Lidar device

Abstract

The invention provides a laser radar device comprising a light source used for providing a detection light beam; the input switch array is connected with the light source light path, and the input switch array comprises a plurality of input switches; the transmitting-receiving array comprises a plurality of transmitting-receiving units arranged in one-to-one correspondence with the plurality of input switches, and each input switch can receive the detection light beams and route the detection light beams to the corresponding transmitting-receiving unit; the lens is positioned above the transceiving array and is used for collimating and redirecting the detection light beam; and the output switch array comprises a plurality of output switches which are arranged in one-to-one correspondence with the plurality of transceiving units, and each output switch can receive and output the reflected light beams of the corresponding transceiving unit. According to the technical scheme of the invention, the problems of small receiving aperture and short detection range of the FPA chip in the related technology can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and in particular, to a lidar device. Background Art

[0002] A lidar (light detection and ranging) is a device that emits laser beams, receives laser pulses (i.e., echo signals) reflected from surrounding target objects, and measures the distance to the target objects based on the echo signals to accurately reproduce the surrounding environment. A LiDAR system generally includes a controller, a transmitting device, and a receiving device, wherein the core component of the transmitting device is an optical device for steering (deflecting) the light beam.

[0003] Currently, commercially mass-produced lidars mostly use optical devices based on mechanical systems, which have large volume, high cost, and limited lifespan and stability. In contrast, all-solid-state lidars are small in size and low in cost, have no moving parts inside, and have greatly improved reliability and durability, so they have more competitive advantages. Currently, all-solid-state lidars mainly include technical directions such as optical phased arrays and focal plane arrays (FPA). Among them, the FPA system is simple and low in power consumption and is considered to be one of the most promising directions.

[0004] However, existing FPA chips have technical problems of small receiving aperture and short detection range, which greatly limit the performance and application of focal plane array chips. Summary of the Invention

[0005] The main object of the present invention is to provide a lidar device to solve the problems of small receiving aperture and short detection range of FPA chips in related technologies.

[0006] To achieve the above object, the present invention provides a lidar device, including: a light source for providing a detection beam; an input switch array optically connected to the light source, the input switch array including a plurality of input switches; a transceiver array including a plurality of transceiver units corresponding to the plurality of input switches one by one, each input switch being capable of receiving the detection beam and routing it to the corresponding transceiver unit; a lens located above the transceiver array, the lens being used for collimating and redirecting the detection beam; an output switch array including a plurality of output switches corresponding to the plurality of transceiver units one by one, each output switch being capable of receiving the reflected beam of the corresponding transceiver unit and outputting it.

[0007] Further, each transceiver unit includes a plurality of receiving antennas and at least one transmitting antenna. The plurality of receiving antennas and the at least one transmitting antenna are arranged side by side. The transmitting antenna is optically connected to the corresponding input switch and is used to emit a detection beam. The receiving antenna is used to receive the reflected beam corresponding to the detection beam and transmit the reflected beam to the corresponding output switch.

[0008] Further, in each transceiver unit, at least one receiving antenna is arranged on at least one side of each transmitting antenna; the extending direction of the transmitting antenna is the same as the extending direction of the receiving antenna.

[0009] Further, the transceiver unit further includes a transmission waveguide, which is arranged between the transmitting antenna and the input switch and is optically connected to both the transmitting antenna and the input switch.

[0010] Further, the lidar device further includes: an input coupler, which is optically connected to the light source and the input switch array. The input coupler can receive the detection beam generated by the light source and couple the detection beam into the input switch array; an output coupler, which is optically connected to the output switch array. The output coupler is used to receive the reflected beam output by the output switch array and output the reflected beam.

[0011] Further, the input switch is a thermo-optic switch, an electro-optic switch or a microelectromechanical system (MEMS) switch; and / or, the output switch is a thermo-optic switch, an electro-optic switch or a MEMS switch.

[0012] Further, the input switch array is a microring optical switch array, a cascaded Mach-Zehnder interferometer (MZI) optical switch tree or a MEMS array; and / or, the output switch array is a microring optical switch array, a cascaded MZI optical switch tree or a MEMS array.

