Laser radar and field-of-view splicing device thereof
By using a combination of a cubic beam splitter prism and a large field-of-view radar lens, the high attenuation and low power output problems of solid-state scanning lidar are solved through the lidar field-of-view stitching device. This achieves efficient lidar field-of-view stitching and high power output, improving the reliability and measurement accuracy of lidar.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI BOPU SEMICON TECH CO LTD
- Filing Date
- 2025-07-24
- Publication Date
- 2026-07-24
Smart Images
Figure CN224553489U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of lidar technology, and in particular to a lidar and its field-of-view stitching device. Background Technology
[0002] Solid-state scanning lidar can eliminate the need for mechanical scanning structures such as rotating mirrors or galvanometers, thus eliminating measurement errors caused by mechanical vibration. This is beneficial for improving measurement accuracy and the reliability and lifespan of lidar systems.
[0003] However, existing centralized solid-state scanning methods all have defects and limitations. For example, neither Flash LiDAR nor Optical Phased Array (OPA) LiDAR can achieve high-power laser output, thus limiting their measurement range. Furthermore, laser scanning schemes using multiple wavelengths and gratings require customized gratings and prisms, which have complex manufacturing processes and suffer from problems such as uneven grating diffraction angles and optical power attenuation. Utility Model Content
[0004] This invention provides a lidar and its field-of-view stitching device to solve the problems existing in the prior art. It can reduce the number of transmitting ports of the laser transceiver unit, simplify the process of solid-state lidar, and achieve high-power and low-attenuation laser output.
[0005] In a first aspect, this utility model provides a laser radar field-of-view stitching device, comprising: n laser transceiver units, a cubic beam splitter prism, and a large field-of-view radar lens; wherein, 2≤n≤3, and n is an integer;
[0006] The cubic beam splitter includes n-1 or n beam-splitting surfaces and four first surfaces; the n laser transceiver units and the large field-of-view radar lens are respectively disposed on one side of each of the first surfaces, and the transmitting port and receiving port of each laser transceiver unit face the cubic beam splitter; the first surface is the surface of the beam splitter that is not perpendicular to each of the beam-splitting surfaces.
[0007] The laser beams emitted by each laser transceiver unit are transmitted or reflected through the corresponding beam splitter surface and then incident on the large field-of-view radar lens.
[0008] Optionally, the n laser transceiver units include a first laser transceiver unit and a second laser transceiver unit; the first laser transceiver unit emits and receives a first laser, and the second laser transceiver unit emits and receives a second laser; the cubic beam splitter includes a beam-splitting surface;
[0009] The first laser transceiver unit and the large field-of-view radar lens are respectively disposed on one side of the opposite first surface of the cubic beam splitter; the second laser transceiver unit is disposed on one side of the opposite first surface of the beam splitting surface.
[0010] The beam-splitting surface transmits the first laser beam and reflects the second laser beam.
[0011] Optionally, the beam-splitting surface is a polarization beam-splitting surface; the first laser has a first polarization state, and the second laser has a second polarization state; the first polarization state and the second polarization state are orthogonal.
[0012] Optionally, the beam-splitting surface is a beam-splitting surface; the first laser has a first wavelength, and the second laser has a second wavelength; the first wavelength and the second wavelength are different.
[0013] Optionally, the n laser transceiver units include a first laser transceiver unit and a second laser transceiver unit; the first laser transceiver unit emits and receives a first laser, and the second laser transceiver unit emits and receives a second laser; the cubic beam splitter includes a first beam splitting surface and a second beam splitting surface; the first beam splitting surface and the second beam splitting surface both face a first surface;
[0014] The large field-of-view radar lens is disposed on one side of the first surface that is commonly faced by the first beam-splitting surface and the second beam-splitting surface; the first laser transceiver unit is disposed on one side of the other first surface opposite to the first beam-splitting surface; and the second laser transceiver unit is disposed on one side of the other first surface opposite to the second beam-splitting surface.
