Lidar, detection method therefor and transceiver device

Abstract

A LiDAR, a detection method therefor and a transceiver device (102). The transceiver device (102) comprises: a beam splitting modulation unit (110), the beam splitting modulation unit (110) receiving original light generated by a light source device (101), and performing beam splitting modulation on the original light to form a detection optical signal group and a local oscillator optical signal group, the local oscillator optical signal group being transmitted to a detection device (103), the detection optical signal group being emitted to a LiDAR external space, and the emitted detection optical signal group forming an echo optical signal group after reflection; and a coherent unit (120), the coherent unit (120) being used for receiving and coupling the echo optical signal group and the local oscillator optical signal group, so as to form a coherent optical signal group, the coherent optical signal group comprising a plurality of time-division coherent optical signals. A preset delay is configured between different coherent optical signals in the coherent optical signal group, such that during the process of processing the coherent optical signal group, the preset delay can be used to eliminate interference signals.

Description

Laser radar, detection method, and transceiver

[0001] This application claims priority to Chinese patent application No. 202311822115.4, filed on December 26, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of laser radar, and in particular to a laser radar, a detection method thereof, and a transceiver. Background Art

[0003] LiDAR is a commonly used distance-measuring sensor, characterized by long detection range, high resolution, and minimal environmental interference. It is widely used in intelligent robots, drones, and autonomous vehicles. Autonomous driving technology has developed rapidly in recent years, and LiDAR, as its core distance-measuring sensor, has become indispensable.

[0004] In automotive LiDAR applications, frequency-modulated continuous-wave (FMCW) LiDAR determines the target's range and velocity by Fourier transforming the coherent signal generated by mixing the local oscillator signal with the reflected echo signal. Compared to incoherent pulse LiDAR based on time-of-flight (TOF) ranging, FMCW LiDAR offers several advantages, including higher angular and range resolution, strong anti-interference capabilities, and the ability to simultaneously acquire both range and velocity profiles, making it ideal for automotive applications.

[0005] Specifically, because FMCW lidar uses optical coherence detection, its detector typically responds to light echoes with a frequency difference below one gigahertz (approximately 8 pm, with a central wavelength of 1550 nm) (limited by the sampling frequency of the analog-to-digital converter (ADC). This gives FMCW lidar exceptionally strong narrowband filtering capabilities, known as natural anti-interference capabilities. Specifically, it blocks optical interference from ambient light and other lidars within the optical domain. In the future, as automotive lidar becomes widely available, FMCW lidar will have significant advantages.

[0006] However, the existing frequency-modulated continuous-wave lidar has weak anti-interference capabilities against electromagnetic radiation, which poses huge challenges to structural design and cost control. Summary of the Invention

[0007] The problem solved by the present disclosure is how to improve the anti-interference capability of a frequency modulated continuous wave laser radar.

[0008] To solve the above problems, the present disclosure provides a laser radar transceiver, comprising:

[0009] a spectroscopic modulation unit, which receives the original light generated by the light source device and spectroscopically modulates the original light to form a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device and emitted to the external space of the laser radar; the emitted detection light signal group forms an echo light signal group after reflection; a coherent unit, which is used to receive and couple the echo light signal group and the local oscillation light signal group to form a coherent light signal group, wherein the coherent light signal group includes: multiple time-sharing coherent light signals.

[0010] Optionally, in the coherent optical signal group, a spectrum interval corresponding to a time interval between different coherent optical signals is an integer multiple of a spectrum resolution of the laser radar.

[0011] Optionally, the spectroscopic modulation unit includes: a first spectroscopic element, which is used to receive the original light and divide the original light into outgoing light and remaining original light, the outgoing light is used to form the detection light signal group, and the remaining original light is used to form the local oscillator light signal group; a modulation component, which is located in the optical path of at least one of the outgoing light and the remaining original light, and modulates at least one of the outgoing light and the remaining original light to form an optical signal group, and the optical signal group includes multiple time-sharing optical signals.

[0012] Optionally, the modulation component includes: a delay structure, which delays the transmitted multiple synchronization signals respectively to form the optical signal group.

[0013] Optionally, the delay structure includes: multiple optical paths, different optical paths transmit different synchronization signals, and the optical lengths of different optical paths are unequal.

[0014] Optionally, in the delay structure, at least one of the lengths of different optical paths and the refractive indices of different optical paths is different.

[0015] Optionally, the multiple synchronization signals transmitted by the delay structure have equal energy.

[0016] Optionally, the modulation component is provided in the optical path of the outgoing light; the modulation component modulates the outgoing light to form the detection light signal group, and the detection light signal group includes: a plurality of time-sharing detection light signals; the echo light signal group formed by the reflection of the outgoing detection light signal group includes: a plurality of time-sharing echo light signals; the coherent unit receives the plurality of echo light signals of the echo light signal group in a time-sharing manner.

[0017] Optionally, the multiple detection light signals of the detection light signal group are emitted toward an emission field of view in the same direction.

[0018] Optionally, the collimating device of the laser radar and the scanning device of the laser radar are located in the optical path of the detection light signal group, and are used to make different detection light signal groups emit in different directions to form an emission field of view.

[0019] Optionally, the modulation component also includes: a second spectroscopic element, which is located downstream of the first spectroscopic element and in the optical path of the outgoing light, and the second spectroscopic element divides the outgoing light into multiple detection synchronization signals; the delay structure of the modulation component is located in the optical path downstream of the second spectroscopic element, and the delay structure of the modulation component delays different detection synchronization signals differently to form the detection light signal group.

[0020] Optionally, it further includes: an amplifying element, which is located in the optical path between the first light splitting element and the modulation component.

[0021] Optionally, the optical splitting modulation unit further includes: a third optical splitting element, which is located in the optical path downstream of the modulation component to convert the outgoing light modulated by the modulation component into a plurality of the detection light signal groups, and different detection light signal groups are emitted to emission fields in different directions; the multiple outgoing detection light signal groups form a plurality of echo light signal groups after reflection; the remaining original light includes a plurality of local oscillator light signal groups; the coherent unit includes: a plurality of coherent elements, each of the coherent elements receives and couples one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0022] Optionally, the modulation component is provided in the optical path of the remaining original light; the modulation component modulates the remaining original light to form the local oscillation light signal group, and the local oscillation light signal group includes: multiple local oscillation light signals in a time-sharing manner; the coherent unit receives the multiple local oscillation light signals of the local oscillation light signal group in a time-sharing manner.

[0023] Optionally, the remaining original light includes multiple local oscillation synchronization signals; the modulation component is located in the optical path between the first splitting element and the coherent unit, and the modulation component delays different local oscillation synchronization signals differently to form the local oscillation light signal group.

[0024] Optionally, the remaining original light includes multiple local oscillator synchronization signal groups, and the local oscillator synchronization signal group includes multiple local oscillator synchronization signals; the spectroscopic modulation unit also includes: a third spectroscopic element, the third spectroscopic element is located in the optical path of the outgoing light downstream of the first spectroscopic element to form multiple detection light signal groups, and different detection light signal groups are emitted to the emission field of view in different directions; the multiple emitted detection light signal groups form multiple echo light signal groups after reflection; the spectroscopic modulation unit has multiple modulation components, each of which modulates one local oscillator synchronization signal group to form one local oscillator light signal group; the coherent unit includes: multiple coherent elements, multiple coherent elements are connected to the multiple modulation components in a one-to-one correspondence, each of which receives and couples one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0025] Optionally, it further includes: a three-terminal transmission unit, which is used to transmit the detection light signal group for emission, and the three-terminal transmission device is also used to receive the echo light signal group, so that the optical path of the echo light signal group and the detection light signal group are separated.

[0026] Optionally, it further includes: a transmission element, wherein the transmission element is used to transmit optical signals, and the transmission element is a planar optical waveguide.

[0027] Accordingly, the present disclosure further provides a laser radar, comprising:

[0028] A light source device, the light source device is used to generate original light; a transceiver device, the transceiver device comprising: a spectroscopic modulation unit, the spectroscopic modulation unit receiving the original light generated by the light source device and dividing the original light into a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device, and the emitted detection light signal group forms an echo light signal group after reflection; a coherent unit, the coherent unit receiving and coupling the echo light signal group and the local oscillation light signal group to form a coherent light signal group, the coherent light signal group comprising: a plurality of time-shared coherent light signals; and a detection device, the detection device receiving the coherent light signal group.

[0029] Optionally, it also includes: a processing device, which is used to obtain a signal frequency based on the output signal of the detection device and calculate the distance and speed of the object based on the signal frequency, wherein the signal frequency is the frequency corresponding to one of the multiple coherent signals in the frequency domain.

[0030] Optionally, the processing device processes the frequency spectrum of the output signal of the detection device through an equal-interval staggered comparison and minimization algorithm to obtain the signal frequency.

[0031] Optionally, the processing device includes: a transformation unit, which transforms the output signal of the detection device to obtain the spectrum of the output signal; and a decoding unit, which obtains the signal frequency based on the spectrum of the output signal and the spectrum interval corresponding to the time interval of different coherent optical signals.

[0032] In addition, the present disclosure also provides a laser radar detection method, comprising:

[0033] Generate original light; perform spectroscopic modulation on the original light to form a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to a detection device and emitted to an external space of the laser radar; the emitted detection light signal group is reflected to form an echo light signal group; receive the echo light signal group; couple the echo light signal group and the local oscillation light signal group to form a coherent light signal group, wherein the coherent light signal group includes: a plurality of time-sharing coherent light signals.

[0034] Optionally, in the coherent optical signal group, a spectrum interval corresponding to a time interval between different coherent optical signals is an integer multiple of a spectrum resolution of the laser radar.

[0035] Optionally, the step of performing spectroscopic modulation on the original light to form a detection light signal group and a local oscillator light signal group includes: dividing the original light into outgoing light and remaining original light, the outgoing light is used to form the detection light signal group, and the remaining original light is used to form the local oscillator light signal group; modulating at least one of the outgoing light and the remaining original light to form an optical signal group, and the optical signal group includes multiple time-sharing optical signals.

[0036] Optionally, in the step of modulating at least one of the outgoing light and the remaining original light to form an optical signal group, the transmitted multiple synchronization signals are delayed respectively to form the optical signal group.

[0037] Optionally, in the step of delaying the transmitted multiple synchronization signals respectively to form the optical signal group, different synchronization signals are transmitted through different optical paths with different optical lengths.

[0038] Optionally, in the step of modulating at least one of the outgoing light and the remaining original light to form an optical signal group, the outgoing light is modulated to form the detection optical signal group, and the detection optical signal group includes: a plurality of time-sharing detection optical signals; the echo optical signal group formed by the outgoing detection optical signal group after reflection includes: a plurality of time-sharing echo optical signals; in the step of receiving the echo optical signal group, the plurality of echo optical signals of the echo optical signal group are received in a time-sharing manner.

[0039] Optionally, in the step of modulating the emitted light to form the detection light signal group, the multiple detection light signals of the detection light signal group are emitted toward an emission field of view in the same direction.

[0040] Optionally, the step of modulating the outgoing light to form the detection light signal group includes: dividing the outgoing light into a plurality of detection synchronization signals; and performing different delays on different detection synchronization signals to form the detection light signal group.

[0041] Optionally, in the step of dividing the emitted light into a plurality of detection synchronization signals, the divided plurality of detection synchronization signals have equal energies.

[0042] Optionally, the method further includes: after dividing the original light into the outgoing light and the remaining original light, and before performing different delays on different detection synchronization signals, amplifying the optical signal intensity.

[0043] Optionally, the method further includes: after modulating the outgoing light, forming a plurality of detection light signal groups from the modulated outgoing light, and emitting different detection light signal groups in different directions of the emission field of view; forming a plurality of echo light signal groups from the emitted multiple detection light signal groups after reflection; in the step of dividing the original light into the outgoing light and the remaining original light, the remaining original light includes a plurality of local oscillator synchronization signal groups; in the step of coupling the echo light signal group and the local oscillator light signal group, receiving and coupling one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0044] Optionally, in the step of modulating at least one of the outgoing light and the remaining original light to form a light signal group, the remaining original light is modulated to form the local oscillation light signal group, and the local oscillation light signal group includes: multiple local oscillation light signals in time sharing; the detection method also includes: before coupling the echo light signal group and the local oscillation light signal group, time sharing the multiple local oscillation light signals of the local oscillation light signal group.

[0045] Optionally, in the step of dividing the original light into outgoing light and remaining original light, the remaining original light includes multiple local oscillator synchronization signals; in the step of modulating the remaining original light to form the local oscillator light signal group, different local oscillator synchronization signals are delayed differently to form the local oscillator light signal group.

[0046] Optionally, in the step of dividing the original light into outgoing light and remaining original light, the remaining original light includes multiple local oscillator synchronization signal groups, and the local oscillator synchronization signal group includes multiple local oscillator synchronization signals; the detection method also includes: after dividing the original light into outgoing light and remaining original light, forming multiple detection light signal groups according to the outgoing light, and different detection light signal groups are emitted to the emission field of view in different directions; the multiple emitted detection light signal groups form multiple echo light signal groups after reflection; in the step of modulating the remaining original light to form the local oscillator light signal group, different local oscillator synchronization signals in each local oscillator synchronization signal group are delayed differently to form one local oscillator light signal group; in the step of coupling the echo light signal group and the local oscillator light signal group, receiving and coupling one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0047] Optionally, it also includes: receiving the coherent optical signal group to generate an output signal; obtaining a signal frequency according to the output signal and calculating the distance and speed of the object according to the signal frequency, wherein the signal frequency is the frequency corresponding to one of the multiple coherent signals in the frequency domain.

[0048] Optionally, in the step of obtaining the signal frequency, the frequency spectrum of the output signal is processed by an equally spaced staggered comparison and minimization algorithm to obtain the signal frequency.

[0049] Optionally, the step of obtaining the signal frequency includes: transforming the output signal to obtain a spectrum of the output signal; and obtaining the signal frequency based on the spectrum of the output signal and a spectrum interval corresponding to time intervals of different coherent optical signals.