[0013] Further, the receiving surface of the receiving antenna and the transmitting surface of the transmitting antenna are located on the focal plane of the lens.

[0014] Further, the lidar device further includes a signal processor, which is optically connected to the output coupler and is used to obtain information from the reflected beam.

[0015] Further, the lidar device further includes a photodetector arranged between the output coupler and the signal processor. The photodetector is used to convert the optical signal output by the output coupler into an electrical signal and output it to the signal processor.

[0016] Applying the technical solution of the present invention, the lidar device includes a light source, an input switch array, a transceiver array, a lens, and an output switch array. The light source is used to provide a detection beam. The input switch array is optically connected to the light source. The input switch array includes a plurality of input switches. The transceiver array includes a plurality of transceiver units arranged in one-to-one correspondence with the plurality of input switches. Each input switch can receive the detection beam and route it to the corresponding transceiver unit. The lens is located above the transceiver array, and the lens is used to collimate and redirect the detection beam. The output switch array includes a plurality of output switches arranged in one-to-one correspondence with the plurality of transceiver units. Each output switch can receive the reflected beam of the corresponding transceiver unit and output it. Among them, the core part of the lidar device is the transceiver array. The transceiver array includes a plurality of transceiver units to avoid using moving optical elements, so that the lidar device of the present application forms an all-solid-state structure. Each transceiver unit can emit a detection beam and receive a reflected beam, integrating reception and transmission, effectively reducing the complexity of the lidar device. Due to the use of a plurality of transceiver units, the emission aperture and the reception aperture are increased, which can effectively improve the signal quality and further increase the detection range. Therefore, the technical solution of the present application can effectively solve the problems of small reception aperture and short detection range existing in the FPA chip in the related art. Description of the Drawings

[0017] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0018] Figure 1 Shows a schematic structural diagram of an embodiment of a lidar device according to the present invention;

[0019] Figure 2 Shows Figure 1 A schematic structural diagram of the input switch array, the transceiver array, and the output switch array of the lidar device;

[0020] Figure 3 Shows Figure 2 A schematic structural diagram of the transmitting antenna and the transmission waveguide of the transceiver array;

[0021] Figure 4 Shows Figure 2 A schematic structural diagram of the receiving antenna of the transceiver array;

[0022] Figure 5 Shows a schematic structural diagram of an embodiment of a lidar device according to the present invention;

[0023] Figure 6 Shows the signal-to-noise ratio of a radar device in the related art;

[0024] Figure 7Shows Figure 5 the signal-to-noise ratio of the radar device in the embodiment shown.

[0025] Among them, the above-mentioned drawings include the following reference numerals:

[0026] 2. Light source; 11. Input coupler; 12. Input switch array; 121. Input switch; 13. Transceiver array; 131. Transceiver unit; 1311. Transmitting antenna; 1312. Receiving antenna; 1313. Transmission waveguide; 14. Output switch array; 141. Output switch; 15. Output coupler; 3. Lens; 4. Signal processor. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that for the sake of description, the sizes of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0030] Such as Figures 1 to 5As shown in the figure, the present application provides a lidar device including a light source 2, an input switch array 12, a transceiver array 13, a lens 3, and an output switch array 14. The light source 2 is used to provide a detection beam; the input switch array 12 is optically connected to the light source 2, and the input switch array 12 includes a plurality of input switches 121; the transceiver array 13 includes a plurality of transceiver units 131 arranged in one-to-one correspondence with the plurality of input switches 121, and each input switch 121 can receive the detection beam and route it to the corresponding transceiver unit 131; the lens 3 is located above the transceiver array 13, and the lens 3 is used to collimate and redirect the detection beam; the output switch array 14 includes a plurality of output switches 141 arranged in one-to-one correspondence with the plurality of transceiver units 131, and each output switch 141 can receive the reflected beam of the corresponding transceiver unit 131 and output it.