[0015] The first beam-splitting surface reflects the first laser and transmits the second laser; the second beam-splitting surface transmits the first laser and reflects the second laser.
[0016] Optionally, both the first beam-splitting surface and the second beam-splitting surface are beam-splitting surfaces; the first laser has a first wavelength, the second laser has a second wavelength, and the first wavelength is different from the second wavelength.
[0017] Optionally, the n laser transceiver units include a first laser transceiver unit, a second laser transceiver unit, and a third laser transceiver unit;
[0018] The first laser transceiver unit emits and receives a first laser, the second laser transceiver unit emits and receives a second laser, and the third laser transceiver unit emits and receives a third laser; the cubic beam splitter includes a first beam-splitting surface and a second beam-splitting surface; the first beam-splitting surface and the second beam-splitting surface both face a first surface;
[0019] The large field-of-view radar lens is disposed on one side of the first surface that is commonly faced by the first beam-splitting surface and the second beam-splitting surface. The first laser transceiver unit and the large field-of-view radar lens are respectively disposed on one side of the opposite first surface in the cubic beam-splitting prism. The second laser transceiver unit is disposed on one side of the other first surface opposite the first beam-splitting surface. The third laser transceiver unit is disposed on one side of the other first surface opposite the second beam-splitting surface.
[0020] The first beam-splitting surface transmits the first laser and the third laser, and reflects the second laser; the second beam-splitting surface transmits the first laser and the second laser, and reflects the third laser.
[0021] Optionally, the first beam-splitting surface is a polarization beam-splitting surface, and the second beam-splitting surface is a beam-splitting surface; the first laser has a first wavelength and a first polarization state, the second laser has a second wavelength and a second polarization state, and the third laser has a third wavelength and a third polarization state; the first wavelength and the second wavelength are both different from the third wavelength; the second polarization state is orthogonal to the first polarization state and the third polarization state.
[0022] Optionally, both the first beam-splitting surface and the second beam-splitting surface are beam-splitting surfaces; the first laser has a first wavelength, the second laser has a second wavelength, and the third laser has a third wavelength, wherein the first wavelength, the second wavelength, and the third wavelength are all different.
[0023] Optionally, the laser transceiver unit includes a silicon photonics chip;
[0024] The silicon photonic chip includes at least one waveguide channel and a switch array corresponding to each waveguide channel.
[0025] Secondly, this utility model provides a lidar, including: the lidar field-of-view stitching device described in any one of the above claims.
[0026] The technical solution of this utility model includes a laser radar field-of-view stitching device comprising n laser transceiver units, a cubic beam splitter prism, and a large field-of-view radar lens. The cubic beam splitter prism includes n-1 or n beam-splitting surfaces and four first surfaces. The n laser transceiver units and the large field-of-view radar lens are respectively arranged on one side of each first surface, and the transmitting and receiving ports of each laser transceiver unit face the cubic beam splitter prism. The laser beam emitted by each laser transceiver unit is transmitted or reflected through the corresponding beam-splitting surface and then incident on the large field-of-view radar lens. This allows laser radar field-of-view stitching to be achieved using a relatively small number of laser transceiver units with multiple transmitting and receiving ports. This helps to reduce the number of transmitting and receiving ports required in the laser transceiver units, simplify the manufacturing process of solid-state laser radar, and achieve high-power and low-attenuation laser output.
[0027] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this utility model, nor is it intended to limit the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description
[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0029] Figure 1 A schematic diagram of a laser radar field-of-view stitching structure provided for an embodiment of this utility model;
[0030] Figure 2 A schematic diagram of a solid-state scanning lidar implemented with a silicon photonics chip, provided for an embodiment of this utility model;
[0031] Figure 3 This is a schematic diagram of another laser radar field-of-view stitching structure provided in an embodiment of the present invention;
[0032] Figure 4 This is a schematic diagram of another laser radar field-of-view stitching structure provided in an embodiment of the present invention. Detailed Implementation
[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.
[0034] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.