[0050] Compared with the prior art, the technical solution disclosed in this disclosure has the following advantages:

[0051] In the technical solution disclosed in the present invention, the optical modulation unit performs optical modulation on the original light to form a detection light signal group emitted to the external space and a local oscillator light signal group transmitted to the detection device; the coherent unit receives and couples the local oscillator light signal group and the echo light signal group formed by the reflection of the detection light signal group to form a coherent light signal group, and the coherent light signal group includes: a plurality of time-sharing coherent light signals. Since the coherent light signal group includes: a plurality of time-sharing coherent light signals, and there is a preset delay between different coherent light signals in the coherent light signal group, in the process of processing the coherent light signal group, the preset delay can be used to further eliminate interference signals, thereby achieving the purpose of improving the anti-interference ability of the laser radar formed by it, especially the anti-interference ability in the microwave frequency band, which is conducive to achieving full-spectrum anti-interference of frequency-modulated continuous wave laser radar and further promoting the popularization of frequency-modulated continuous wave laser radar.

[0052] In an optional solution disclosed herein, the modulation component within the optical splitter modulation unit includes a delay structure for individually delaying the multiple transmitted synchronization signals to form the optical signal group; the delay structure can include multiple optical paths with unequal optical lengths. Delaying the multiple synchronization signals using multiple optical paths with unequal optical lengths does not increase the complexity of the optical path structure and can be achieved without requiring significant modifications to other LiDAR structures, effectively reducing the complexity of structural design and cost control.

[0053] In an optional solution disclosed herein, the transmission element used to transmit optical signals can be a planar optical waveguide. Using a planar optical waveguide to transmit optical signals, combined with on-chip optical components, enables on-chip integration of the transceiver, effectively improving the integration level of the resulting LiDAR, enhancing the stability of the optical path structure, and facilitating the miniaturization and integration of LiDAR.

[0054] In an optional solution disclosed herein, the amplifying element is located in the optical path between the first splitting element and the modulation component. After the original light is split into the outgoing light and the remaining original light, and before different detection synchronization signals are delayed differently, the optical signal intensity is amplified, thereby avoiding the gain fluctuation of the amplifying element from affecting the coherent optical signal group and avoiding the gain of the amplifying element from affecting the signal-to-noise ratio.

[0055] In an optional solution disclosed herein, the spectral interval corresponding to the time intervals between different coherent optical signals in the coherent optical signal group is an integer multiple of the spectral resolution of the lidar. Precisely controlling the time intervals between different coherent optical signals to ensure that the corresponding spectral intervals are an integer multiple of the spectral resolution facilitates the identification of coherent optical signal groups, thereby improving detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings:

[0057] FIG1 is a schematic structural diagram of some embodiments of a transceiver device of a laser radar disclosed herein;

[0058] FIG2 is a schematic structural diagram of other embodiments of the transceiver device of the laser radar disclosed herein;

[0059] FIG3 is a schematic structural diagram of other embodiments of the transceiver device of the laser radar disclosed herein;

[0060] FIG4 is a schematic structural diagram of other embodiments of the transceiver device of the laser radar disclosed herein;

[0061] FIG5 is a schematic diagram of a local oscillation optical signal group and a received echo optical signal group of the laser radar embodiment shown in FIG1 ;

[0062] FIG6 is a schematic diagram of the spectrum of the coherent signal obtained by the laser radar embodiment shown in FIG5 under ideal conditions;

[0063] FIG7 is a schematic diagram of the spectrum of the coherent signal obtained by the laser radar embodiment shown in FIG5 under actual conditions;

[0064] FIG8 is a schematic diagram of the frequency spectrum of the output signal generated by the detection device of the laser radar embodiment shown in FIG5 ;

[0065] FIG9 is a schematic diagram of a misalignment comparison operation process in which a decoding unit of the laser radar embodiment shown in FIG5 obtains the signal frequency;

[0066] FIG10 is a schematic diagram of a local oscillator optical signal group and a received echo optical signal group in the laser radar embodiment shown in FIG2 ;

[0067] FIG11 is a schematic diagram of the spectrum of the coherent signal obtained by the laser radar embodiment shown in FIG2 under ideal conditions;

[0068] FIG12 is a schematic diagram of a misalignment comparison operation process in which the decoding unit of the laser radar embodiment shown in FIG2 obtains the signal frequency;

[0069] FIG13 is a schematic diagram of another misalignment comparison operation process in which the decoding unit of the laser radar embodiment shown in FIG2 obtains the signal frequency;

[0070] FIG14 is a schematic diagram of a local oscillator optical signal group and a received echo optical signal group in the laser radar embodiment shown in FIG3 ;

[0071] FIG15 is a schematic diagram of the spectrum of the coherent signal obtained by the laser radar embodiment shown in FIG3 under ideal conditions;

[0072] FIG16 is a flow chart of some embodiments of the laser radar detection method of the present invention. DETAILED DESCRIPTION

[0073] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0074] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0075] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or interconnected connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0076] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0077] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0078] In the present disclosure, unless otherwise expressly specified and limited, ordinal numbers such as "first", "second", etc. are only used to distinguish and describe associated objects, and cannot be understood as indicating or implying the relative importance or order between associated objects; in addition, they do not represent the number of associated objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between associated objects, which indicates an "or" relationship between associated objects. "And / or" is used to describe the relationship between associated objects, which includes any combination relationship between associated objects, for example, "a and / or b" includes: "alone a", "alone b", or "a and b". "One or more" or "at least one" in multiple objects refers to any object or any combination of multiple objects, for example, "one or more of a1, a2, a3" or "at least one of a1, a2, a3" includes: "alone a1", "alone a2", "alone a3", "a1 and a2", "a1 and a3", "a2 and a3" or "a1, a2 and a3".

[0079] As can be seen from the background technology, the existing FMCW laser radar has a weak anti-interference ability. The reasons for its weak anti-interference ability are analyzed below:

[0080] LiDAR is subject to interference from various sources, including optical interference, stray light from both within and outside the LiDAR, and significant electromagnetic interference. Based on the detection mechanism of FMCW LiDAR, it is known that FMCW LiDAR lacks immunity to electromagnetic radiation with frequencies below several hundred megahertz. The current solution is to place electromagnetic shielding elements around the circuits as closely as possible to protect them. However, the installation of electromagnetic shielding elements poses significant challenges to structural design and cost control.

[0081] Furthermore, LiDARs have some internal noise sources that cannot be eliminated through shielding. In engineering implementations, it has been found that, whether in the power supply or light source, LiDARs inevitably contain some inherent or random frequency noise. This noise can be transmitted to the detection circuit via the optoelectronic link, interfering with the detection and demodulation of coherent signals and affecting the signal-to-noise ratio (SNR) of the coherent signals. Accordingly, to overcome the impact of this unavoidable circuit noise on the SNR, it is usually necessary to increase the detection threshold. However, increasing the detection threshold reduces the LiDAR's detection sensitivity, hindering the inherently high-sensitivity detection capabilities of FMCW LiDARs.

[0082] To solve the above technical problems, the present disclosure provides a laser radar transceiver, comprising:

[0083] a spectroscopic modulation unit, which receives the original light generated by the light source device and spectroscopically modulates the original light to form a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device and emitted to the external space of the laser radar; the emitted detection light signal group forms an echo light signal group after reflection; a coherent unit, which is used to receive and couple the echo light signal group and the local oscillation light signal group to form a coherent light signal group, wherein the coherent light signal group includes: multiple time-sharing coherent light signals.

[0084] In the technical solution disclosed herein, since the coherent optical signal group includes: multiple time-shared coherent optical signals, and there is a preset delay between different coherent optical signals in the coherent optical signal group, the preset delay can be used to further eliminate interference signals during the process of processing the coherent optical signal group, thereby achieving the purpose of improving the anti-interference capability of the laser radar constructed thereby, especially the anti-interference capability in the microwave frequency band, which is conducive to achieving full-spectrum anti-interference of frequency-modulated continuous-wave laser radar and further promoting the popularization of frequency-modulated continuous-wave laser radar.

[0085] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0086] 1 , there is shown a schematic structural diagram of some embodiments of the transceiver device of the laser radar disclosed herein.

[0087] The transceiver 102 includes: a spectroscopic modulation unit 110, which receives the original light generated by the light source device 101 and spectroscopically modulates the original light to form a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device 103, and the detection light signal group is emitted to the external space of the laser radar; the emitted detection light signal group forms an echo light signal group after reflection; a coherent unit 120, which is used to receive and couple the echo light signal group and the local oscillation light signal group to form a coherent light signal group, and the coherent light signal group includes: multiple time-sharing coherent light signals.

[0088] Since the coherent optical signal group includes: multiple coherent optical signals in time division, and there is a preset delay between different coherent optical signals in the coherent optical signal group, the preset delay can be used in the process of processing the coherent optical signal group to further eliminate interference signals, thereby achieving the purpose of improving the anti-interference capability of the laser radar constituted by it, especially the anti-interference capability in the microwave frequency band, which is conducive to achieving full-spectrum anti-interference of frequency-modulated continuous-wave laser radar and further promoting the popularization of frequency-modulated continuous-wave laser radar.

[0089] The technical solution of the transceiver device embodiment of the laser radar disclosed in the present invention is described in detail below with reference to the accompanying drawings.

[0090] The optical splitter modulation unit 110 performs optical splitter modulation on the original light generated by the light source device 101 to form the detection light signal group and the local oscillation light signal group. The local oscillation light signal group includes: at least one local oscillation light signal; the local oscillation light signal group includes: at least one local oscillation light signal.

[0091] In some embodiments, the transceiver is applied to a frequency modulated continuous wave (FMCW) laser radar; the light source device 101 is a linear frequency modulated signal transmission module, and the original light generated by the light source device 101 is a linear frequency modulated continuous laser beam.

[0092] In some embodiments of the present disclosure, the spectroscopic modulation unit 110 includes a Mach-Zehnder interferometer (MZI) structure; the spectroscopic modulation unit 110 splits the original light into a local oscillator part transmitted to the detection device 103 and a detection part emitted to the external space of the laser radar, and then modulates at least one of the local oscillator part and the detection part through the Mach-Zehnder interferometer structure to form the detection light signal group and the local oscillator light signal group.

[0093] In some specific embodiments shown in Figure 1, the optical splitting modulation unit 110 includes: a first optical splitting element 111, the first optical splitting element 111 is used to receive the original light and split the original light into outgoing light and remaining original light, the outgoing light is used to form the detection light signal group, and the remaining original light is used to form the local oscillator light signal group; a modulation component 112, the modulation component 112 is located in the optical path of at least one of the outgoing light and the remaining original light, the modulation component 112 modulates at least one of the outgoing light and the remaining original light to form an optical signal group, and the optical signal group includes multiple time-sharing optical signals.

[0094] The first spectroscopic element 111 divides the original light into the outgoing light (ie, the detection part emitted to the external space of the laser radar) and the remaining original light (ie, the local oscillation part transmitted to the detection device 103).

[0095] Specifically, the input end of the first spectroscopic element 111 is connected to the light source device 101 to receive the original light, and divides the original light into outgoing light emitted to the external space of the laser radar and remaining original light transmitted to the detection device 103, wherein the outgoing light is configured to form the detection light signal group, and the remaining original light is configured to form the local oscillation light signal group.

[0096] It should be noted that the input end of the first spectroscopic element 111 may be directly connected to the light source device 101 , or the original light emitted by the light source device 101 may pass through an optical coupling device, such as a lens, to reach the input end of the first spectroscopic element 111 .

[0097] In some embodiments, the first light splitting element 111 may be an optical coupler; for example, the first light splitting element 111 may be at least one of a fiber coupler and a planar optical waveguide coupler.

[0098] In some embodiments of the present disclosure, the energy ratio of the outgoing light to the remaining original light is greater than 1. Specifically, the energy of the outgoing light is much greater than the energy of the remaining original light to ensure better distance measurement capability; for example, in some embodiments, the splitting ratio of the first beam splitter 111 is 99:1, and the energy ratio of the outgoing light to the remaining original light is 99:1. The energy of the outgoing light split by the first beam splitter 111 accounts for 99%, and the energy of the remaining original light split by the first beam splitter 111 accounts for 1%.

[0099] The modulation component 112 is located in the optical path downstream of the first light splitting element 111 , and modulates at least one of the outgoing light and the remaining original light to form the detection light signal group and the local oscillation light signal group.

[0100] In some embodiments of the present disclosure, the input end of the modulation component 112 is connected to an output end of the first spectroscopic element 111 to receive at least one of the outgoing light and the remaining original light; the modulation component 112 divides the received light beam into multiple synchronization signals and performs different delays on different synchronization signals to form an optical signal group, wherein the optical signal group includes multiple time-sharing optical signals, the multiple optical signals of the same optical signal group are time-sharing optical signals, the starting edges of the multiple optical signals of the same optical signal group are at different moments, and the starting edges of the multiple optical signals of the same optical signal group are staggered in time.

[0101] In some specific embodiments, the modulation component 112 includes a delay structure 112a that delays each of the multiple transmitted synchronization signals to form the optical signal groups. By delaying different synchronization signals differently to form the optical signal groups, the starting edges of different optical signals in the same optical signal group are staggered in time, thereby minimizing the impact on the intensity of the optical signals and thus preventing any impact on the range-finding capability of the laser radar.

[0102] In some embodiments as shown in FIG. 1 , the delay structure 112a includes multiple optical paths, each of which transmits different synchronization signals, and each of which has unequal optical lengths. Transmitting different synchronization signals via multiple optical paths of varying lengths to achieve different delays for the different synchronization signals does not increase the complexity of the optical path structure and can be achieved without significant modifications to other LiDAR structures, effectively reducing the complexity of structural design and cost control.

[0103] The multiple optical paths of the delay structure 112a correspond one-to-one to the multiple synchronization signals, and each optical path transmits one synchronization signal; the optical lengths of different optical paths are not equal, and the time taken for different synchronization signals to be transmitted in their respective optical paths is not equal, so that the starting edges of different optical signals are staggered in time to form the optical signal group.

[0104] Specifically, in the delay structure 112a, at least one of the lengths and refractive indices of the different optical paths differs. As shown in FIG1 , the delay structure 112a has two optical paths, each transmitting two synchronization signals. The two optical paths of the delay structure 112a are of unequal length, and the durations of transmission of the two synchronization signals in their respective optical paths are unequal. The delay structure 112a transmits the two synchronization signals in such a way that the starting edges of the two synchronization signals are temporally staggered to form the optical signal group.

[0105] It should be noted that, in some specific embodiments shown in FIG1 , the lengths of different optical paths of the delay structure 112a are not equal; in other embodiments of the present disclosure, the different optical paths of the delay structure can also be composed of materials with different refractive indices to achieve the difference in optical path lengths; in some other embodiments of the present disclosure, the difference in optical path lengths can also be achieved by using materials with different refractive indices to form optical paths of unequal lengths to realize the delay structure.