[0031] Applying the technical solution of this embodiment, the lidar device includes a light source 2, an input switch array 12, a transceiver array 13, a lens 3, and an output switch array 14. The transceiver array 13 includes a plurality of transceiver units 131 arranged in one-to-one correspondence with the plurality of input switches 121. The core part of the lidar device is the transceiver array 13, which includes a plurality of transceiver units 131 to avoid using moving optical elements, so that the lidar device of this embodiment forms an all-solid-state structure. Each transceiver unit 131 can emit a detection beam and receive the reflected beam, so that the reception and transmission are integrated, effectively reducing the complexity of the lidar device. Since a plurality of transceiver units 131 are used, the emission aperture and the reception aperture are increased, which can effectively improve the signal quality and further increase the detection range. Therefore, the technical solution of this embodiment can effectively solve the problems of small reception aperture and short detection range existing in the FPA chip in the related art.

[0032] As Figures 2 to 4 shown in the figure, each transceiver unit 131 includes a plurality of receiving antennas 1312 and at least one transmitting antenna 1311. The plurality of receiving antennas 1312 and the at least one transmitting antenna 1311 are arranged side by side. The transmitting antenna 1311 is optically connected to the corresponding input switch 121 and is used to emit a detection beam, and the receiving antenna 1312 is used to receive the reflected beam corresponding to the detection beam and transmit the reflected beam to the corresponding output switch 141.

[0033] Each transceiver unit 131 includes a plurality of receiving antennas 1312 and at least one transmitting antenna 1311, so that the receiving antenna 1312 and the transmitting antenna 1311 are integrated, effectively reducing the complexity of the lidar device. The number of receiving antennas 1312 is relatively large, so that the field of view of the receiving unit formed by the plurality of receiving antennas 1312 is greater than or equal to the field of view of the transmitting unit formed by the at least one transmitting antenna 1311, increasing the reception aperture, which can effectively improve the signal quality and further increase the detection range.

[0034] Optionally, the light source 2 is a fiber laser, an edge-emitting laser, or a surface-emitting laser. The detection beam emitted from the light source 2 can be a beam with the same central wavelength, or a beam with multiple central wavelengths.

[0035] For a beam with multiple central wavelengths, the input switch array 12 can select beams with different central wavelengths, so that the beams with different central wavelengths are transmitted to the corresponding input switches 121, and the input switch 121 transmits the beam to the corresponding transceiver unit 131. The transmitting antenna 1311 of the transceiver unit 131 can output the beam.

[0036] The detection beam emitted from the light source 2 can be a pulsed wave or a frequency-modulated continuous wave. The pulsed laser generates high-intensity light pulses in a short time and is suitable for occasions that require rapid feedback and measurement. The frequency of the frequency-modulated continuous wave changes linearly with time, thus forming a continuous spectrum with a relatively wide bandwidth in the frequency spectrum.

[0037] As Figure 2 shown, in this embodiment, each transceiver unit 131 includes a transmitting antenna 1311 and multiple receiving antennas 1312. The transmitting antenna 1311 is located in the middle of the multiple receiving antennas 1312. Such an arrangement can maximize the utilization of the multiple receiving antennas 1312 to improve the quality of the received signal. It should be noted that the statement "the transmitting antenna 1311 is located in the middle of the multiple receiving antennas 1312" refers to the fact that the transmitting antenna 1311 is located in the middle in the arrangement direction of the transmitting antenna 1311 and the receiving antennas 1312. For example, when there are 8 receiving antennas 1312, four receiving antennas 1312 are arranged on each side of the transmitting antenna 1311.

[0038] Specifically, in this embodiment, the input switch array 12 is a microring optical switch array, and the output switch array 14 is a microring optical switch array. Among them, the number of input switches 121 is 3, the number of output switches 141 is 3, and correspondingly, the number of transceiver units 131 is also 3. One input switch 121, one transceiver unit 131, and one output switch 141 are correspondingly arranged. The transmitting antenna 1311 in the transceiver unit 131 is optically connected to the input switch 121, and the receiving antenna 1312 in the transceiver unit 131 is optically connected to the output switch 141.