[0035] This embodiment provides a laser radar field-of-view stitching device. Figure 1This is a schematic diagram of a laser radar field-of-view stitching device provided in an embodiment of the present invention, with reference to... Figure 1 As shown, the lidar field-of-view stitching device includes n laser transceiver units 1, a cubic beam splitter prism 2, and a large field-of-view radar lens 3; the cubic beam splitter prism 2 includes n-1 or n beam splitting surfaces 21 and four first surfaces 22; the n laser transceiver units 1 and the large field-of-view radar lens 3 are respectively arranged on one side of each first surface 22, and the transmitting port and receiving port of each laser transceiver unit 1 face the cubic beam splitter prism 2; the laser beam emitted by each laser transceiver unit 1 is transmitted or reflected through the corresponding beam splitting surface 21 and then incident on the large field-of-view radar lens 3.
[0036] Where 2 ≤ n ≤ 3, and n is an integer, meaning that the lidar field-of-view stitching device provided in this embodiment includes two laser transceiver units 1 or three laser transceiver units 1. When the lidar field-of-view stitching device includes two laser transceiver units 1, the cubic beam splitter prism 2 includes one beam-splitting surface 21 or two beam-splitting surfaces 21. When the lidar field-of-view stitching device includes three laser transceiver units 1, the cubic beam splitter prism 2 includes two beam-splitting surfaces 21. It should be noted that... Figure 1 The example shown is only of a laser radar field-of-view stitching device including two laser transceiver units 1 and a cubic beam splitter prism 2 including one beam splitting surface 21. It is not intended to limit the structure of the laser radar field-of-view stitching device, as long as it can achieve the core inventive point of this utility model.
[0037] The laser transceiver unit 1 includes at least one transmitting port and at least one receiving port. The laser transceiver unit 1 is used to transmit laser to the large field-of-view radar lens 3 and receive the reflected laser corresponding to the transmitted laser.
[0038] The cubic beam splitter prism 2 includes n-1 or n beam-splitting surfaces 21. In one exemplary embodiment, the lidar field-of-view stitching device includes two laser transceiver units 1, and the cubic beam splitter prism 2 may include one or two beam-splitting surfaces 21; in another exemplary embodiment, the lidar field-of-view stitching device includes three laser transceiver units 1, and the cubic beam splitter prism 2 includes three beam-splitting surfaces 21. When the cubic beam splitter prism 2 includes two beam-splitting surfaces 21, the two beam-splitting surfaces 21 are perpendicular and have a common facing surface, on which the large field-of-view radar lens 3 is disposed.
[0039] The first surface 22 is a surface in the cubic beam splitter prism 2 that is not perpendicular to each beam-splitting surface 21. It can be understood that the cubic beam splitter prism 2 includes six surfaces, including two surfaces perpendicular to each beam-splitting surface 21 and four surfaces not perpendicular to each beam-splitting surface 21, namely the first surface 22. By arranging n laser transceiver units 1 and a large field-of-view radar lens 3 one-to-one on one side of each first surface 22, and with the transmitting and receiving ports of each laser transceiver unit 1 facing the cubic beam splitter prism 2, the laser beams emitted by each laser transceiver unit 1 can be transmitted or reflected through the corresponding beam-splitting surface 21 and then incident on the large field-of-view radar lens 3, thereby enabling radar angle scanning through the large field-of-view lidar lens.
[0040] In one optional embodiment, the n laser transceiver units 1 include silicon photonic chips, each silicon photonic chip including at least one waveguide channel, and a switch array corresponding to each waveguide channel. It is understood that all n laser transceiver units 1 may include silicon photonic chips, or the laser transceiver units 1 may include other devices capable of emitting and receiving laser light. The silicon photonic chip including at least one waveguide channel can be understood as the silicon photonic chip including one or more waveguide channels. By controlling the on and off states of the switch array of the silicon photonic chip, arbitrary switching of each waveguide channel in the silicon photonic chip can be achieved, thereby controlling the emission of laser light from each waveguide channel in the silicon photonic chip.