[0106] In some embodiments of the present disclosure, the multiple synchronization signals transmitted by the delay structure 112a have equal energy. Specifically, the synchronization signals transmitted by different optical paths of the delay structure 112a have equal energy. Before entering the delay structure 112a, the light beam is split into equal energy beams to obtain multiple synchronization signals with equal energy.

[0107] 1 , in some embodiments of the present disclosure, the modulation component 112 is provided in the optical path of the outgoing light; the modulation component 112 modulates the outgoing light to form the detection light signal group, and the detection light signal group includes: a plurality of time-sharing detection light signals.

[0108] Specifically, the modulation component 112 is located in the optical path of the outgoing light, and the input end of the modulation component 112 is connected to an output end of the first spectroscopic element 111 to receive the outgoing light; the modulation component 112 modulates the received outgoing light to form a detection light signal group including multiple time-sharing detection light signals; wherein the multiple detection light signals of the same detection light signal group are time-sharing light signals, the starting edges of the multiple detection light signals of the same detection light signal group are at different times, and the starting edges of the multiple detection light signals of the same detection light signal group are staggered in time.

[0109] It should be noted that in the detection light signal group, the energies of the multiple detection light signals are equal or approximately equal, so as to ensure that different detection light signals in the same detection light signal group have the same or similar distance measurement capabilities and facilitate the subsequent acquisition of signal frequencies.

[0110] In some embodiments of the present disclosure, the modulation component 112 also includes: a second spectroscopic element 112b, which is located downstream of the first spectroscopic element 111 and in the optical path of the outgoing light, and the second spectroscopic element 112b divides the outgoing light into multiple detection synchronization signals; the delay structure 112a of the modulation component 112 is located in the optical path downstream of the second spectroscopic element 112b, and the delay structure 112a of the modulation component 112 performs different delays on different detection synchronization signals to form the detection light signal group.

[0111] Specifically, the multiple detection synchronization signals separated by the second light splitting element 112b have equal energy. The second light splitting element 112b is an equal energy light splitting element to ensure that the energy of different detection light signals in the same detection light signal group is substantially equal, having the same or similar distance measurement capabilities, and facilitating the subsequent acquisition of signal frequencies.

[0112] In some embodiments shown in Figure 1, the delay structure 112a has two optical paths with unequal optical lengths, and the second spectroscopic element 112b separates two detection synchronization signals; the splitting ratio of the second spectroscopic element 112b is 1:1, and the energy ratio of the two detection synchronization signals separated by the second spectroscopic element 112b is 1:1.

[0113] Specifically, the second light splitting element 112b may be an optical coupler; for example, the second light splitting element 111 may be at least one of an optical fiber coupler and a planar optical waveguide coupler.

[0114] It should be noted that an amplifying element is provided in the optical path of the outgoing light to improve the distance measurement capability. As shown in FIG1 , in some specific embodiments, the amplifying element 130 is located in the optical path between the first beam splitting element 111 and the modulation component 112 .

[0115] After the original light is divided into the outgoing light and the remaining original light, the optical signal intensity is amplified before different detection synchronization signals are delayed differently, thereby preventing the gain fluctuation of the amplifying element from affecting the coherent optical signal group and preventing the gain of the amplifying element from affecting the signal-to-noise ratio.

[0116] In some embodiments of the present disclosure, the multiple detection light signals of the detection light signal group are emitted toward the same direction of the emission field of view. Within the same detection light signal group, the different detection light signals have the same emission angle, ensuring that the different detection light signals within the same detection light signal group maintain substantially consistent optical transmission channels in the external space of the laser radar and are projected toward the same location on the same object.

[0117] As shown in FIG1 , in some specific embodiments, the laser radar collimating device 104 and the laser radar scanning device 105 are located in the optical path of the detection light signal group, and are used to make different detection light signal groups emit in different directions to form an emission field of view.

[0118] Specifically, the transmission of the detection light signal group by the collimating device 104 and the scanning device 105 determines the emission angles of different detection light signals; the maximum time interval between different detection light signals in the same detection light signal group is determined based on the scanning speed of the laser radar, and the maximum time interval between different detection light signals in the same detection light signal group is less than the unit scanning time of the laser radar, wherein the unit scanning time refers to the time taken for the emitted light beam transmitted by the collimating device 104 and the scanning device 105 to scan the emission field of view in one direction, so as to ensure that the optical transmission channels of different detection light signals in the same detection light signal group in the external space of the laser radar remain basically consistent and are projected onto the same position of the same object.

[0119] In some embodiments shown in Figure 1, the optical path difference between the two optical paths in the delay structure 112a is appropriate, so that the two detection light signals of the same detection light signal group emitted after being transmitted through the collimating device 104 and the scanning device 105 remain basically consistent in the optical channel of the external space of the laser radar, and are thus reflected by the same position of the same object in the external space of the laser radar.

[0120] It should be noted that the time interval between different detection light signals refers to the time difference between the starting edges of different detection light signals.

[0121] In some specific embodiments, the collimating device 104 can be a collimating lens or a collimating lens group; the scanning device 105 can be a one-dimensional scanning device or a two-dimensional scanning device, wherein the two-dimensional scanning device can be a two-dimensional scanning mirror or two one-dimensional scanning mirrors, wherein the scanning mirror can be one of a rotating mirror and a galvanometer mirror.

[0122] It should be noted that in some embodiments of the present disclosure, the transceiver 102 further includes a three-terminal transmission unit 140, which is configured to transmit the detection light signal group for output. As shown in FIG1 , the three-terminal transmission unit 140 is located in the optical path between the optical splitter modulation unit 110 and the collimator 104 . The first end of the three-terminal transmission unit 140 is configured to receive the detection light signal group. The detection light signal group is emitted from the second end of the three-terminal transmission unit 140 and transmitted to the collimator 104 and the scanning device 105 .

[0123] In some embodiments of the present disclosure, the optical splitter modulation unit 110 further includes a third optical splitter element 113, which is located in the optical path downstream of the modulation component 112. In some embodiments, the third optical splitter element 113 may be an optical coupler; for example, the third optical splitter element 113 may be at least one of a fiber coupler and a planar optical waveguide coupler.

[0124] As shown in Figure 1, the three-terminal transmission unit 140 is connected to the modulation component 112 through the third splitter element 113. The multiple optical paths of the delay structure 112a in the modulation component 112 are all connected to the input end of the third splitter element 113, and the output end of the third splitter element 113 is connected to the first end of the three-terminal transmission device 140.

[0125] Continuing to refer to FIG1 , the emitted detection light signal group forms an echo light signal group after reflection, wherein the echo light signal group includes at least one echo light signal.

[0126] In some embodiments of the present disclosure, the modulation component 112 is provided in the optical path of the outgoing light; the detection light signal group includes: a plurality of time-shared detection light signals; the echo light signal group formed by reflection of the outgoing detection light signal group includes: a plurality of time-shared echo light signals, wherein the plurality of echo light signals of the same echo light signal group are time-shared light signals, the starting edges of the plurality of echo light signals of the same echo light signal group are at different times, and the starting edges of the plurality of echo light signals of the same echo light signal group are staggered in time.

[0127] In some embodiments shown in FIG1 , two detection light signals of the same detection light signal group are reflected by the same object in space outside the laser radar, thereby forming an echo light signal group including two echo light signals; the scanning device 105 and the collimating device 104 successively receive the echo light signal group formed by reflection and transmit the echo light signal group to the detection device 103. Specifically, the scanning device 105 reflects the received echo light signal group to the collimating device 104.

[0128] In some embodiments, the transceiver 102 further has a three-terminal transmission unit 140, which is further used to receive the echo optical signal group, so as to separate the optical paths of the echo optical signal group and the detection optical signal group; the collimation device 104 transmits the echo optical signal group to the second end of the three-terminal transmission device 140; the three-terminal transmission device 140 transmits the echo optical signal group input from the second end to the third end and outputs it, so as to realize the transmission of the echo optical signal group to the detection device 103.

[0129] The transceiver 102 is used to form a frequency modulated continuous wave laser radar, which obtains a coherent signal by mixing and coupling the local oscillator signal and the echo signal for detection; the spectroscopic modulation unit 110 forms a local oscillator light signal group including at least one local oscillator light signal according to the original light in addition to forming the detection light signal group.

[0130] Specifically, as shown in FIG1 , the first optical splitter element 111 of the optical splitting modulation unit 110 not only splits outgoing light from the original light to form the detection light signal group, but also splits remaining original light from the original light to form the local oscillation light signal group.

[0131] The coherence unit 120 receives and couples the local oscillation optical signal group and the echo optical signal group to form a coherent optical signal group including a plurality of time-divided coherent optical signals.

[0132] Specifically, an input end of the coherent unit 120 is connected to an output end of the first optical splitter element 111 to receive the remaining original light. In some embodiments, the coherent unit 120 includes a coherent element 121, which can be an optical coupler; for example, the coherent unit 120 can be at least one of a fiber coupler and a planar optical waveguide coupler.

[0133] In some embodiments of the present disclosure, the modulation component 112 is provided in the optical path of the outgoing light; the detection light signal group includes multiple detection light signals in a time-sharing manner, and the echo signal group includes multiple echo signals in a time-sharing manner; and the coherence unit 120 receives the multiple echo light signals of the echo light signal group in a time-sharing manner.

[0134] It should be noted that, in some embodiments, the transceiver 102 further has a three-terminal transmission unit 140, and another input end of the coherent unit 120 is optically connected to the third end of the three-terminal transmission device 140 to receive the echo optical signal group output from the third end.

[0135] It should also be noted that in some embodiments shown in Figure 1, the modulation component 112 is only located in the optical path of the outgoing light, the coherence unit 120 is directly connected to the first spectroscopic element 111; the local oscillation light signal group formed by the remaining original light has one local oscillation light signal.

[0136] The coherence unit 120 receives the local oscillator optical signal of the local oscillator optical signal group and the multiple time-shared echo optical signals; the local oscillator optical signal and the multiple time-shared echo optical signals are respectively mixed and coherently formed to form a coherent optical signal group including the multiple time-shared coherent optical signals; wherein the multiple coherent optical signals in the same coherent optical signal group are time-shared optical signals, the starting edges of the multiple coherent optical signals in the same coherent optical signal group are at different times, and the starting edges of the multiple coherent optical signals in the same coherent optical signal group are staggered in time.

[0137] In some embodiments shown in FIG1 , the coherent element 121 of the coherent unit 120 receives the local oscillator optical signal of the local oscillator optical signal group and the echo optical signal group including two echo optical signals, and couples the local oscillator optical signal and the two echo optical signals respectively to form the coherent optical signal group, which includes two time-shared coherent optical signals.

[0138] In some embodiments of the present disclosure, the spectral interval corresponding to the time interval between different coherent optical signals within the same coherent optical signal group is an integer multiple of the spectral resolution of the lidar. Precisely controlling the time intervals between different coherent optical signals so that the corresponding spectral interval is an integer multiple of the spectral resolution facilitates the identification of coherent optical signal groups, thereby improving detection accuracy.

[0139] In some embodiments shown in Figure 1, the spectroscopic modulation unit 110 performs spectroscopic modulation on the original light, and the modulation component 112 of the spectroscopic modulation unit 110 is located in the optical path of the outgoing light to form a detection light signal group including multiple time-shared detection light signals; the echo light signal group formed by reflection includes multiple time-shared echo light signals; the multiple time-shared coherent signals in the coherent light signal group are formed by mixing and coherently combining the local oscillator light signal and the multiple time-shared echo light signals; the time interval of different coherent light signals corresponds to the time interval of different detection light signals; the spectrum interval corresponding to the time interval of different detection light signals is an integer multiple of the spectrum resolution of the laser radar.

[0140] It should be noted that the time interval between different coherent optical signals refers to the time difference between the starting edges of different coherent optical signals; and the time interval between different detection optical signals refers to the time difference between the starting edges of different detection optical signals.

[0141] In some embodiments of the present disclosure, the time interval between different coherent optical signals in the same coherent optical signal group is greater than a preset value to separate the main lobe of the spectrum of any coherent optical signal from the side lobes of the spectrum of other coherent optical signals in the same coherent optical signal group. Controlling the time interval between different coherent optical signals in the same coherent optical signal group prevents interference between the main lobes and side lobes of the spectrum of different coherent optical signals in the same coherent optical signal group, thereby improving detection accuracy.

[0142] It should be noted that in some embodiments of the present disclosure, the transceiver 102 further includes a transmission element 150 for transmitting optical signals. The transmission element 150 includes at least one of a planar optical waveguide and an optical fiber. In some preferred embodiments, the transmission element 150 is a planar optical waveguide. Using a planar optical waveguide to transmit optical signals, combined with on-chip optical elements, enables on-chip integration of the transceiver, effectively improving the integration level of the resulting LiDAR, facilitating improved optical path structure stability, and facilitating miniaturization and integration of LiDAR.

[0143] The transmission element 150 is used to realize the transmission of optical signals between different optical components in the transceiver 102 .

[0144] In some specific embodiments shown in Figure 1, the transmission element 150 is located between the light source device 101, the first splitter element 111, the modulation component 112 and the third splitter element 113 in the splitter modulation unit 110, the three-terminal transmission device 140, the coherent element 121 of the coherent unit 120, and the detection device 103, so as to realize the transmission of optical signals in the original light, the detection light signal group, the local oscillation light signal group, the echo light signal group and the coherent light signal group.

[0145] The transmission element 150 is a planar optical waveguide. In some specific embodiments, the first optical splitter element 111, the modulation component 112 and the third optical splitter element 113 in the optical splitter modulation unit 110, the three-terminal transmission device 140, and the coherent element 121 of the coherent unit 120 are all composed of on-chip optical elements. For example, in some embodiments shown in Figure 1, the first optical splitter element 111, the second optical splitter element 112b, the third optical splitter element 113 and the coherent element 121 of the coherent unit 120 can all be planar optical waveguide couplers; the multiple optical paths in the delay structure 112a can be different planar optical waveguides. In some specific embodiments, the transceiver 102 can be implemented by an integrated optical chip, for example, a planar optical waveguide (PLC) chip, a silicon nitride chip, a silicon photonic chip, a thin-film lithium niobate chip, etc.

[0146] 2 , there is shown a schematic structural diagram of some other embodiments of the transceiver device of the laser radar disclosed herein.

[0147] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG2 , the transceiver of the laser radar can also form multiple detection light signal groups including a larger number of detection light signals.