[0039] In each transceiver unit 131, there is 1 transmitting antenna 1311 and 8 receiving antennas 1312. The 8 receiving antennas 1312 are symmetrically arranged on both sides of the transmitting antenna 1311.

[0040] Of course, in an embodiment not shown in the figure, the number of transmitting antennas in each transceiver unit may be one or more. Among them, in each transceiver unit, at least one receiving antenna is disposed on at least one side of each transmitting antenna. Such an arrangement can also reasonably utilize the receiving antennas and improve the quality of the received signals.

[0041] As Figure 2 and Figure 5 shown, the extending direction of the transmitting antenna 1311 is the same as the extending direction of the receiving antenna 1312. Such an arrangement makes the transmitting direction of the transmitting antenna 1311 consistent with the receiving direction of the receiving antenna 1312, thereby ensuring the signal receiving effect.

[0042] As Figures 1 to 4 shown, the transceiver unit 131 further includes a transmission waveguide 1313. The transmission waveguide 1313 is disposed between the transmitting antenna 1311 and the light source 2 and is optically connected to both the transmitting antenna 1311 and the light source 2. The transmission waveguide 1313 is adjacent to the transmitting antenna 1311 and arranged side by side. Since the receiving antenna 1312 needs to be optically connected to the components on the right side in Figure 1 , its extending direction (the extending direction here refers to the direction from the end where the receiving antenna 1312 is connected to other components to the free end of the receiving antenna 1312) is from the right side to the left side in Figure 1 , while the transmitting antenna 1311 needs to be optically connected to the components on the left side in Figure 1 . Without the transmission waveguide 1313, the extending direction of the transmitting antenna is from the left side to the right side in Figure 1 . In this way, it is impossible to make the extending directions of the transmitting antenna and the receiving antenna consistent, which will affect the signal receiving effect. By disposing the transmission waveguide 1313 between the input switch 121 on the left side of the transceiver array 13 and the transmitting antenna 1311, the transmitting antenna 1311 and the transmission waveguide 1313 form a "U" - shaped structure, so that the transmitting antenna 1311 can extend from the right side to the left side in Figure 1 , thereby ensuring the receiving quality of the signal. It can be understood that the transmitting antenna 1311 and the transmission waveguide 1313 can also be disposed on different layers, and optical transmission is achieved between them through a coupling structure.

[0043] Optionally, the input switch 121 is a thermo - optic switch, an electro - optic switch or a micro - electro - mechanical system (MEMS) switch; optionally, the output switch 141 is a thermo - optic switch, an electro - optic switch or a micro - electro - mechanical system (MEMS) switch.

[0044] Thermo - optic switches are to some extent wavelength - independent and can adapt to wavelength changes within a certain range, which is beneficial for multi - wavelength systems. The cost of manufacturing thermo - optic switches is relatively low because they can generally be fabricated using standard silicon - based optical device manufacturing processes.

[0045] Electro-optical switches usually have a high modulation speed and low power consumption. Electro-optical switches can generally adapt to a wide wavelength range, making them suitable for wavelength division multiplexing systems.

[0046] Microelectromechanical system (MEMS)-type switches usually have low optical coupling loss, which helps maintain the overall performance of the system, and they can achieve high integration. The structure of MEMS-type switches is relatively stable, less affected by vibration and temperature changes, providing good stability.

[0047] Optionally, the input switch array 12 is a microring optical switch array, a cascaded MZI optical switch tree, or a MEMS array; the output switch array 14 is a microring optical switch array, a cascaded MZI optical switch tree, or a MEMS array.

[0048] The microring optical switch array has a small size and is suitable for highly integrated optical chips. This miniaturization helps improve the compactness and integration of the device. Microring optical switches usually have low power consumption and a fast operation response speed. Microring optical switches can process optical signals of multiple wavelengths simultaneously and are suitable for wavelength division multiplexing systems.

[0049] MZI optical switches usually have low insertion loss, which helps maintain the overall performance of the system. MZI optical switches are to some extent wavelength-independent, meaning that optical signals of different wavelengths can be effectively processed within a certain range.