[0041] Figure 2 This is a schematic diagram illustrating the implementation of a solid-state scanning lidar using a silicon photonics chip, as provided in an embodiment of this utility model. (Reference) Figure 2 As shown, the silicon photonics chip 4 includes multiple waveguide channels 41 and a switch array corresponding to each waveguide channel 41, enabling the silicon photonics chip 4 to achieve optical waveguide array output. By controlling the on and off states of the switch array of the silicon photonics chip 4, arbitrary switching of each waveguide channel 41 in the silicon photonics chip 4 can be achieved. Furthermore, radar angle scanning can be achieved through a large field-of-view lidar lens, and the scanning channel angle interval can be customized by different waveguide channel 41 intervals. Here, the scanning angle interval θ≈d / f, where d is the waveguide channel 41 interval and f is the effective focal length of the large field-of-view lidar lens.
[0042] However, the aforementioned scheme for implementing solid-state scanning lidar using silicon photonics chip 4 requires integrating a large number of waveguide channels 41 on a single silicon photonics chip 4, which poses a significant challenge to the size of the silicon photonics chip 4 and the switching array. In this embodiment, by controlling the on and off states of the switching array of waveguide channels 41 in each silicon photonics chip 4, the switching of waveguide channels 41 can be achieved. Furthermore, the laser beams emitted by each laser transceiver unit 1 are transmitted or reflected through the corresponding beam splitter 21 and then incident on the large field-of-view radar lens 3. This allows the emitted laser beams from the waveguide channels 41 in each silicon photonics chip 4 to pass through the cubic beam splitter prism 2 and then through the large field-of-view lidar lens. This enables radar angle scanning while reducing the number of waveguide channels 41 in the silicon photonics chip 4, thereby reducing the requirement for the number of waveguide channels 41 on a single silicon photonics chip 4, reducing the complexity of the switching array, improving the yield of the silicon photonics chip 4, and ultimately improving the reliability of the lidar field-of-view stitching device.
[0043] Furthermore, since this embodiment includes n laser transceiver units 1, the accuracy of the lidar can be increased without changing the transmitting and receiving ports of each laser transceiver unit 1.
[0044] In this embodiment, the lidar field-of-view stitching device includes n laser transceiver units, a cubic beam splitter prism, and a large field-of-view lidar lens. The cubic beam splitter prism includes n-1 or n beam-splitting surfaces and four first surfaces. The n laser transceiver units and the large field-of-view lidar lens are respectively arranged on one side of each first surface, and the transmitting port and receiving port of each laser transceiver unit face the cubic beam splitter prism. The laser beam emitted by each laser transceiver unit is transmitted or reflected through the corresponding beam-splitting surface and then incident on the large field-of-view lidar lens. This allows lidar field-of-view stitching to be achieved using a small number of laser transceiver units with multiple transmitting ports and receiving ports. This helps to reduce the number of transmitting ports and receiving ports required in the laser transceiver units, simplify the manufacturing process of solid-state lidar, and achieve high-power and low-attenuation laser output.
[0045] Continue to refer to Figure 1 As shown, optionally, the n laser transceiver units 1 include a first laser transceiver unit 111 and a second laser transceiver unit 122. The first laser transceiver unit 11 transmits and receives a first laser, and the second laser transceiver unit 12 transmits and receives a second laser. The cubic beam splitter prism 2 includes a beam-splitting surface 21. The first laser transceiver unit 11 and the large field-of-view radar lens 3 are respectively disposed on one side of the opposite first surface 22 in the cubic beam splitter prism 2. The second laser transceiver unit 12 is disposed on one side of the opposite first surface 22 of the beam-splitting surface 21. The beam-splitting surface 21 transmits the first laser and reflects the second laser.