[0148] In some embodiments of the present disclosure, the third spectroscopic element 213 of the spectroscopic modulation unit 210 is located in the optical path downstream of the modulation component 212 to form a plurality of detection light signal groups according to the outgoing light modulated by the modulation component 212, and different detection light signal groups are ultimately emitted to emission fields in different directions; the multiple outgoing detection light signal groups form a plurality of echo light signal groups after reflection; the remaining original light includes a plurality of local oscillator light signal groups; the coherent unit 220 includes: a plurality of coherent elements 221, each of the coherent elements 221 receives and couples one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0149] Specifically, after receiving the original light generated by the light source device 201, the first spectroscopic element 211 in the spectroscopic modulation unit 210 divides the original light into the outgoing light and the remaining original light; the modulation component 212 modulates the outgoing light to form a detection light prefabricated signal group, and the detection light prefabricated signal group includes: multiple time-sharing detection light prefabricated signals.

[0150] As shown in Figure 2, the delay structure 212a of the modulation component 212 has three optical paths, and the second splitter element 212b of the modulation component 212 divides the outgoing light into three prefabricated detection synchronization signals; the three prefabricated detection synchronization signals are transmitted respectively through the three optical paths of the delay structure 212a to form the detection light prefabricated signal group, and the detection light prefabricated signal group includes three time-sharing detection light prefabricated signals, and the three optical paths of the delay structure 212a have different optical lengths.

[0151] In some embodiments, the second spectroscopic element 212b is an equal-energy spectroscopic element, and the energies of the multiple prefabricated detection synchronization signals separated by the second spectroscopic element 212 are equal. For example, in Figure 2, the energy ratio of the three prefabricated detection synchronization signals separated from the outgoing light is 1:1:1. In the detection light prefabricated signal group further formed, the energies of the three detection light prefabricated signals are also equal or approximately equal.

[0152] The third beam splitter 213 receives the prefabricated detection light signal group and splits the prefabricated detection light signal group into a plurality of detection light signal groups. Specifically, the third beam splitter 213 splits each prefabricated detection light signal into a plurality of detection light signals to split the prefabricated detection light signal group into a plurality of detection light signal groups. Because the prefabricated detection light signal group includes a plurality of time-sharing prefabricated detection light signals, each detection light signal group split by the third beam splitter 213 also includes a plurality of detection light signals.

[0153] In some embodiments of the present disclosure, the third spectroscopic element 213 is an equal-energy spectroscopic element. The energy of the detection light signals of different detection light signal groups separated by the third spectroscopic element 213 is equal, and the energy of the multiple detection light signals separated from each detection light prefabricated signal is equal or approximately equal.

[0154] As shown in FIG2 , the prefabricated detection light signal group includes three time-shared prefabricated detection light signals, and the third spectrometer 213 divides each prefabricated detection light signal into three detection light signals; the third spectrometer 213 divides the prefabricated detection light signal group into three detection light signal groups, each detection light signal group includes three time-shared detection light signals.

[0155] In some embodiments of the present disclosure, the transceiver 202 achieves optical path separation of the echo light signal group and the detection light signal group through a three-terminal transmission device 240. As shown in FIG2 , the transceiver 202 includes multiple three-terminal transmission devices 240, each corresponding one-to-one to the multiple detection light signal groups separated by the third optical splitter 213. Each three-terminal transmission device 240 transmits one detection light signal group to the collimator 204 to achieve emission of the detection light signal group, and ultimately causes different detection light signal groups to be emitted in different directions of the emission field of view to form a detection channel.

[0156] It should be noted that, in some embodiments shown in FIG. 2 , the detection light signal groups transmitted through different three-terminal transmission devices 240 share the collimation device 204, and the detection light signal groups transmitted through different three-terminal transmission devices 240 share the same lens or lens group, are respectively incident on different heights of the same lens or lens group, and are finally emitted to emission fields in different directions.

[0157] Each emitted detection light signal group forms an echo light signal group after reflection; the multiple emitted detection light signal groups correspond one-to-one to the multiple echo light signal groups formed, each detection light signal group includes multiple detection light signals in a time-sharing manner, and the corresponding echo light signal group includes multiple echo light signals in a time-sharing manner; the collimating device 204 receives the multiple echo light signal groups formed; the three-terminal transmission device 240 that transmits a certain detection light signal group receives the multiple echo light signals of the corresponding echo light signal group in a time-sharing manner, and transmits the echo light signal group to the detection device 203.

[0158] As shown in Figure 2, the coherent unit 220 has multiple coherent elements 221. Each coherent element 221 receives multiple echo optical signals of one echo optical signal group in a time-sharing manner. Specifically, each of the three-port transmission devices 240 transmits the multiple echo optical signals of the received echo optical signal group to the corresponding coherent element 221 in a time-sharing manner.

[0159] Specifically, the third optical splitter 213 splits each prefabricated detection light signal into three detection light signals, so that the three prefabricated detection light signals can constitute three detection light signal groups; the three three-terminal transmission devices 240 respectively receive the three detection light signal groups and emit them in three different directions of the transmission field of view; the three echo light signal groups formed by the reflection of the three detection light signal groups are transmitted by the collimating device 204 and then transmitted by the three three-terminal transmission devices 240 to the three coherent elements 221 respectively; each of the coherent elements 221 receives the three echo light signals of the one echo light signal group in a time-sharing manner, and the three coherent elements 221 respectively receive the three echo light signal groups.

[0160] On the other hand, the remaining original light separated by the first light splitting element 211 includes multiple local oscillation light signal groups; and the multiple coherent elements 221 correspond one-to-one to the multiple local oscillation light signal groups, and each coherent element 221 receives one local oscillation light signal group.

[0161] After each of the coherent elements 221 receives one of the local oscillator optical signal groups and one of the echo optical signal groups, the coherent element 221 couples the local oscillator optical signal group and the echo optical signal group so that the local oscillator optical signal group and the echo optical signal group beat with each other to form one of the coherent optical signal groups.

[0162] It should be noted that in some embodiments shown in FIG2 , the first spectroscopic element 211 directly separates the original light into outgoing light and remaining original light including multiple local oscillator light signal groups. In other embodiments of the present disclosure, the first spectroscopic element may also separate the original light into outgoing light and remaining original light, and then further separate the remaining original light into multiple local oscillator light signal groups using an additional spectroscopic element. In some embodiments, the multiple local oscillator signal groups have equal energy, and the additional spectroscopic element that further separates the remaining original light into the multiple local oscillator signal groups is an equal energy spectroscopic element.

[0163] It should also be noted that, in the aforementioned embodiment, the optical splitting modulation unit only modulates the outgoing detection light and does not modulate the local local oscillator light; therefore, the formed detection light signal group includes multiple detection light signals, and the formed local oscillator light signal group only has one local oscillator light signal.

[0164] 3 , there is shown a schematic structural diagram of some other embodiments of the transceiver device of the laser radar disclosed herein.

[0165] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG3 , the light splitting modulation unit modulates the local LO light.

[0166] In some embodiments of the present disclosure, the modulation component 312 is provided in the optical path of the remaining original light; the modulation component 312 modulates the remaining original light to form the local oscillation optical signal group, and the local oscillation optical signal group includes: multiple local oscillation optical signals in time sharing; the coherence unit 320 receives the multiple local oscillation optical signals in the local oscillation optical signal group in time sharing.

[0167] Specifically, after receiving the original light generated by the light source device 301, the first splitter element 311 in the splitter modulation unit 310 splits the original light into the outgoing light and the remaining original light; the modulation component 312 modulates the remaining original light to form the local oscillation light signal group, and the local oscillation light signal group includes: multiple local oscillation light signals in time division.

[0168] As shown in Figure 3, the remaining original light separated by the first splitting element 311 includes multiple local oscillation synchronization signals, where the multiple local oscillation synchronization signals have equal energy; the modulation component 312 is located in the optical path between the first splitting element 311 and the coherent unit 320, and the modulation component 312 delays different local oscillation synchronization signals differently to form the local oscillation light signal group.

[0169] In some embodiments, the modulation component 312 is located in the optical path between the first optical splitter element 311 and the coherent element 321 of the coherent unit 320. Specifically, the modulation component 312 has multiple optical paths with unequal optical lengths, each of which corresponds one-to-one to multiple local oscillation synchronization signals, with each optical path transmitting one local oscillation synchronization signal. After being transmitted separately through the multiple optical paths with unequal optical lengths, the multiple local oscillation synchronization signals form the local oscillation optical signal group, which includes multiple local oscillation optical signals in a time-divided manner.

[0170] For example, the modulation component 312 has two optical paths, and the optical lengths of the two optical paths are not equal; the remaining original light separated by the first spectrometer 311 includes two local oscillator synchronization signals; the local oscillator optical signal group formed by the two local oscillator synchronization signals transmitted respectively through the two optical paths of the modulation component 312 includes two time-sharing local oscillator optical signals; the coherent element 321 of the coherent unit 320 receives the two local oscillator optical signals of the local oscillator optical signal group in a time-sharing manner.

[0171] It should be noted that in some embodiments shown in FIG3 , the first spectroscopic element 311 directly separates the original light into outgoing light and remaining original light including multiple local oscillation synchronization signals. In other embodiments of the present disclosure, the first spectroscopic element may also separate the original light into outgoing light and remaining original light, and then further separate the remaining original light into multiple local oscillation synchronization signals using an additional spectroscopic element. In some embodiments, the multiple local oscillation synchronization signals have equal energy, and the additional spectroscopic element that further separates the remaining original light into the multiple local oscillation synchronization signals is an equal energy spectroscopic element.

[0172] On the other hand, the first spectroscopic element 311 in the spectroscopic modulation unit 310 not only separates the remaining original light from the original light, but also separates the outgoing light from the original light; the outgoing light is transmitted to the collimating device 304 and the scanning device 305 of the laser radar via the three-terminal transmission device 340 to form an outgoing detection light signal group; the echo light signal group formed by the outgoing detection light signal group after reflection is received by the scanning device 305 and the collimating device 304, and then transmitted to the coherent element 321 of the coherent unit 320 via the three-terminal transmission device 340.

[0173] The coherent unit 320 receives the multiple local oscillator optical signals of the local oscillator optical signal group and the echo optical signal of the echo optical signal group in a time-sharing manner; the multiple local oscillator optical signals and the echo optical signals are mixed and coherently mixed to form a coherent optical signal group including the multiple coherent optical signals in a time-sharing manner.

[0174] In some embodiments of the present disclosure, in the same coherent optical signal group, the spectral interval corresponding to the time interval of different coherent optical signals is an integer multiple of the spectral resolution of the laser radar. In some embodiments shown in Figure 3, the optical splitter modulation unit 310 performs optical splitter modulation on the original light, and the modulation component 312 of the optical splitter modulation unit 310 is located in the optical path of the remaining original light to form a local oscillator optical signal group including multiple time-sharing local oscillator optical signals; the multiple time-sharing coherent signals in the coherent optical signal group are formed by mixing and coherently combining the multiple time-sharing local oscillator optical signals with the echo optical signal; the time interval of different coherent optical signals corresponds to the time interval of different local oscillator optical signals; the spectral interval corresponding to the time interval of different local oscillator optical signals is an integer multiple of the spectral resolution of the laser radar.

[0175] It should be noted that, in some embodiments shown in FIG. 3 , the modulation component 312 is only located in the optical path of the remaining original light, and the detection light signal group formed by the outgoing light has one detection light signal.

[0176] It should also be noted that in some embodiments shown in FIG3 , the amplifying element 330 of the transceiver 302 is located in the optical path of the outgoing light to improve the distance measurement capability. Specifically, the amplifying element 330 is located in the optical path between the three-port transmission device 340 and the first beam splitting element 311.

[0177] 4 , there is shown a schematic structural diagram of some other embodiments of the transceiver device of the laser radar disclosed herein.

[0178] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG4 , the transceiver of the laser radar can also form multiple local oscillator light signal groups.

[0179] In some embodiments of the present disclosure, the remaining original light includes multiple local oscillation synchronization signal groups, each of which includes multiple local oscillation synchronization signals. The optical splitter modulation unit 410 further includes: a third optical splitter element 413, located in the optical path of the outgoing light downstream of the first optical splitter element 411 to form multiple detection light signal groups, and different detection light signal groups are ultimately emitted in different directions of the emission field of view; the multiple emitted detection light signal groups form multiple echo light signal groups after reflection; the optical splitter modulation unit 410 has multiple modulation components 412, each of which modulates one local oscillation synchronization signal group to form one local oscillation light signal group; the coherence unit 420 includes: multiple coherence elements 421, each of which is connected to the multiple modulation components 412 in a one-to-one correspondence, and each of the coherence elements 421 receives and couples one local oscillation light signal group and one echo light signal group to form one coherent light signal group.

[0180] Specifically, after receiving the original light generated by the light source device 401, the first spectroscopic element 411 of the spectroscopic modulation unit 410 divides the original light into the outgoing light and the remaining original light, wherein the remaining original light includes multiple local oscillation synchronization signal groups, and the local oscillation synchronization signal group includes multiple local oscillation synchronization signals; the multiple modulation components 412 of the spectroscopic modulation unit respectively modulate the multiple local oscillation synchronization signal groups of the remaining original light to form multiple local oscillation light signal groups.

[0181] As shown in Figure 4, the remaining original light separated by the first splitting element 411 includes multiple local oscillation synchronization signals to form multiple local oscillation synchronization signal groups; the multiple modulation components 412 correspond one-to-one to the multiple local oscillation synchronization signal groups, and each modulation component 412 delays the multiple local oscillation synchronization signals of one local oscillation synchronization signal group differently to form one local oscillation light signal group.

[0182] In addition, the multiple modulation components 412 also correspond one-to-one to the multiple coherent elements 421 of the coherent unit 420. The modulation components 412 are arranged in the optical path between the corresponding coherent element 421 and the first spectroscopic element 411. Specifically, each modulation component 412 has multiple optical paths with unequal optical lengths. The multiple optical paths of the same modulation component 412 correspond one-to-one to the multiple local oscillation synchronization signals in the same local oscillation synchronization signal group, and each optical path transmits one of the local oscillation synchronization signals. After being transmitted separately through the multiple optical paths with unequal optical lengths in the same modulation component 412, the multiple local oscillation synchronization signals in the same local oscillation synchronization signal group form a local oscillation optical signal group, which includes multiple local oscillation optical signals in a time-sharing manner. In the coherent unit 420, the corresponding coherent element 421 receives the multiple local oscillation optical signals of the local oscillation optical signal group in a time-sharing manner.

