving module is configured with 4×M photoelectric conversion devices 13; the 120-degree coherent mixer has three output ends, and the receiving module is configured with 3×M photoelectric conversion devices 13.

[0078] Taking the 120-degree coherent mixer and one-dimensional array receiving mode as an example, the basic process is as follows:

[0079] (1) The off-chip lens group receives the signal light with angles of 1 to M, where the angles of the signal light need to be consistent in the x direction. The signal light with angles of 1 to M passing through the off-chip lens group is incident on the grating coupler positions at the 1st row of the 1st column to the 1st row of the Mth column respectively;

[0080] (2) applying a bias voltage to the resonant ring optical switches in the first column, so that the entire column of optical switches is in the "on" state, ensuring that the coupled light of all grating couplers in the first column can continue to be introduced into the bus waveguide of the first row;

[0081] (3) In parallel with steps 1 and 2, the intrinsic light receiving antenna couples the intrinsic light into the waveguide layer, which is equally divided into M beams of waveguide mode field light by the beam splitter and transmitted to the left synchronously with the signal light in the bus waveguide;

[0082] (4) The intrinsic light and signal light of each row are simultaneously input into the 120-degree coherent mixer and output at the three output ports on the left after coherent mixing, as shown in Figure 4 Shown are the output efficiency curves of the three ports under different input phase differences;

[0083] (5) The mixed signal light of the three ports is continuously transmitted to all photoelectric converters to realize the conversion of optical signal to electrical signal and import it into the subsequent circuit and signal system, completing the signal light reception for angles 1 to M;

[0084] (6) When the off-chip lens group receives signal light at other angles, it is only necessary to apply a bias voltage to the corresponding column of resonant ring optical switches so that the entire column of optical switches is in the "on" state, thereby realizing the reception of the one-dimensional array signal light.

[0085] The main advantages of the focal plane lidar receiving module provided in implementation modes 1 and 2 are:

[0086] (1) It is not limited to receiving single-point signals, but can receive multi-point or one-dimensional array signals;

[0087] (2) Relatively few optoelectronic conversion devices and optical switch array devices are required, which has significantly lower complexity;

[0088] (3) Coherent mixing detection can be used for reception, which has a higher signal-to-noise ratio and a longer detection range.

[0089] Specific implementation method three: the following combination Figures 1 to 5 This embodiment is described. The laser radar system described in this embodiment is prepared by using the large field of view focal plane array laser radar receiving module described in embodiment one or embodiment two. The laser radar system includes a laser radar transmitting module and a laser radar receiving module. The laser radar receiving module is the large field of view focal plane array laser radar receiving module described in embodiment one or embodiment two.

[0090] The laser radar transmitting module transmits signal light in the form of single point, multi-point or one-dimensional array; the signal light enters the laser radar receiving module after being reflected by the target object; according to the single or multiple angles of the transmitted signal light, the switching state of the resonant ring optical switch array 11 is controlled to control the optical antenna corresponding to the focusing position to be in the "on" state, thereby introducing the signal light into the waveguide bus; the signal light of the waveguide bus is directly transmitted to the photoelectric conversion device 13 to output an electrical signal, or the signal light of the waveguide bus and the intrinsic light are transmitted together to the coherent mixer 32, and then transmitted to the photoelectric conversion device 13 to output an electrical signal.

[0091] The laser radar transmitting module can adopt an OPA laser radar transmitting module, an FPSA laser radar transmitting module and a MEMS laser radar transmitting module

[0092] Since the focal plane array lidar receiving module provided in embodiments one and two can realize the reception of single-point, multi-point and one-dimensional array signals, it can be combined with an OPA lidar transmitting module, an FPSA lidar transmitting module or a MEMS lidar transmitting module to form a complete lidar system.

[0093] For OPA laser radar transmitting module, FPSA laser radar transmitting module and MEMS laser radar transmitting module, their transmission is generally carried out by single-point scanning or one-dimensional array scanning, so the above-mentioned focal plane array laser radar receiving module can be directly applied, such as Figure 5 The specific steps are as follows:

[0094] (1) The laser emits a laser signal at time t1 under the drive of the time information control module;

[0095] (2) The emitted laser signal passes through the laser radar transmitting module and then emits a single point laser / array laser at an angle of 1 to the target object;

[0096] (3) After the signal light reflected by the target object enters the off-chip lens group 10 of the laser radar receiving module, it converges to a single / entire column of grating couplers at a position corresponding to angle 1, so that the signal reading in the column direction can be completed according to the space division multiplexing technology;

[0097] (4) The time information control module controls the resonant ring corresponding to time t1 to be modulated to the "on" state, so that the signal reading in the row direction can be completed according to the time division multiplexing technology;

[0098] (5) The photoelectric conversion device 13 performs photoelectric conversion on the received optical signal and sends it to the signal processing module to extract the signal and determine information such as the distance and speed of the target object.