[0046] The large field-of-view radar lens 3 is disposed on one side of the first surface 22 opposite to the beam splitting surface 21, and the second laser transceiver unit 12 is disposed on one side of the other first surface 22 opposite to the beam splitting surface 21. The first laser transceiver unit 11 is opposite to the large field-of-view radar lens 3, so that when the first laser is transmitted through the beam splitting surface 21 and the second laser is reflected, both the first laser and the second laser can be transmitted to the large field-of-view radar lens 3 through the cubic beam splitter prism 2.
[0047] Optionally, the beam-splitting surface 21 is a polarization beam-splitting surface. The first laser has a first polarization state, and the second laser has a second polarization state. The first polarization state and the second polarization state are orthogonal. Thus, when the beam-splitting surface 21 can transmit the first laser, the beam-splitting surface 21 reflects the second laser. Therefore, both the first laser and the second laser can be transmitted to the large field-of-view radar lens 3 through the cubic beam splitter prism 2.
[0048] Optionally, the beam-splitting surface 21 is a beam-splitting surface. The first laser has a first wavelength, and the second laser has a second wavelength. The first wavelength and the second wavelength are different. When the beam-splitting surface 21 can transmit the first laser, it can also reflect the second laser. Thus, both the first laser and the second laser can be transmitted to the large field-of-view radar lens 3 through the cubic beam-splitting prism 2.
[0049] Figure 3 This is a schematic diagram of another laser radar field-of-view stitching device provided in an embodiment of the present invention, with reference to... Figure 3 As shown, optionally, the n laser transceiver units 1 include a first laser transceiver unit 11 and a second laser transceiver unit 12. The first laser transceiver unit 11 transmits and receives a first laser, and the second laser transceiver unit 12 transmits and receives a second laser. The cubic beam splitter prism 2 includes a first beam splitting surface 211 and a second beam splitting surface 212. The first beam splitting surface 211 and the second beam splitting surface 212 both face a first surface 22. The large field-of-view radar lens 3 is disposed on one side of the first surface 22 that the first beam splitting surface 211 and the second beam splitting surface 212 both face. The first laser transceiver unit 11 is disposed on one side of the other first surface 22 opposite to the first beam splitting surface 211, and the second laser transceiver unit 12 is disposed on one side of the other first surface 22 opposite to the second beam splitting surface 212. Thus, when the first laser is reflected and the second laser is transmitted at the first beam splitting surface 211, and when the second beam splitting surface 212 transmits the first laser and reflects the second laser, both the first laser and the second laser can be transmitted to the large field-of-view radar lens 3 through the cubic beam splitter prism 2.
[0050] Optionally, both the first beam-splitting surface 211 and the second beam-splitting surface 212 are beam-splitting surfaces. The first laser has a first wavelength, and the second laser has a second wavelength. The first wavelength and the second wavelength are different, so that when the cubic beam-splitting prism 2 can reflect the first laser and transmit the second laser, the second beam-splitting surface 212 can transmit the first laser and reflect the second laser. Since the large field-of-view radar lens 3 is disposed on one side of the first surface 22 that the first beam-splitting surface 211 and the second beam-splitting surface 212 face together, both the first laser and the second laser can be transmitted to the large field-of-view radar lens 3 through the cubic beam-splitting prism 2.
[0051] Figure 4 A schematic diagram of another laser radar field-of-view stitching device provided in this embodiment of the present invention is shown below. Figure 4 As shown, optionally, the n laser transceiver units 1 include a first laser transceiver unit 11, a second laser transceiver unit 12, and a third laser transceiver unit 13. The first laser transceiver unit 11 transmits and receives a first laser, the second laser transceiver unit 12 transmits and receives a second laser, and the third laser transceiver unit 13 transmits and receives a third laser. The cubic beam splitter prism 2 includes a first beam-splitting surface 211 and a second beam-splitting surface 212; the first beam-splitting surface 211 and the second beam-splitting surface 212 both face a first surface 22. The large field-of-view radar lens 3 is disposed on one side of the first surface 22 that is commonly faced by the first beam-splitting surface 211 and the second beam-splitting surface 212. The first laser transceiver unit 11 and the large field-of-view radar lens 3 are respectively disposed on one side of the opposite first surface 22 in the cubic beam splitter prism 2. The second laser transceiver unit 12 is disposed on one side of the other first surface 22 opposite to the first beam-splitting surface 211. The third laser transceiver unit 13 is disposed on one side of the other first surface 22 opposite to the second beam-splitting surface 212. Thus, when the first laser and the third laser are transmitted through the first beam-splitting surface 211 and the second laser is reflected, and the second laser is transmitted through the second beam-splitting surface 212 and the third laser is reflected, the first laser, the second laser and the third laser can all be transmitted to the large field-of-view radar lens 3 through the cubic beam splitter prism 2.