[0183] For example, each of the modulation components 412 has two optical paths with unequal optical lengths; the remaining original light separated by the first optical splitter 411 includes three local oscillation synchronization signal groups, and each of the local oscillation synchronization signal groups includes two local oscillation synchronization signals; the three local oscillation synchronization signal groups are transmitted respectively through the two optical paths of the corresponding modulation component 412, and each of the local oscillation optical signal groups forms three local oscillation optical signal groups, and each of the local oscillation optical signal groups includes two time-shared local oscillation optical signals; the three coherent elements 421 of the coherent unit 420 respectively receive the three local oscillation optical signal groups; each of the coherent elements 421 receives two local oscillation optical signals of the same local oscillation optical signal group in a time-shared manner.

[0184] It should be noted that in some embodiments shown in FIG4 , the first spectroscopic element 411 directly separates the original light into outgoing light and remaining original light including multiple local oscillation synchronization signal groups. In other embodiments of the present disclosure, the first spectroscopic element may also separate the original light into outgoing light and remaining original light, and then further separate the remaining original light into multiple local oscillation synchronization signal groups using an additional spectroscopic element. In some embodiments, the multiple local oscillation synchronization signal groups have equal energy, and the additional spectroscopic element that further separates the remaining original light into the multiple local oscillation synchronization signal groups is an equal energy spectroscopic element.

[0185] On the other hand, a third spectroscopic element 413 is provided in the optical path of the outgoing light. The third spectroscopic element 413 receives the outgoing light and divides the outgoing light into multiple detection light signal groups and transmits them to multiple three-terminal transmission devices 440, so that the outgoing light is transmitted to the emission field of view in different directions after being transmitted through the collimation device 404 of the laser radar; the multiple echo light signal groups formed by the reflection of the multiple outgoing detection light signal groups are received by the collimation device 304, and are respectively transmitted by the corresponding three-terminal transmission device 404 to the corresponding coherent elements 421 in the coherent unit 420.

[0186] In some embodiments of the present disclosure, the third spectroscopic element 413 is an equal-energy spectroscopic element to ensure that the energies of the multiple detection light signal groups are substantially equal and have the same or similar distance-measuring capabilities; for example, as shown in FIG. 4 , the multiple detection light signal groups separated by the third spectroscopic element 413 have equal energies.

[0187] In the coherent unit 420, each of the coherent units 420 receives the corresponding multiple local oscillator optical signals of the local oscillator optical signal group and the echo optical signal of the echo optical signal group in a time-sharing manner; the multiple local oscillator optical signals and the echo optical signals are mixed and coherently formed to form a coherent optical signal group including the multiple coherent optical signals in a time-sharing manner.

[0188] Correspondingly, the present disclosure also provides a laser radar.

[0189] Referring to FIG1 , there is shown a schematic structural diagram of some embodiments of the laser radar disclosed herein.

[0190] The laser radar includes:

[0191] A light source device 101 is used to generate original light; a transceiver 102 is used to generate original light, and the transceiver 102 includes: a spectroscopic modulation unit 110, which receives the original light generated by the light source device 101 and divides the original light into a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device 103, and the emitted detection light signal group forms an echo light signal group after reflection; a coherence unit 120, which is used to receive and couple the echo light signal group and the local oscillation light signal group to form a coherent light signal group, wherein the coherent light signal group includes: multiple time-shared coherent light signals; and a detection device 103, which is used to receive the coherent light signal group.

[0192] The light source device 101 generates light for detection.

[0193] In some embodiments of the present disclosure, the laser radar is a frequency-modulated continuous wave laser radar; the light source device 101 is a linear frequency-modulated signal transmission module, and the original light generated by the light source device 101 is a linear frequency-modulated continuous laser beam, and the original light is a quasi-continuous long pulse, for example, the pulse length of the original light can be several microseconds or tens of microseconds.

[0194] In some specific embodiments, the light source device 101 can be a linear frequency modulation signal transmitting module in a direct modulation manner (a linear frequency modulation signal transmitting module that directly modulates the light frequency); the light source device 101 can also be a linear frequency modulation signal transmitting module in a non-direct modulation manner (a linear frequency modulation signal transmitting module that uses light waves as carriers and then loads frequency modulation signals).

[0195] The transceiver 102 is used to form a local LO light and an outgoing detection light, and to realize the emission and reception of the detection light.

[0196] In some embodiments of the present disclosure, the transceiver 102 is the transceiver of the present disclosure. The specific technical solution of the transceiver is referred to the embodiment of the transceiver described above, and will not be repeated in this disclosure.

[0197] Specifically, the optical splitting modulation unit 110 of the transceiver 102 has a Mach-Zehnder interferometer structure, which divides the original light into a detection light signal group and a local oscillator light signal group; the coherence unit 120 couples the echo light signal group and the local oscillator light signal group to form a coherent light signal group including multiple time-sharing coherent light signals.

[0198] In some specific embodiments shown in Figure 1, two detection light signals of the same detection light signal group are transmitted to the external space of the laser radar in a time-sharing manner, and are reflected by the same position of the same object in the external space, thereby forming an echo light signal group including two echo light signals; the coherent element 121 of the coherent unit 120 receives the local oscillation light signal of the local oscillation light signal group and the echo light signal group including the two echo light signals, and couples the local oscillation light signal and the two echo light signals to form a coherent light signal group including two time-sharing coherent light signals.

[0199] With reference to FIG5 , the horizontal axis represents time and the vertical axis represents frequency. Data line 501 (shown as a solid line in FIG5 ) represents the local oscillator optical signal of the local oscillator optical signal group received by the coherent element 121; data line 502 (shown as a narrower dashed line in FIG5 ) and data line 503 (shown as a wider dashed line in FIG5 ) respectively represent two echo optical signals in the echo optical signal group received by the coherent element 121; B f represents the frequency modulation bandwidth of the light source device 101; τ delay represents the time delay between the local oscillator optical signal and the echo optical signal; T m represents the frequency modulation period of the light source device 101.

[0200] As shown in FIG5 , a time interval Δτ is present between two echo optical signals in the same echo optical signal group received by the coherent element 121. The two coherent optical signals in the same coherent optical signal group are time-shared optical signals, with a time interval Δτ between them. The starting edges of the two coherent optical signals in the same coherent optical signal group are at different times, with a time interval Δτ between them. The time interval Δτ between the two coherent optical signals corresponds to a spectral interval Δf. There is a linear relationship between the spectral interval Δf and the time interval Δτ.

[0201] It should be noted that, in some embodiments, the relationship between the spectrum interval Δf and the time interval Δτ may also be nonlinear, as long as there is a corresponding relationship between the two.

[0202] The detection device 103 performs photoelectric conversion on the coherent optical signal group generated by the transceiver 102 to form the output signal.

[0203] The detection device 103 includes a detector that receives multiple coherent optical signals of the coherent optical signal group and performs photoelectric conversion to generate the output signal. The detector corresponding to each coherent element can be a single detector or a balanced detection module (including two detectors).

[0204] It should be noted that, in some embodiments, the laser radar further includes an analog-digital converter (ADC); the ADC samples the output signal generated by the detection device 103 to perform analog-to-digital conversion to obtain the digitized output signal.

[0205] In some embodiments of the present disclosure, the laser radar further includes a processing device 109 configured to obtain a signal frequency based on the output signal of the detection device 103 and calculate the distance and speed of the object based on the signal frequency, wherein the signal frequency is the frequency corresponding to one of the multiple coherent signals in the frequency domain. Specifically, the processing device 109 obtains the signal frequency based on the digitized output signal to calculate the distance and speed of the object.

[0206] In some specific embodiments, the processing device 109 processes the frequency spectrum of the output signal of the detection device 103 by using an equal-interval staggered comparison and minimization algorithm to obtain the signal frequency.

[0207] In some embodiments as shown in Figure 1, the processing device 109 includes: a transformation unit 119, which transforms the output signal of the detection device 103 to obtain the spectrum of the output signal; and a decoding unit 129, which obtains the signal frequency based on the spectrum of the output signal and the spectrum interval corresponding to the time interval of different coherent optical signals.

[0208] Specifically, the transform unit 119 of the processing device 109 performs Fourier transform on the digitized output signal to obtain the frequency spectrum of the output signal.

[0209] In some embodiments shown in FIG1 and FIG5 , the detection device 103 receives a coherent optical signal group including a plurality of time-shared coherent optical signals, and obtains a spectrum of the output signal after sampling analog-to-digital conversion by the analog-to-digital converter and Fourier transform by the transformation unit 119 .

[0210] The local oscillator optical signal and the multiple echo optical signals are coupled to beat frequencies to form multiple coherent optical signals; since there is a preset time interval between different coherent optical signals in the coherent optical signal group, the multiple coherent optical signals have a preset interval in the frequency domain.

[0211] The local oscillator optical signal and the two echo optical signals are respectively coupled to beat frequency to form two coherent optical signals. There is a preset time interval between different coherent optical signals in the same coherent optical signal group, and different coherent optical signals in the same coherent optical signal group have a preset spectrum interval in the frequency domain.

[0212] As shown in FIG6 , the spectrum of the output signal obtained by the conversion unit 119 has two coherent optical signals, and the frequencies of the two coherent optical signals are f and f respectively. beat1 and f beat2 , the time interval between two coherent optical signals corresponds to the spectrum interval Δf=|f beat2 -f beat1 |. The horizontal axis represents frequency and the vertical axis represents intensity.

[0213] It should be noted that the spectrum of the output signal shown in Figure 6 is an ideal spectrum. As shown in Figure 7, in actual situations, the spectrum of the output signal includes, in addition to the high-intensity main lobe (whose center value corresponds to the spectrum in Figure 6), low-intensity side lobes. In Figure 7, the horizontal axis represents frequency, and the vertical axis represents intensity.

[0214] After the sampling analog-to-digital conversion of the analog-to-digital converter and the Fourier transform of the conversion unit 119, the spectrum of the output signal obtained is shown in FIG8 ; wherein, the spectrum of the output signal includes: two coherent optical signals formed by the coupled beat frequency, with frequencies f and f respectively. beat1 and f beat2 The interference signal and the system noise floor are interfering signals, where the intensity of the interference signal exceeds a preset detection threshold. In FIG8 , the horizontal axis represents frequency and the vertical axis represents intensity.

[0215] Continuing with reference to FIG1 , the decoding unit 129 performs peak-finding on the spectrum of the output signal based on the spectrum intervals corresponding to the time intervals of different coherent optical signals to obtain the signal frequency. Specifically, the decoding unit 129 performs peak-finding on the spectrum of the output signal to achieve decoding by using an equal-interval staggered comparison and minimum algorithm to obtain the signal frequency: PSD_decode(f) = min[PSD(f), PSD(f-Δf)]

[0216] Wherein, f represents frequency, and Δf represents the spectrum interval corresponding to the time interval of different coherent optical signals.

[0217] It should be noted that the optical splitter modulation unit 110 of the transceiver 102 forms a coherent optical signal group comprising multiple time-divided coherent optical signals using a Mach-Zehnder interferometer structure; the spectral intervals corresponding to the time intervals of different coherent optical signals are determined based on the arm length difference of the Mach-Zehnder interferometer structure. In some specific embodiments as shown in FIG1 , the spectral intervals corresponding to the time intervals of different coherent optical signals are determined based on the optical path difference between different optical paths of the delay structure 112a within the modulation component 112 of the optical splitter modulation unit 110.

[0218] As shown in FIG9 , the decoding unit 129 performs staggered comparison on the spectrum of the output signal, wherein the staggered comparison staggered interval is the spectrum interval Δf corresponding to the time interval of different coherent optical signals, Δf=|f beat2 -f beat1 Then, the intensity values ​​corresponding to the frequencies are minimized. In FIG9 , the horizontal axis represents frequency and the vertical axis represents intensity.

[0219] During the process of performing an offset comparison on the output signal's spectrum by the decoding unit 129, interference signals are eliminated by taking the minimum value, leaving only the coherent optical signal. This is because only when the frequency interval between two interference signals, both exceeding the detection threshold, is equal to the spectral interval corresponding to the time interval between different coherent optical signals, will the decoding unit 129 retain the smaller value of the interference signal, thus becoming true interference to the coherent optical signal. Since the distribution of interference signals is random, the probability of this occurring is extremely low, effectively improving the LiDAR's anti-interference capability in the frequency domain.

[0220] In addition, during the process of performing offset comparison on the frequency spectrum of the output signal, the decoding unit 129 can also eliminate the peak-shaped base noise, thereby providing space for further reducing the detection threshold, which is beneficial to improving the detection probability of the laser radar.

[0221] In some specific embodiments shown in FIG. 9 , based on the spectrum of the output signal, combined with the spectrum interval Δf corresponding to the time interval of different coherent optical signals, Δf=|f beat2 -f beat1 |, the signal frequency obtained by the decoding unit is the frequency corresponding to one of the two coherent optical signals in the frequency domain: when Δf=f beat2 -f beat1 When the signal frequency is f beat1 coherent optical signal; when Δf=f beat1 -f beat2 When the signal frequency is f beat2 coherent optical signal.

[0222] In addition, referring to FIG1 , the processing device 109 further includes a calculation unit 139, which calculates the distance and speed of the object according to the signal frequency and the corresponding signal strength. beat1 and f beat2 Therefore, it is preferred that the multiple detection light signals in the detection light signal group have substantially equal energy, and the obtained signal frequency is the frequency f beat1 The sum signal frequency is frequency f beat2 The corresponding signal intensities are substantially equal. Compared to the case where multiple detection light signals in the detection light signal group have unequal energies, the signal intensities corresponding to the signal frequencies have larger values, which is beneficial to improving the signal-to-noise ratio of the laser radar.

[0223] Specifically, the signal frequency is the frequency corresponding to one of the two coherent optical signals in the frequency domain. The calculation unit 139 calculates the distance and speed of the object according to the frequency corresponding to one of the two coherent optical signals in the frequency domain and the corresponding signal strength.

[0224] Referring to FIG2 , there is shown a schematic structural diagram of some other embodiments of the laser radar disclosed herein.

[0225] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG2 , the transceiver of the laser radar can also form a detection light signal group including a larger number of detection light signals.

[0226] Specifically, the third spectroscopic modulation unit 210 is located in the optical path downstream of the modulation component 212 to form a plurality of detection light signal groups according to the outgoing light modulated by the modulation component 212, and different detection light signal groups are emitted to the emission field of view in different directions; the multiple outgoing detection light signal groups form a plurality of echo light signal groups after reflection; the remaining original light includes a plurality of local oscillator light signal groups; the coherent unit 220 includes: a plurality of coherent elements 221, each of the coherent elements 221 receives and couples one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0227] As shown in FIG2 , the delay structure 212 a of the modulation component 212 has three optical paths. Each detection light signal group formed by the optical splitting modulation unit 210 includes three time-shared detection light signals. The echo light signal group formed by the reflection of the detection light signal group includes three time-shared echo light signals. Each of the coherent elements 221 receives the local oscillator light signal of the local oscillator light signal group and the echo light signal group including the three time-shared echo light signals, and couples the local oscillator light signal and the three echo light signals to form a coherent light signal group including three time-shared coherent light signals.