[0050] The micro-mechanical systems in the MEMS array can be mechanically adjusted, allowing for fine-tuning of the optical path and improving the flexibility of the device. MEMS arrays usually have low optical coupling loss, which helps maintain the high efficiency of the system, and they can adapt to the transmission and switching of multi-mode (multi-wavelength) optical signals, having a certain wavelength flexibility. The structure of the MEMS array is relatively stable and has good mechanical stability, enabling it to perform well in vibration and temperature change environments.

[0051] The microring optical switch array, the cascaded MZI optical switch tree, or the MEMS array each have some advantages in different aspects. The selection of an appropriate optical switch structure depends on specific application requirements, performance requirements, and system design considerations.

[0052] Such as Figures 1 to 4As shown, in this embodiment, the transmitting unit is in the form of a single antenna (i.e., including a transmitting antenna 1311), and the receiving unit is in the form of a phased array (i.e., including multiple receiving antennas 1312). The input switch array 12 is a micro-ring optical switch network, which includes 3 micro-rings. The transmitting antenna 1311 in each transceiver unit 131 is connected to the output end of one of the micro-rings; the output switch array 14 is also a micro-ring optical switch network, which includes 3 micro-rings. The output ends of the multiple receiving antennas 1312 in each transceiver unit 131 are aggregated into an output end and connected to the input end of one of the micro-rings.

[0053] It should be noted that the number of micro-rings in the above input switch array 12, the number of transceiver units 131 in the transceiver array 13, the number of micro-rings in the output switch array 14, and the number of receiving antennas 1312 in each transceiver unit 131 are all exemplary. In specific implementation, the number of the above structures can be set according to requirements, but still need to meet the following requirements: the input switch array is a 1×N optical switch array, which includes 1 input port and N output ports; the transceiver array 13 includes N transceiver units 131, and each transceiver unit 131 includes a transmitting antenna 1311 and M receiving antennas 1312; the number of optical switches in the output switch array can be set according to needs, and can specifically be selected in the range of N to N*M. Among them, the more the number of optical switches in the output switch array, the better the signal quality, but correspondingly, the control of the chip will be more complex.

[0054] As Figure 1 , Figure 2 and Figure 5 shown, the lidar device further includes: an input coupler 11 and an output coupler 15. The input coupler 11 is optically connected to the light source 2 and the input switch array 12. The input coupler 11 can receive the detection beam generated by the light source 2 and couple the detection beam into the input switch array 12; the output coupler 15 is optically connected to the output switch array 14. The output coupler 15 is used to receive the reflected beam output by the output switch array 14 and output the reflected beam.

[0055] The input coupler 11 is optically connected to the light source 2, and it can receive the detection beam generated by the light source 2 and couple it into the input switch array 12; the input switch array 12 is connected between the input coupler 11 and the transceiver array 13 to route the input optical path coupled by the input coupler 11 to a specific transmitting antenna 1311; the output switch array 14 can receive the reflected beam and route it as an output optical path to the output port; the output coupler 15 is connected between the output switch array 14 and the signal processor 4, and it can couple the output light out of the output switch array 14 and output it.

[0056] Optionally, the input coupler 11 is an end-face coupler or a grating coupler; the output coupler 15 is an end-face coupler or a grating coupler.

[0057] The design of the end-face coupler is relatively simple and is usually composed of an optical waveguide. This simplicity makes it easy to manufacture and integrate into optical devices. The end-face coupler can be used in waveguide arrays, enabling effective coupling of multiple waveguide channels through the end face.

[0058] The grating coupler utilizes the diffraction effect of the grating to achieve efficient optical coupling. This design can achieve high coupling efficiency on an optical chip, reducing the loss of optical signals. The grating coupler can achieve efficient coupling for multiple wavelengths within a certain range, so there is no need to frequently perform precise wavelength tuning in the system.

[0059] Specifically, when the lidar of this embodiment operates, the input light emitted by the input coupler 11 is modulated by the input switch array 12 and routed to the transmitting antenna 1311 in a specific transceiver unit 131; the transmitting antenna 1311 emits the input light as a detection beam into the external space; the receiving unit formed by multiple receiving antennas 1312 receives the reflected beam; the output switch array 14 routes the reflected beam to the output coupler 15.