[0052] Optionally, the first beam-splitting surface 211 is a polarization beam-splitting surface, and the second beam-splitting surface 212 is a beam-splitting surface. The first laser has a first wavelength and a first polarization state, the second laser has a second wavelength and a second polarization state, and the third laser has a third wavelength and a third polarization state. The first and second wavelengths are different from the third wavelength, and the second polarization state is orthogonal to the first and third polarization states, so that when the first beam-splitting surface 211 transmits the first and third lasers and reflects the second laser, the second beam-splitting surface 212 transmits the first and second lasers and reflects the third laser. Since the large field-of-view radar lens 3 is disposed on one side of the first surface 22 that the first beam-splitting surface 211 and the second beam-splitting surface 212 both face, the first laser, the second laser, and the third laser can all be transmitted to the large field-of-view radar lens 3 through the cubic beam-splitting prism 2.
[0053] Optionally, both the first beam-splitting surface 211 and the second beam-splitting surface 212 are beam-splitting surfaces. The first laser has a first wavelength, the second laser has a second wavelength, and the third laser has a third wavelength. The first, second, and third wavelengths are different, so that the first beam-splitting surface 211 of the cubic beam-splitting prism 2 can transmit the first and third lasers and reflect the second laser, and the second beam-splitting surface 212 can transmit the first and third lasers and reflect the third laser. Since the large field-of-view radar lens 3 is disposed on one side of the first surface 22 that the first beam-splitting surface 211 and the second beam-splitting surface 212 face together, the first, second, and third lasers can all be transmitted to the large field-of-view radar lens 3 through the cubic beam-splitting prism 2.
[0054] Based on the same concept, this utility model embodiment also provides a lidar, which includes the lidar field-of-view stitching device provided in any of the above embodiments. Since this lidar includes the lidar field-of-view stitching device provided in any of the embodiments of this utility model, it can achieve the beneficial effects of the lidar field-of-view stitching device provided in any of the embodiments of this utility model. The similarities can be referred to the above description, and will not be repeated here.
[0055] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.
Claims
1. A laser radar field-of-view stitching device, characterized in that, include: n laser transceiver units, cubic beam splitter, and large field-of-view radar lens; where 2≤n≤3, and n is an integer; The cubic beam splitter includes n-1 or n beam-splitting surfaces and four first surfaces; the n laser transceiver units and the large field-of-view radar lens are respectively disposed on one side of each of the first surfaces, and the transmitting port and receiving port of each laser transceiver unit face the cubic beam splitter; the first surface is the surface of the cubic beam splitter that is not perpendicular to each of the beam-splitting surfaces. The laser beams emitted by each laser transceiver unit are transmitted or reflected through the corresponding beam splitter surface and then incident on the large field-of-view radar lens.
2. The laser radar field-of-view stitching device according to claim 1, characterized in that, The n laser transceiver units include a first laser transceiver unit and a second laser transceiver unit; the first laser transceiver unit emits and receives a first laser, and the second laser transceiver unit emits and receives a second laser; the cubic beam splitter includes a beam-splitting surface; The first laser transceiver unit and the large field-of-view radar lens are respectively disposed on one side of the opposite first surface of the cubic beam splitter; the second laser transceiver unit is disposed on one side of the opposite first surface of the beam splitting surface. The beam-splitting surface transmits the first laser beam and reflects the second laser beam.