[0228] With reference to FIG10 , the horizontal axis represents time and the vertical axis represents frequency. Data line 601 (shown as a solid line in FIG10 ) represents a local oscillator optical signal of the local oscillator optical signal group received by one of the coherent elements 121 in the coherent unit 120; data line 602 (shown as a wide dashed line in FIG10 ), data line 603 (shown as a medium wide dashed line in FIG10 ), and data line 603 (shown as a narrow dashed line in FIG10 ) respectively represent three of the echo optical signals in the echo optical signal group received by one of the coherent elements 121 in the coherent unit 120; B f represents the frequency modulation bandwidth of the light source device 101; τ delay represents the time delay between the local oscillator optical signal and the echo optical signal; T m represents the frequency modulation period of the light source device 201.

[0229] The local oscillator optical signal and the three echo optical signals are respectively coupled to beat frequency to form three coherent optical signals; there is a preset time interval between different coherent optical signals in the same coherent optical signal group, and different coherent optical signals in the same coherent optical signal group have a preset spectrum interval in the frequency domain.

[0230] With reference to FIG11 , the spectrum of the output signal obtained by the transformation unit 219 includes three coherent optical signals, and the frequencies of the three coherent optical signals are f and f respectively. beat1 、f beat2 and f beat3, where the time intervals between one coherent optical signal and other coherent optical signals correspond to the spectral intervals Δf1 and Δf2 respectively. For example, if the frequency is f beat1 The coherent optical signal with frequency f beat2 The coherent optical signal with frequency f beat3 The spectral intervals corresponding to the time intervals of the coherent optical signal are: Δf1=|f beat2 -f beat1 | and Δf2=|f beat3 -f beat1 |.

[0231] It should be noted that in some embodiments of the present disclosure, the spectral intervals corresponding to the time intervals between one coherent optical signal and other coherent optical signals may be correlated. For example, Δf2 may be twice Δf1. The frequencies of the three coherent optical signals are evenly spaced, and the spectral intervals corresponding to the time intervals between adjacent coherent optical signals are equal. In other embodiments, the spectral intervals corresponding to the time intervals between one coherent optical signal and other coherent optical signals may be uncorrelated.

[0232] Accordingly, as shown in FIG2 , the decoding unit 229 performs peak-finding on the spectrum of the output signal by using an equal-interval staggered comparison and minimization algorithm to achieve decoding, so as to obtain the signal frequency: PSD_decode(f)=min[PSD(f),PSD(f-Δf1),PSD(f-Δf2)]

[0233] Wherein, f represents frequency, and Δf1 and Δf2 represent the spectrum intervals corresponding to the time intervals of different coherent optical signals.

[0234] As shown in FIG12 and FIG13, the decoding unit 229 performs staggered comparison on the spectrum of the output signal, wherein the staggered comparison staggered interval is the spectrum interval Δf1 and Δf2 corresponding to the time interval between one coherent optical signal and other coherent optical signals, Δf1 = |f beat2 -f beat1 | and Δf2=|f beat3 -f beat1 |; Then the intensity value of the corresponding frequency is minimum-valued; Finally, the decoding unit 229 obtains the signal frequency through two offset comparison operations. The signal frequency is the frequency corresponding to one of the three coherent optical signals in the frequency domain. As shown in FIG13, when Δf1=f beat2 -f beat1 , Δf2=f beat3 -f beat1 When the signal frequency is f beat1 coherent optical signal.

[0235] It should be noted that Figures 11, 12, and 13 are simplified and only show the coherent optical signal and the interference signal. In Figures 11, 12, and 13, the horizontal axis represents frequency and the vertical axis represents intensity.

[0236] 2 , the calculation unit 239 of the processing device 209 calculates the distance and speed of the object according to the signal frequency and the corresponding signal strength obtained by the decoding unit 229 .

[0237] Referring to FIG3 , there is shown a schematic structural diagram of some other embodiments of the laser radar disclosed herein.

[0238] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG3 , the light splitting modulation unit modulates the local LO light.

[0239] Specifically, the modulation component 312 is provided in the optical path of the remaining original light; the modulation component 312 modulates the remaining original light to form the local oscillation light signal group, and the local oscillation light signal group includes: multiple local oscillation light signals in time sharing; the coherence unit 320 receives the multiple local oscillation light signals of the local oscillation light signal group in time sharing.

[0240] As shown in FIG3 , the modulation component 212 is located in the optical path of the remaining original light. The local oscillator optical signal group formed by the optical splitting modulation unit 210 includes: two local oscillator optical signals. The coherent unit 321 couples the echo optical signal group formed by the reflection of the detection optical signal group with the local oscillator optical signal group including the two local oscillator optical signals to form a coherent optical signal group including two time-shared coherent optical signals.

[0241] With reference to FIG14 , the horizontal axis represents time and the vertical axis represents frequency. Data line 701 (indicated by the narrower dashed line in FIG14 ) and data line 702 (indicated by the wider dashed line in FIG14 ) respectively represent two local oscillator optical signals in the local oscillator optical signal group received by the coherent element 321 , and data line 703 (indicated by the solid line in FIG14 ) represents the echo optical signal of the echo optical signal group received by the coherent element 321 ; B f represents the frequency modulation bandwidth of the light source device 101; τ delay represents the time delay between the local oscillator optical signal and the echo optical signal; T m represents the frequency modulation period of the light source device 301.

[0242] The two local oscillator optical signals and the echo optical signal are respectively coupled to beat frequency to form two coherent optical signals; there is a preset time interval between different coherent optical signals in the same coherent optical signal group, and different coherent optical signals in the same coherent optical signal group have a preset spectrum interval in the frequency domain.

[0243] With reference to FIG15 , the spectrum of the output signal obtained by the transformation unit 319 includes two coherent optical signals, and the frequencies of the two coherent optical signals are f and f respectively. beat1 and f beat2 , the time interval between two coherent optical signals corresponds to the spectrum interval Δf=|f beat2 -f beat1 |. The horizontal axis represents frequency and the vertical axis represents intensity.

[0244] It should be noted that FIG14 and FIG15 are simplified, and only the coherent optical signal and the interference signal are shown.

[0245] Continuing with FIG3 , the decoding unit 329 of the processing device 309 obtains the signal frequency based on the spectrum of the output signal and the spectrum interval corresponding to the time intervals of different coherent optical signals. The calculation unit 339 calculates the distance and speed of the object based on the signal frequency and corresponding signal strength obtained by the decoding unit 329 .

[0246] Correspondingly, the present invention also provides a detection method of a laser radar.

[0247] 16 , there is shown a flow chart of some embodiments of the laser radar detection method.

[0248] The detection method comprises:

[0249] Step S110, generating original light; Step S120, performing spectroscopic modulation on the original light to form a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device 103, and the detection light signal group is emitted to the external space of the laser radar; Step S130, the emitted detection light signal group is reflected to form an echo light signal group; Step S140, receiving the echo light signal group; Step S150, coupling the echo light signal group and the local oscillation light signal group to form a coherent light signal group, wherein the coherent light signal group includes: multiple coherent light signals in time sharing.

[0250] In some embodiments of the present disclosure, the laser radar detection method can be implemented by the laser radar transceiver of the present disclosure or the laser radar of the present disclosure. The specific technical solution of the laser radar detection method can refer to the specific embodiments of the aforementioned transceiver or laser radar; for example, Figure 1 shows a schematic structural diagram of a laser radar that implements some embodiments of the laser radar detection method of the present disclosure.

[0251] First, step S110 is performed to generate original light.

[0252] In some embodiments, the detection method is applied to a frequency-modulated continuous wave lidar; in step S110, in the step of generating original light, the original light is a linear frequency-modulated continuous laser beam, and the original light is a quasi-continuous long pulse, for example, the pulse length of the original light can be several microseconds or tens of microseconds.

[0253] Afterwards, step S120 is executed to perform spectroscopic modulation on the original light to form a detection light signal group and a local oscillation light signal group, wherein the local oscillation light signal group is transmitted to the detection device 103, and the detection light signal group is emitted to the external space of the laser radar.

[0254] Specifically, in step S120, in the step of performing spectroscopic modulation on the original light, a Mach-Zehnder interferometer (MZI) structure is used to perform spectroscopic modulation on the original light to form a detection light signal group and a local oscillator light signal group.

[0255] In some embodiments of the present disclosure, executing step S120, the step of performing spectroscopic modulation on the original light to form a detection light signal group and a local oscillator light signal group includes: dividing the original light into outgoing light and remaining original light, the outgoing light being used to form the detection light signal group, and the remaining original light being used to form the local oscillator light signal group; and modulating at least one of the outgoing light and the remaining original light to form an optical signal group, the optical signal group including multiple time-sharing optical signals.

[0256] In some specific embodiments, in the step of separating the original light into outgoing light and remaining original light, the energy ratio of the outgoing light to the remaining original light is greater than 1. Specifically, the energy of the outgoing light is much greater than the energy of the remaining original light to ensure better distance measurement capability; for example, in some embodiments, the energy ratio of the outgoing light to the remaining original light is 99:1, and in the step of separating the original light into the outgoing light and the remaining original light, the energy of the separated outgoing light accounts for 99%, and the energy of the separated remaining original light accounts for 1%.

[0257] After the original light is divided into outgoing light and remaining original light, at least one of the outgoing light and the remaining original light is modulated to form an optical signal group.

[0258] In some embodiments of the present disclosure, during the step of modulating at least one of the outgoing light and the remaining original light to form an optical signal group, the multiple synchronization signals transmitted are each delayed to form the optical signal group. By applying different delays to different synchronization signals to form the optical signal group, the starting edges of different optical signals in the same optical signal group are staggered in time, which does not significantly affect the intensity of the optical signal and thus avoids affecting the range-finding capability of the laser radar formed thereby.

[0259] Specifically, in the step of modulating at least one of the outgoing light and the remaining original light, the received light beam is first divided into multiple synchronization signals, and then different synchronization signals are delayed differently to form an optical signal group, wherein the optical signal group includes multiple time-sharing optical signals, the multiple optical signals in the same optical signal group are time-sharing optical signals, the starting edges of the multiple optical signals in the same optical signal group are at different times, and the starting edges of the multiple optical signals in the same optical signal group are staggered in time.

[0260] In some specific embodiments, in the step of delaying the multiple transmitted synchronization signals to form the optical signal group, the different synchronization signals are transmitted via different optical paths with different optical lengths. Transmitting different synchronization signals via multiple optical paths with different optical lengths to achieve different delays for the different synchronization signals does not increase the complexity of the optical path structure and can be achieved without making significant changes to other structures of the lidar, effectively reducing the difficulty of structural design and cost control.

[0261] Specifically, multiple optical paths correspond to multiple synchronization signals one-to-one, with each optical path transmitting one synchronization signal. The optical paths have different optical lengths, and the different synchronization signals take different times to transmit in their respective optical paths, thereby causing the starting edges of the different optical signals to be staggered in time to form the optical signal group. In some embodiments, as shown in FIG1 , there are two optical paths with unequal optical lengths.

[0262] It should be noted that in some embodiments of the present disclosure, the energy of the transmitted synchronization signals is substantially equal. Specifically, the energy of the synchronization signals transmitted by different optical paths is equal, and the light beam is split into equal energy beams and then transmitted to obtain multiple synchronization signals with substantially equal energy.

[0263] In some embodiments of the present disclosure, in the step of modulating at least one of the outgoing light and the remaining original light to form an optical signal group, the outgoing light is modulated to form the detection optical signal group, and the detection optical signal group includes: multiple detection optical signals in a time-sharing manner.

[0264] Specifically, the outgoing light is modulated to form a detection light signal group including multiple time-shared detection light signals; wherein the multiple detection light signals in the same detection light signal group are time-shared light signals, the starting edges of the multiple detection light signals in the same detection light signal group are at different times, and the starting edges of the multiple detection light signals in the same detection light signal group are staggered in time.

[0265] It should be noted that in the detection light signal group, the energies of the multiple detection light signals are equal or approximately equal, so as to ensure that different detection light signals in the same detection light signal group have the same or similar distance measurement capabilities and facilitate the subsequent acquisition of signal frequencies.

[0266] In some specific embodiments, the step of modulating the outgoing light to form the detection light signal group includes: dividing the outgoing light into a plurality of detection synchronization signals; and performing different delays on different detection synchronization signals to form the detection light signal group.

[0267] In some embodiments, in the step of dividing the outgoing light into multiple detection synchronization signals, the multiple detection synchronization signals divided have equal energies; in the step of dividing the outgoing light into multiple detection synchronization signals, the outgoing light is subjected to equal-energy beam splitting to form multiple detection synchronization signals, so as to ensure that the energies of different detection light signals in the same detection light signal group are basically equal and have the same or similar ranging capabilities.

[0268] As shown in Figure 1, in some embodiments, in the step of delaying the transmitted multiple synchronization signals respectively to form the optical signal group, there are two optical paths with unequal optical lengths; in the step of dividing the outgoing light into multiple detection synchronization signals, the outgoing light is divided into two detection synchronization signals, the splitting ratio is 1:1, and the energy ratio of the two separated detection synchronization signals is 1:1.

[0269] It should be noted that in some embodiments of the present disclosure, after the original light is separated into outgoing light and remaining original light, and before different detection synchronization signals are subjected to different delays, the optical signal intensity is amplified. After the original light is separated into outgoing light and remaining original light, and before different detection synchronization signals are subjected to different delays, the optical signal intensity is amplified to prevent gain fluctuations of the amplifying element from affecting the coherent optical signal group and to prevent the gain of the amplifying element from affecting the signal-to-noise ratio.

[0270] Furthermore, in some embodiments, during the step of modulating the emitted light to form the detection light signal group, the multiple detection light signals in the detection light signal group are emitted toward the same direction of the emission field of view. Within the same detection light signal group, the different detection light signals have the same emission angle, ensuring that the different detection light signals within the same detection light signal group maintain substantially consistent optical transmission channels within the external space of the lidar and are projected toward the same location on the same object.