[0060] In this embodiment, the transmitting unit for emitting the detection beam to the external environment in each transceiver unit 131 is a single antenna, and the receiving unit for receiving the reflected beam in each transceiver unit 131 adopts the form of an optical phased array; of course, in an embodiment not shown in the figure, the transmitting unit can also be a phased array or a grating coupler, and the receiving unit can also be a grating coupler.

[0061] As Figure 5 shown, the lens 3 is a collimating lens, and the receiving surface of the receiving antenna 1312 and the transmitting surface of the transmitting antenna 1311 are located on the focal plane of the lens 3. The lens 3 can collimate the detection beam and redirect the detection beam to the detection area and focus the reflected beam.

[0062] The lens type can be selected as a plano-convex cylindrical lens.

[0063] Area: focal length f, field of view 2a * 2b; the lens is at least S = f^2 * tan a * tan b, the larger the better, but actually limited by lens manufacturing;

[0064] The vertical distance is the focal length f of the lens. Different lenses have different focal lengths, and it is necessary to make a trade-off in combination with the area of the lens that can be manufactured. Certainly, the smaller the f, the better. The field of view a and f satisfy a = tan^-1(-x / f), where x is the distance of the antenna from the optical axis of the lens.

[0065] As Figure 5As shown, the lidar device further includes a signal processor 4, which is optically connected to the output coupler 15 and is used to obtain information from the reflected light beam.

[0066] The function of the signal processor 4 is to process and analyze the information obtained from the reflected light beam. The lidar device emits a detection light beam and receives the reflected light beam. By processing these reflected light beams, important information about the target or the environment can be obtained.

[0067] The above-mentioned signal processor 4 can perform distance measurement: by analyzing the time delay of the reflected light beam, the signal processor can calculate the distance between the target object and the lidar.

[0068] The above-mentioned signal processor 4 can perform speed measurement: by detecting the position information at multiple time points of the reflected light beam, the signal processor can calculate the speed of the target object.

[0069] The above-mentioned signal processor 4 can perform angle measurement: the lidar device can usually scan. By measuring the incident angle of the reflected light beam, the signal processor can calculate the direction of the target object relative to the lidar.

[0070] The above-mentioned signal processor 4 can perform target recognition and classification: the signal processor can analyze the characteristics of the reflected light beam, such as the shape and intensity distribution of the reflected light beam, so as to realize the recognition and classification of the target.

[0071] The above-mentioned signal processor 4 can perform environmental map construction: by integrating the information of multiple lidar scans, the signal processor can construct the position, shape and motion information of the target object, so as to generate a three-dimensional map of the environment.

[0072] In an embodiment not shown in the figure, the lidar device further includes a photodetector disposed between the output coupler 15 and the signal processor 4. The photodetector is used to convert the optical signal output by the output coupler 15 into an electrical signal and output it to the signal processor 4.

[0073] The function of the photodetector is to convert the optical signal output by the output coupler 15 into an electrical signal and transmit these electrical signals to the signal processor 4 for subsequent signal processing and analysis. The above-mentioned photodetector can be used together with a mixer.

[0074] Specifically, the optical signal output by the output coupler is input into the mixer, and the mixer is tuned, specifically by adjusting the parameters of the mixer so that the mixer can mix signals of different frequencies. The mixer mixes the input optical signal to generate an output containing the mixed signal. The signal output from the mixer contains the optical signal output by the output coupler and the new frequency components after mixing. According to requirements, specific frequency components can be selected through components such as filters. The signal output from the mixer is sent to a photodetector to be converted into an electrical signal, and then the electrical signal is transmitted to a signal processor for further processing, demodulation, modulation, or information extraction.