3. The laser radar field-of-view stitching device according to claim 2, characterized in that, The beam-splitting surface is a polarization beam-splitting surface; the first laser has a first polarization state, and the second laser has a second polarization state; the first polarization state and the second polarization state are orthogonal.
4. The laser radar field-of-view stitching device according to claim 2, characterized in that, The beam-splitting surface is a beam-splitting surface; the first laser has a first wavelength, and the second laser has a second wavelength; the first wavelength and the second wavelength are different.
5. The laser radar field-of-view stitching device according to claim 1, characterized in that, The n laser transceiver units include a first laser transceiver unit and a second laser transceiver unit; the first laser transceiver unit emits and receives a first laser, and the second laser transceiver unit emits and receives a second laser; the cubic beam splitter includes a first beam splitting surface and a second beam splitting surface; the first beam splitting surface and the second beam splitting surface both face a first surface; The large field-of-view radar lens is disposed on one side of the first surface that is commonly faced by the first beam-splitting surface and the second beam-splitting surface; the first laser transceiver unit is disposed on one side of the other first surface opposite to the first beam-splitting surface; and the second laser transceiver unit is disposed on one side of the other first surface opposite to the second beam-splitting surface. The first beam-splitting surface reflects the first laser and transmits the second laser; the second beam-splitting surface transmits the first laser and reflects the second laser.
6. The laser radar field-of-view stitching device according to claim 5, characterized in that, Both the first beam-splitting surface and the second beam-splitting surface are beam-splitting surfaces; the first laser has a first wavelength, and the second laser has a second wavelength, wherein the first wavelength and the second wavelength are different.
7. The laser radar field-of-view stitching device according to claim 1, characterized in that, The n laser transceiver units include a first laser transceiver unit, a second laser transceiver unit, and a third laser transceiver unit; The first laser transceiver unit emits and receives a first laser, the second laser transceiver unit emits and receives a second laser, and the third laser transceiver unit emits and receives a third laser; the cubic beam splitter includes a first beam-splitting surface and a second beam-splitting surface; the first beam-splitting surface and the second beam-splitting surface both face a first surface; The large field-of-view radar lens is disposed on one side of the first surface that is commonly faced by the first beam-splitting surface and the second beam-splitting surface. The first laser transceiver unit and the large field-of-view radar lens are respectively disposed on one side of the opposite first surface in the cubic beam-splitting prism. The second laser transceiver unit is disposed on one side of the other first surface opposite the first beam-splitting surface. The third laser transceiver unit is disposed on one side of the other first surface opposite the second beam-splitting surface. The first beam-splitting surface transmits the first laser and the third laser, and reflects the second laser; the second beam-splitting surface transmits the first laser and the second laser, and reflects the third laser.
8. The laser radar field-of-view stitching device according to claim 7, characterized in that, The first beam-splitting surface is a polarization beam-splitting surface, and the second beam-splitting surface is a beam-splitting surface; the first laser has a first wavelength and a first polarization state, the second laser has a second wavelength and a second polarization state, and the third laser has a third wavelength and a third polarization state; the first wavelength and the second wavelength are both different from the third wavelength; the second polarization state is orthogonal to the first polarization state and the third polarization state.
9. The laser radar field-of-view stitching device according to claim 7, characterized in that, Both the first beam-splitting surface and the second beam-splitting surface are beam-splitting surfaces; the first laser has a first wavelength, the second laser has a second wavelength, and the third laser has a third wavelength, wherein the first wavelength, the second wavelength, and the third wavelength are all different.
10. The laser radar field-of-view stitching device according to any one of claims 1-9, wherein the laser transceiver unit comprises a silicon photonic chip; The silicon photonic chip includes at least one waveguide channel and a switch array corresponding to each waveguide channel.
11. A lidar, characterized in that, include: The laser radar field-of-view stitching device according to any one of claims 1-10.