[0271] It should be noted that, as shown in FIG1 , in some embodiments, the detection light signal group is transmitted through the collimating device 104 and the scanning device 105 and then emitted to the external space of the laser radar to form the emission field of view of the laser radar.

[0272] Specifically, the transmission of the detection light signal group by the collimating device 104 and the scanning device 105 determines the emission angles of different detection light signals; the maximum time interval between different detection light signals in the same detection light signal group is determined based on the scanning speed of the laser radar, and the maximum time interval between different detection light signals in the same detection light signal group is less than the unit scanning time of the laser radar, wherein the unit scanning time refers to the time taken for the emitted light beam transmitted by the collimating device 104 and the scanning device 105 to scan the emission field of view in one direction, so as to ensure that the optical transmission channels of different detection light signals in the same detection light signal group in the external space of the laser radar remain basically consistent and are projected onto the same position of the same object.

[0273] In some embodiments shown in Figure 1, the optical path difference between the two optical paths is appropriate, so that the two detection light signals of the same detection light signal group emitted after being transmitted through the collimating device 104 and the scanning device 105 remain basically consistent in the optical channel of the external space of the laser radar, and are thus reflected by the same position of the same object in the external space of the laser radar.

[0274] It should be noted that the time interval between different detection light signals refers to the time difference between the starting edges of different detection light signals.

[0275] Continuing with reference to FIG16 , after the detection light signal group and the local oscillator light signal group are formed, step S130 is executed, and the emitted detection light signal group is reflected to form an echo light signal group, wherein the echo light signal group includes at least one echo light signal; then step S140 is executed to receive the echo light signal group.

[0276] In some embodiments, the outgoing light is modulated to form the detection light signal group; the detection light signal group includes: a plurality of time-shared detection light signals; the echo light signal group formed by reflection of the outgoing detection light signal group includes: a plurality of time-shared echo light signals, wherein the plurality of echo light signals of the same echo light signal group are time-shared light signals, the starting edges of the plurality of echo light signals of the same echo light signal group are at different times, and the starting edges of the plurality of echo light signals of the same echo light signal group are staggered in time; step S140, in the step of receiving the echo light signal group, the plurality of echo light signals of the echo light signal group are received in a time-shared manner.

[0277] Specifically, as shown in FIG1 , two detection light signals of the same detection light signal group are reflected by the same position of the same object in the external space of the laser radar, thereby forming an echo light signal group including two echo light signals; and step S140 is executed to receive the echo light signal group, and the two echo light signals are received in a time-sharing manner.

[0278] In some embodiments, the detection method is applied to a frequency-modulated continuous-wave laser radar; a coherent signal is obtained by mixing and coupling a local oscillator signal and an echo signal for detection; and step S120 is executed to perform spectroscopic modulation on the original light, thereby forming, in addition to forming the detection light signal group, a local oscillator light signal group including at least one local oscillator light signal.

[0279] As shown in FIG1 , in the step of separating the original light into outgoing light and remaining original light, in addition to separating the outgoing light from the original light to form the detection light signal group, the remaining original light is also separated from the original light to form the local oscillation light signal group.

[0280] It should be noted that, in some embodiments shown in FIG1 , in the step of forming an optical signal group, only the outgoing light is modulated, and the remaining original light is not modulated; the local oscillation optical signal group formed by the remaining original light has one local oscillation optical signal.

[0281] Continuing with reference to FIG16 , after obtaining the local oscillator optical signal group and the echo optical signal group, step S150 is executed to couple the echo optical signal group and the local oscillator optical signal group to form a coherent optical signal group, wherein the coherent optical signal group includes: multiple coherent optical signals in time division.

[0282] Specifically, in the step of forming a coherent optical signal group, the local oscillator optical signal is coherently mixed with the multiple time-shared echo optical signals to form a coherent optical signal group including multiple time-shared coherent optical signals; wherein the multiple coherent optical signals in the same coherent optical signal group are time-shared optical signals, the starting edges of the multiple coherent optical signals in the same coherent optical signal group are at different times, and the starting edges of the multiple coherent optical signals in the same coherent optical signal group are staggered in time.

[0283] In some embodiments shown in FIG1 , in the step of forming a coherent optical signal group, the local oscillator optical signal of the local oscillator optical signal group and the two echo optical signals of the echo optical signal group are coupled respectively to form the coherent optical signal group, and the coherent optical signal group includes two time-shared coherent optical signals.

[0284] In some embodiments of the present disclosure, during step S150 of forming a coherent optical signal group, the spectral interval corresponding to the time interval between different coherent optical signals in the coherent optical signal group is an integer multiple of the spectral resolution of the lidar. Precisely controlling the time intervals between different coherent optical signals so that the corresponding spectral interval is an integer multiple of the spectral resolution facilitates identification of the coherent optical signal group, thereby improving detection accuracy.

[0285] In some specific embodiments, the outgoing light is modulated to form a detection light signal group including a plurality of time-shared detection light signals; the echo light signal group formed by reflection includes a plurality of time-shared echo light signals; the plurality of time-shared coherent signals in the coherent light signal group are formed by mixing and coherently combining the local oscillator light signal and the plurality of time-shared echo light signals; the time intervals of different coherent light signals correspond to the time intervals of different detection light signals; and the spectral intervals corresponding to the time intervals of different detection light signals are integer multiples of the spectral resolution of the laser radar.

[0286] It should be noted that the time interval between different coherent optical signals refers to the time difference between the starting edges of different coherent optical signals; and the time interval between different detection optical signals refers to the time difference between the starting edges of different detection optical signals.

[0287] In some embodiments of the present disclosure, during step S150 of forming a coherent optical signal group, the time interval between different coherent optical signals within the same coherent optical signal group is greater than a preset value, so that the main lobe of the spectrum of any coherent optical signal within the same coherent optical signal group is separated from the side lobes of the spectrum of other coherent optical signals within the same coherent optical signal group. Controlling the time interval between different coherent optical signals within the same coherent optical signal group prevents interference between the main lobes and side lobes of the spectrum of different coherent optical signals within the coherent optical signal group, thereby improving detection accuracy.

[0288] Continuing with reference to FIG16 , in some embodiments of the present disclosure, the detection method further includes: executing step S160 to receive the coherent optical signal group and generate an output signal; executing step S170 to obtain a signal frequency based on the output signal and calculate the distance and speed of the object based on the signal frequency, wherein the signal frequency is the frequency corresponding to one of the multiple coherent signals in the frequency domain.

[0289] With reference to FIG5 , the horizontal axis represents time and the vertical axis represents frequency. Data line 501 (shown as a solid line in FIG5 ) represents the local oscillator optical signal of the local oscillator optical signal group received by the coherent element 121; data line 502 (shown as a narrower dashed line in FIG5 ) and data line 503 (shown as a wider dashed line in FIG5 ) respectively represent two echo optical signals in the echo optical signal group received by the coherent element 121; B f represents the frequency modulation bandwidth of the light source device 101; τ delay represents the time delay between the local oscillator optical signal and the echo optical signal; T m represents the frequency modulation period of the light source device 101.

[0290] As shown in Figure 5 , there is a time interval Δτ between the two echo optical signals in the same echo optical signal group. The two coherent optical signals in the same coherent optical signal group are time-shared optical signals, with a time interval Δτ between them. The starting edges of the two coherent optical signals in the same coherent optical signal group are at different times, with a time interval Δτ between them. The time interval Δτ between the two coherent optical signals corresponds to a spectral interval Δf. There is a linear relationship between the spectral interval Δf and the time interval Δτ.

[0291] It should be noted that in some embodiments of the present disclosure, after executing step S160 and generating an output signal, the generated output signal is sampled for analog-to-digital conversion to obtain a digitized output signal; in executing step S170, in the step of obtaining the signal frequency and calculating the distance and speed of the object based on the signal frequency, the signal frequency is obtained based on the digitized output signal to calculate the distance and speed of the object.

[0292] In some embodiments of the present disclosure, in the step of obtaining the signal frequency in step S170 , the frequency spectrum of the output signal is processed by an equal-interval staggered comparison and minimization algorithm to obtain the signal frequency.

[0293] In some embodiments, step S170 is executed, and the step of obtaining the signal frequency includes: transforming the output signal to obtain the spectrum of the output signal; and obtaining the signal frequency based on the spectrum of the output signal and the spectrum interval corresponding to the time interval of different coherent optical signals.

[0294] Wherein, in the step of transforming the output signal to obtain the frequency spectrum of the output signal, the frequency spectrum of the output signal is obtained by performing Fourier transform on the digitized output signal.

[0295] The local oscillator optical signal and the multiple echo optical signals are coupled to beat frequencies to form multiple coherent optical signals; since there is a preset time interval between different coherent optical signals in the coherent optical signal group, the multiple coherent optical signals have a preset interval in the frequency domain.

[0296] Specifically, as shown in FIG1 , the local oscillator optical signal and the two echo optical signals are coupled to beat frequency to form two coherent optical signals. Different coherent optical signals in the same coherent optical signal group have a preset time interval, and different coherent optical signals in the same coherent optical signal group have a preset spectrum interval in the frequency domain.

[0297] As shown in FIG6 , the spectrum obtained by transforming the output signal has two coherent optical signals, and the frequencies of the two coherent optical signals are f and f respectively. beat1 and f beat2 , the time interval between two coherent optical signals corresponds to the spectrum interval Δf=|f beat2 -fbeat1 |. The horizontal axis represents frequency and the vertical axis represents intensity.

[0298] It should be noted that the spectrum of the output signal shown in FIG6 is the spectrum under ideal conditions. As shown in FIG7 , in actual conditions, in addition to the main lobe with higher intensity (its center value corresponds to the spectrum in FIG6 ), the spectrum of the output signal also includes side lobes with lower intensity. The spectrum of the output signal includes: two coherent optical signals formed by the coupled beat frequency, with frequencies f and f respectively. beat1 and f beat2 Interference signal and system background noise, wherein the intensity of the interference signal exceeds the preset detection threshold. In Figure 7, the horizontal axis represents frequency and the vertical axis represents intensity.

[0299] Furthermore, after obtaining the spectrum of the output signal, in the step of obtaining the signal frequency based on the spectrum of the output signal, the spectrum of the output signal is peak-searched based on the spectrum interval corresponding to the time interval of different coherent optical signals to obtain the signal frequency. Specifically, in the step of obtaining the signal frequency, the spectrum of the output signal is peak-searched using an equal-interval staggered comparison and minimum algorithm to achieve decoding, thereby obtaining the signal frequency: PSD_decode(f) = min[PSD(f), PSD(f-Δf)]

[0300] Wherein, f represents frequency, and Δf represents the spectrum interval corresponding to the time interval of different coherent optical signals.

[0301] It should be noted that a coherent optical signal group comprising multiple time-divided coherent optical signals is formed using a Mach-Zehnder interferometer structure; the spectral intervals corresponding to the time intervals of different coherent optical signals are determined based on the arm length difference of the Mach-Zehnder interferometer structure. In some specific embodiments shown in FIG1 , the spectral intervals corresponding to the time intervals of different coherent optical signals are determined based on the optical path length difference between different optical paths.

[0302] As shown in FIG9 , in the step of obtaining the signal frequency, the spectrum of the output signal is staggered compared, wherein the staggered interval of the staggered comparison is the spectrum interval Δf corresponding to the time interval of different coherent optical signals, Δf=|f beat2 -f beat1 Then, the intensity values ​​corresponding to the frequencies are minimized. In FIG9 , the horizontal axis represents frequency and the vertical axis represents intensity.

[0303] During the staggered comparison of the output signal's spectrum, interference signals are eliminated by taking the minimum value, leaving only the coherent optical signal. This is because only when the frequency interval between two interference signals, both exceeding the detection threshold, is equal to the spectral interval corresponding to the time interval between different coherent optical signals, will the smaller of the two interference signals be retained during the signal frequency determination step, effectively interfering with the coherent optical signal. Since the distribution of interference signals is random, the probability of this occurring is extremely low, effectively improving the LiDAR's frequency domain anti-interference capability.

[0304] In addition, the process of performing offset comparison on the frequency spectrum of the output signal can also eliminate the peak-shaped background noise, thereby providing space for further reducing the detection threshold, which is conducive to improving the detection probability of the laser radar.

[0305] In some specific embodiments shown in FIG. 9 , based on the spectrum of the output signal, combined with the spectrum interval Δf corresponding to the time interval of different coherent optical signals, Δf=|f beat2 -f beat1 |, the signal frequency obtained by the decoding unit is the frequency corresponding to one of the two coherent optical signals in the frequency domain: when Δf=f beat2 -f beat1 When the signal frequency is f beat1 coherent optical signal; when Δf=f beat1 -f beat2 When the signal frequency is f beat2 coherent optical signal.

[0306] In addition, in some embodiments, executing step S170 to obtain the signal frequency and the step of calculating the distance and speed of the object based on the signal frequency further includes: calculating the distance and speed of the object based on the signal frequency and the corresponding signal strength.

[0307] Specifically, the signal frequency is the frequency corresponding to one of the two coherent optical signals in the frequency domain. In the step of calculating the distance and speed of the object, the distance and speed of the object are calculated based on the frequency corresponding to one of the two coherent optical signals in the frequency domain and the corresponding signal strength.

[0308] With reference to FIG2 , there is shown a schematic structural diagram of a laser radar for implementing other embodiments of the laser radar detection method of the present invention.

[0309] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG2 , the detection method can also form a detection light signal group including a larger number of detection light signals.

[0310] In some embodiments of the present disclosure, the detection method further includes: after modulating the outgoing light, forming a plurality of detection light signal groups according to the modulated outgoing light, and different detection light signal groups are emitted to emission fields in different directions; the multiple outgoing detection light signal groups are reflected to form a plurality of echo light signal groups; in the step of dividing the original light into outgoing light and remaining original light, the remaining original light includes a plurality of local oscillator synchronization signal groups; in the step of coupling the echo light signal group and the local oscillator light signal group, receiving and coupling one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0311] Specifically, after the original light is divided into the outgoing light and the remaining original light, the outgoing light is modulated to form a detection light prefabricated signal group, and the detection light prefabricated signal group includes: a plurality of time-sharing detection light prefabricated signals.

[0312] As shown in FIG2 , in the step of transmitting different synchronization signals through different optical paths with different optical lengths, different synchronization signals are transmitted through three optical paths; after the original light is divided into the outgoing light and the remaining original light, before the outgoing light is modulated to form a detection light prefabricated signal group, the outgoing light is divided into three prefabricated detection synchronization signals; the three prefabricated detection synchronization signals are respectively transmitted through three optical paths to form the detection light prefabricated signal group, and the detection light prefabricated signal group includes three time-sharing detection light prefabricated signals.