[0075] Figure 6 and Figure 7 shows the signal-to-noise ratio of the radar device in the related art and the signal-to-noise ratio of the lidar device of the present application. After measurement, the signal-to-noise ratio of the lidar device is 7.6 dB, while the signal-to-noise ratio of the conventional lidar device is 1.47 dB. Since the lidar device in this embodiment is provided with a transceiver unit 131 having a plurality of receiving antennas 1312 and at least one transmitting antenna 1311, the receiving aperture is increased, so that the signal-to-noise ratio of the lidar device in this embodiment is significantly improved compared with the conventional structure.

[0076] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0077] For the convenience of description, spatial relative terms such as "above...", "above...", "on the upper surface of...", "above" can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the figure for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "beneath other devices or structures" afterwards. Thus, the exemplary term "above..." can include both orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding explanations are made for the spatial relative descriptions used here.

[0078] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional declaration, the above terms have no special meaning, and thus should not be construed as a limitation on the protection scope of the present invention.

[0079] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lidar device, characterized in that, Comprising: A light source (2) for providing a detection beam; An input switch array (12) optically connected to the light source (2), the input switch array (12) including a plurality of input switches (121); A transceiver array (13) including a plurality of transceiver units (131) arranged in one-to-one correspondence with the plurality of input switches (121), each input switch (121) being capable of receiving the detection beam and routing it to the corresponding transceiver unit (131); A lens (3) located above the transceiver array (13), the lens (3) being used to collimate and redirect the detection beam; An output switch array (14) including a plurality of output switches (141) arranged in one-to-one correspondence with the plurality of transceiver units (131), each output switch (141) being capable of receiving the reflected beam of the corresponding transceiver unit (131) and outputting it.

2. The lidar device according to claim 1, wherein Each transceiver unit (131) includes a plurality of receiving antennas (1312) and at least one transmitting antenna (1311), the plurality of receiving antennas (1312) and the at least one transmitting antenna (1311) being arranged side by side, the transmitting antenna (1311) being optically connected to the corresponding input switch (121) and used to emit the detection beam, and the receiving antenna (1312) being used to receive the reflected beam corresponding to the detection beam and transmit the reflected beam to the corresponding output switch (141).

3. The lidar device according to claim 2, wherein In each transceiver unit (131), at least one receiving antenna (1312) is provided on at least one side of each transmitting antenna (1311); The extending direction of the transmitting antenna (1311) is the same as the extending direction of the receiving antenna (1312).

4. The lidar device according to claim 3, wherein, The transceiver unit (131) further includes a transmission waveguide (1313), the transmission waveguide (1313) being provided between the transmitting antenna (1311) and the input switch (121) and being optically connected to both the transmitting antenna (1311) and the input switch (121).

5. The lidar device according to claim 1 or 2, characterized in that, The lidar device further includes: An input coupler (11) optically connected to the light source (2) and the input switch array (12), the input coupler (11) being capable of receiving the detection beam generated by the light source (2) and coupling the detection beam into the input switch array (12); An output coupler (15) optically connected to the output switch array (14), the output coupler (15) being used to receive the reflected beam output by the output switch array (14) and output the reflected beam.

6. The lidar device according to claim 1, wherein The input switch (121) is a thermo-optical switch, an electro-optical switch or a microelectromechanical system switch; and / or, The output switch (141) is a thermo-optical switch, an electro-optical switch or a microelectromechanical system switch.

7. The lidar device according to claim 1, wherein the input switch array (12) is a microring optical switch array, a cascaded MZI optical switch tree, or a MEMS array; and / or, the output switch array (14) is a microring optical switch array, a cascaded MZI optical switch tree, or a MEMS array.

8. The lidar device according to claim 2, wherein, The receiving surface of the receiving antenna (1312) and the transmitting surface of the transmitting antenna (1311) are located on the focal plane of the lens (3).

9. The lidar device according to claim 5, characterized in that, The lidar device further includes a signal processor (4), and the signal processor (4) is optically connected to the output coupler (15) and is configured to obtain information from the reflected light beam.

10. The lidar device according to claim 9, characterized in that, The lidar device further includes a photodetector disposed between the output coupler (15) and the signal processor (4), and the photodetector is configured to convert the optical signal output by the output coupler (15) into an electrical signal and output the electrical signal to the signal processor (4).

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