[0099] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. Large field of view focal plane array laser radar receiving module, characterized in that: It comprises an off-chip lens group (10), a receiving optical antenna array (11), a resonant ring optical switch array (12), M photoelectric conversion devices (13) and N control electrodes (21); The receiving optical antenna array (11) and the resonant ring optical switch array (12) are both M×N arrays, and the switch state of each receiving optical antenna of the receiving optical antenna array (11) is controlled by a resonant ring optical switch at a corresponding position of the resonant ring optical switch array (12); The resonant ring optical switches in the same column of the resonant ring optical switch array (12) are connected in series and share a control electrode (21); The receiving optical antennas in the same row of the receiving optical antenna array (11) share a bus waveguide, and each bus waveguide is interconnected with a photoelectric conversion device (13); The off-chip lens group (10) converges signal light at different angles returned by the target onto the surface of the receiving optical antenna array (11) on the focal plane, and the focusing point position of the off-chip lens group (10) is a single point, multiple points or a column; under the control of the resonant ring optical switch array (12), the signal light received by the receiving optical antenna array (11) is transmitted to the corresponding photoelectric conversion device (13) through a bus waveguide; the central wavelength of the receiving optical antenna array (11) is consistent with the wavelength of the signal light; The laser radar receiving module of this claim is a laser radar receiving module used for time-of-flight ranging method.

2. Large field of view focal plane array laser radar receiving module, characterized in that: It comprises an off-chip lens group (10), a receiving optical antenna array (11), a resonant ring optical switch array (12), a photoelectric conversion device (13), N control electrodes (21), an intrinsic light receiving antenna (30), a power beam splitter (31) and M coherent mixers (32); The receiving optical antenna array (11) and the resonant ring optical switch array (12) are both M×N arrays, and the switch state of each receiving optical antenna of the receiving optical antenna array (11) is controlled by a resonant ring optical switch at a corresponding position of the resonant ring optical switch array (12); The resonant ring optical switches in the same column of the resonant ring optical switch array (12) are connected in series and share a control electrode (21); The receiving optical antennas in the same row of the receiving optical antenna array (11) share a bus waveguide, and each bus waveguide is connected to an input end of a coherent mixer (32); The intrinsic light receiving antenna (30) couples the intrinsic light into the waveguide, the power beam splitter (31) evenly splits the light coupled into the waveguide into M beams of waveguide mode field light, and the two output ends of the power beam splitter (31) are connected to the other input ends of the two coherent mixers (32); The off-chip lens group (10) converges signal lights at different angles returned by the target onto the surface of the receiving optical antenna array (11) on the focal plane, and the focus point position of the off-chip lens group (10) is a single point, multiple points or a column; under the control of the resonant ring optical switch array (12), each row of signal light and intrinsic light are synchronously input into a coherent mixer (32), and after mixing, they are output in multiple channels to the corresponding photoelectric conversion device (13); The central wavelength of the receiving optical antenna array (11) is consistent with the wavelength of the signal light; The laser radar receiving module of this claim is a laser radar receiving module used for frequency modulated continuous wave ranging method.

3. The large field of view focal plane array laser radar receiving module according to claim 1 or 2, characterized in that: The resonant ring optical switch array (12) is composed of a single micro-ring or multiple micro-ring cascade optical switches.

4. The large field of view focal plane array laser radar receiving module according to claim 1 or 2, characterized in that: The resonant ring optical switch of the resonant ring optical switch array (12) adopts a thermo-optical optical switch or an electro-optical optical switch.

5. The large field of view focal plane array laser radar receiving module according to claim 1 or 2, characterized in that: The receiving optical antenna of the receiving optical antenna array (11) adopts a grating coupler.

6. The large field of view focal plane array laser radar receiving module according to claim 1 or 2, characterized in that: The off-chip lens group (10) is a lens array group or a microlens array group designed according to the receiving optical antenna array (11), and is used to focus signal lights at different angles on the receiving optical antenna surface at corresponding positions.

7. The large field of view focal plane array laser radar receiving module according to claim 1 or 2, characterized in that: The photoelectric conversion device (13) uses a germanium silicon detector and is used to convert the optical signal received by each row of bus waveguide into an electrical signal.

8. The large field of view focal plane array laser radar receiving module according to claim 2, characterized in that: The intrinsic light receiving antenna (30) adopts an edge coupler or a grating coupler to couple the intrinsic light into the waveguide.

9. The large field of view focal plane array laser radar receiving module according to claim 2, characterized in that: The coherent mixer (32) adopts a 90-degree coherent mixer or a 120-degree coherent mixer. The 90-degree coherent mixer has four output ends, and the receiving module is equipped with 4×M photoelectric conversion devices (13); the 120-degree coherent mixer has three output ends, and the receiving module is equipped with 3×M photoelectric conversion devices (13).

10. A photon integrated laser radar system, characterized in that: It comprises a laser radar transmitting module and a laser radar receiving module, wherein the laser radar receiving module is the large field of view focal plane array laser radar receiving module according to claim 1 or 2; The laser radar transmitting module transmits signal light in the form of a single point, multiple points or a one-dimensional array; the signal light enters the laser radar receiving module after being reflected by a target object; according to the single or multiple angles of the transmitted signal light, the switching state of the resonant ring optical switch array (11) is controlled to control the optical antenna corresponding to the focus position to be in an "on" state, thereby introducing the signal light into the waveguide bus; the signal light of the waveguide bus is directly transmitted to the photoelectric conversion device (13) to output an electrical signal, or the signal light of the waveguide bus and the intrinsic light are transmitted together to the coherent mixer (32), and then transmitted to the photoelectric conversion device (13) to output an electrical signal.

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