[0313] In some embodiments, in the step of dividing the received light beam into multiple synchronization signals, the received light beam is split into equal-energy beams so that the energies of the multiple prefabricated detection synchronization signals separated are equal. For example, in Figure 2, the energy ratio of the three prefabricated detection synchronization signals separated from the outgoing light is 1:1:1, and in the detection light prefabricated signal group further formed, the energies of the three detection light prefabricated signals are also equal or approximately equal.

[0314] After forming the prefabricated detection light signal group, the prefabricated detection light signal group is divided into a plurality of detection light signal groups. Specifically, each prefabricated detection light signal is divided into a plurality of detection light signals to divide the prefabricated detection light signal group into a plurality of detection light signal groups. Since the prefabricated detection light signal group includes a plurality of time-sharing prefabricated detection light signals, each of the divided detection light signal groups also includes a plurality of detection light signals.

[0315] In some embodiments of the present disclosure, in the step of dividing the prefabricated detection light signal group into a plurality of detection light signal groups, the prefabricated detection light signal group is subjected to equal energy splitting, so that the energies of the detection light signals of different separated detection light signal groups are equal, and the energies of the multiple detection light signal groups separated from each prefabricated detection light signal are equal or approximately equal.

[0316] As shown in FIG2 , the prefabricated detection light signal group includes three time-sharing prefabricated detection light signals, each of which is divided into three detection light signals; the prefabricated detection light signal group is divided into three detection light signal groups, each of which is divided into three time-sharing detection light signals.

[0317] In some embodiments, the detection method is applied to a frequency-modulated continuous-wave laser radar; a coherent signal is obtained by mixing and coupling a local oscillator signal and an echo signal for detection; and in the step of separating the original light into outgoing light and remaining original light, the separated remaining original light includes multiple local oscillator light signal groups. Specifically, as shown in FIG2 , in the step of separating the original light into outgoing light and remaining original light, the separated remaining original light includes three local oscillator light signal groups.

[0318] With reference to FIG10 , the horizontal axis represents time and the vertical axis represents frequency. Data line 601 (shown as a solid line in FIG10 ) represents a local oscillator optical signal of the local oscillator optical signal group received by one of the coherent elements 121 in the coherent unit 120; data line 602 (shown as a wide dashed line in FIG10 ), data line 603 (shown as a medium wide dashed line in FIG10 ), and data line 603 (shown as a narrow dashed line in FIG10 ) respectively represent three of the echo optical signals in the echo optical signal group received by one of the coherent elements 121 in the coherent unit 120; B f represents the frequency modulation bandwidth of the light source device 101; τ delay represents the time delay between the local oscillator optical signal and the echo optical signal; T m represents the frequency modulation period of the light source device 201.

[0319] Subsequently, in the step of forming a coherent optical signal group, multiple local oscillator optical signal groups are coupled with multiple echo optical signal groups in a one-to-one correspondence to form multiple coherent optical signal groups. One local oscillator optical signal group and one echo optical signal group perform a beat frequency combination to form one coherent optical signal group. Specifically, as shown in Figure 2, the local oscillator optical signal of one local oscillator optical signal group and the three echo optical signals of one echo optical signal group perform a beat frequency combination to form one coherent optical signal group including three coherent optical signals.

[0320] The local oscillator optical signal and the three echo optical signals are respectively coupled to beat frequency to form three coherent optical signals; there is a preset time interval between different coherent optical signals in the same coherent optical signal group, and different coherent optical signals in the same coherent optical signal group have a preset spectrum interval in the frequency domain.

[0321] With reference to FIG11 , in the step of transforming the output signal to obtain the spectrum of the output signal, the spectrum of the output signal obtained has three coherent optical signals, and the frequencies of the three coherent optical signals are f and f respectively. beat1 、f beat2and f beat3 , where the time intervals between one coherent optical signal and other coherent optical signals correspond to the spectral intervals Δf1 and Δf2 respectively. For example, if the frequency is f beat1 The coherent optical signal with frequency f beat2 The coherent optical signal with frequency f beat3 The spectral intervals corresponding to the time intervals of the coherent optical signal are: Δf1=|f beat2 -f beat1 | and Δf2=|f beat3 -f beat1 |.

[0322] It should be noted that in some embodiments of the present disclosure, the spectral intervals corresponding to the time intervals between one coherent optical signal and other coherent optical signals may be correlated. For example, Δf2 may be twice Δf1. The frequencies of the three coherent optical signals are evenly spaced, and the spectral intervals corresponding to the time intervals between adjacent coherent optical signals are equal. In other embodiments, the spectral intervals corresponding to the time intervals between one coherent optical signal and other coherent optical signals may be uncorrelated.

[0323] Correspondingly, as shown in FIG2 , after obtaining the spectrum of the output signal, in the step of obtaining the signal frequency according to the spectrum of the output signal, the spectrum of the output signal is peak-searched by an equal-interval staggered comparison and minimum-taking algorithm to achieve decoding to obtain the signal frequency: PSD_decode(f)=min[PSD(f),PSD(f-Δf1),PSD(f-Δf2)]

[0324] Wherein, f represents frequency, and Δf1 and Δf2 represent the spectrum intervals corresponding to the time intervals of different coherent optical signals.

[0325] As shown in FIG12 and FIG13, the frequency spectrum of the output signal is staggered and compared, wherein the staggered interval of the staggered comparison is the spectrum interval Δf1 and Δf2 corresponding to the time interval between one coherent optical signal and other coherent optical signals, Δf1 = |f beat2 -f beat1 | and Δf2=|f beat3 -f beat1 |; Then the intensity value of the corresponding frequency is minimum-valued; Finally, the decoding unit 229 obtains the signal frequency through two offset comparison operations. The signal frequency is the frequency corresponding to one of the three coherent optical signals in the frequency domain. As shown in FIG13, when Δf1=f beat2 -f beat1 , Δf2=f beat3 -f beat1 When the signal frequency is f beat1 coherent optical signal.

[0326] It should be noted that Figures 11, 12, and 13 are simplified and only show the coherent optical signal and the interference signal. In Figures 11, 12, and 13, the horizontal axis represents frequency and the vertical axis represents intensity.

[0327] With reference to FIG3 , there is shown a schematic structural diagram of a laser radar for implementing other embodiments of the laser radar detection method of the present invention.

[0328] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG3 , the detection method can also modulate the local LO light.

[0329] In some embodiments of the present disclosure, in the step of modulating at least one of the emitted light and the remaining original light to form a light signal group, the remaining original light is modulated to form the local oscillation light signal group, and the local oscillation light signal group includes: multiple time-sharing local oscillation light signals; the detection method further includes: before coupling the echo light signal group and the local oscillation light signal group, time-sharingly receiving the multiple local oscillation light signals of the local oscillation light signal group.

[0330] In some embodiments of the present disclosure, in the step of modulating at least one of the emitted light and the remaining original light to form an optical signal group, the remaining original light is modulated to form the local oscillation optical signal group, and the local oscillation optical signal group includes: multiple time-sharing local oscillation optical signals.

[0331] Specifically, the remaining original light is modulated to form a local oscillation optical signal group including multiple local oscillation optical signals in a time-sharing manner; wherein the multiple local oscillation optical signals in the same local oscillation optical signal group are time-sharing optical signals, the starting edges of the multiple local oscillation optical signals in the same local oscillation optical signal group are at different times, and the starting edges of the multiple local oscillation optical signals in the same local oscillation optical signal group are staggered in time.

[0332] It should be noted that, in the local oscillator optical signal group, the energies of the multiple local oscillator optical signals are equal or approximately equal, so as to ensure that different local oscillator optical signals in the same local oscillator optical signal group have the same or similar distance measurement capabilities.

[0333] In some specific embodiments, the step of modulating the local oscillator light to form the local oscillator light signal group includes: dividing the remaining original light into a plurality of local oscillator synchronization signals; and performing different delays on different local oscillator synchronization signals to form the detection light signal group.

[0334] In some embodiments, in the step of dividing the remaining original light into multiple local oscillator synchronization signals, the multiple local oscillator synchronization signals divided have equal energies; in the step of dividing the remaining original light into multiple local oscillator synchronization signals, the remaining original light is subjected to equal-energy beam splitting to form multiple local oscillator synchronization signals, so as to ensure that the energies of different local oscillator light signals in the same local oscillator light signal group are basically equal and have the same or similar ranging capabilities.

[0335] As shown in Figure 3, in some embodiments, in the step of delaying the transmitted multiple synchronization signals respectively to form the optical signal group, there are two optical paths with unequal optical lengths; in the step of dividing the remaining original light into multiple local oscillation synchronization signals, the remaining original light is divided into two local oscillation synchronization signals with a splitting ratio of 1:1, and the energy ratio of the two divided local oscillation synchronization signals is 1:1.

[0336] In some embodiments, the detection method is applied to a frequency-modulated continuous-wave lidar; a coherent signal is obtained by mixing and coupling a local oscillator signal and an echo signal for detection; as shown in FIG3 , in the step of separating the original light into outgoing light and remaining original light, in addition to separating the remaining original light from the original light to form the local oscillator light signal group, the outgoing light is also separated from the original light to form the detection light signal group.

[0337] It should be noted that, in some embodiments shown in FIG. 3 , after the outgoing light is separated from the original light and before the detection light signal group is formed and emitted, the light signal is amplified to improve the distance measurement capability.

[0338] It should be noted that, in some embodiments shown in FIG3 , in the step of forming the optical signal group, only the remaining original light is modulated, and the outgoing light is not modulated; the detection light signal group formed by the outgoing light has one detection light signal.

[0339] After obtaining the local oscillator optical signal group and the echo optical signal group, the echo optical signal group and the local oscillator optical signal group are coupled to form a coherent optical signal group. Specifically, in the step of forming the coherent optical signal group, the multiple local oscillator optical signals in time division are coherently mixed with the echo optical signal to form a coherent optical signal group including the multiple coherent optical signals in time division.

[0340] With reference to FIG4 , there is shown a schematic structural diagram of a laser radar for implementing other embodiments of the laser radar detection method of the present invention.

[0341] The present disclosure will not elaborate on the similarities with the above embodiments. The difference from the above embodiments is that, in some embodiments shown in FIG4 , the detection method can also form multiple local oscillation light signal groups.

[0342] In some embodiments of the present disclosure, in the step of dividing the original light into outgoing light and remaining original light, the remaining original light includes multiple local oscillator synchronization signal groups, and the local oscillator synchronization signal group includes multiple local oscillator synchronization signals; the detection method further includes: after dividing the original light into outgoing light and remaining original light, forming multiple detection light signal groups according to the outgoing light, and different detection light signal groups are emitted to the emission field of view in different directions; the multiple emitted detection light signal groups form multiple echo light signal groups after reflection; in the step of modulating the remaining original light to form the local oscillator light signal group, different local oscillator synchronization signals in each local oscillator synchronization signal group are delayed differently to form one local oscillator light signal group; in the step of coupling the echo light signal group and the local oscillator light signal group, receiving and coupling one local oscillator light signal group and one echo light signal group to form one coherent light signal group.

[0343] Specifically, after the original light is generated, the original light is divided into the outgoing light and the remaining original light, wherein the remaining original light includes multiple local oscillation synchronization signal groups, and the local oscillation synchronization signal group includes multiple local oscillation synchronization signals; in the step of modulating the remaining original light to form the local oscillation light signal group, the multiple local oscillation synchronization signal groups of the remaining original light are modulated separately to form multiple local oscillation light signal groups.

[0344] With reference to Figure 4, in the step of separating the original light into outgoing light and remaining original light, the separated remaining original light includes multiple local oscillator synchronization signals, and the multiple local oscillator synchronization signals belong to multiple local oscillator synchronization signal groups; in the step of modulating the remaining original light to form the local oscillator light signal group, different local oscillator synchronization signals in each local oscillator synchronization signal group are delayed differently to form one local oscillator light signal group.

[0345] In the step of transmitting different synchronization signals through different optical paths with different optical lengths, each optical path transmits one local oscillation synchronization signal, and local oscillation synchronization signals belonging to the same local oscillation synchronization signal group are transmitted through optical paths with different optical lengths, so that multiple local oscillation synchronization signals in the same local oscillation synchronization signal group form a local oscillation optical signal group, and the local oscillation optical signal group includes multiple local oscillation optical signals in a time-sharing manner; in the step of receiving multiple local oscillation optical signals in the local oscillation optical signal group in a time-sharing manner, multiple local oscillation optical signals in the same local oscillation optical signal group are received in a time-sharing manner.

[0346] For example, with reference to FIG4 , in the step of separating the original light into the outgoing light and the remaining original light, the separated remaining original light includes six local oscillator synchronization signals, the six local oscillator synchronization signals belong to three local oscillator synchronization signal groups, and each local oscillator synchronization signal group includes two local oscillator synchronization signals;

[0347] In the step of modulating the remaining original light to form the local oscillation optical signal group, the two local oscillation synchronization signals of each local oscillation synchronization signal group are delayed differently to form one local oscillation optical signal group, and three local oscillation synchronization signal groups form three local oscillation optical signal groups, each of which includes two time-shared local oscillation optical signals; in the step of time-sharingly receiving multiple local oscillation optical signals of the local oscillation optical signal group, the two local oscillation optical signals of the same local oscillation optical signal group are received in a time-sharing manner.

[0348] On the other hand, in some embodiments, the detection method is applied to a frequency-modulated continuous-wave lidar; a coherent signal is obtained by mixing and coupling a local oscillator signal and an echo signal for detection; and in the step of performing spectroscopic modulation on the original light, in addition to forming the local oscillator light signal group, the detection light signal group is also formed.

[0349] 4 , in the step of separating the original light into outgoing light and remaining original light, in addition to separating the remaining original light from the original light to form the local oscillation light signal group, outgoing light is also separated from the original light to form the detection light signal group.

[0350] In some embodiments, after the original light is divided into outgoing light and remaining original light, the outgoing light is divided into multiple detection light signal groups and emitted toward emission fields in different directions; the multiple outgoing detection light signal groups are reflected to form multiple echo light signal groups.

[0351] It should be noted that, in the step of dividing the outgoing light into a plurality of detection light signal groups and emitting them in different directions of the emission field of view, the outgoing light is equally energyed and beam-split to form a plurality of detection light signal groups that are emitted in different directions of the emission field of view to ensure that the energy of the same detection light signal group is substantially equal and has the same or similar distance measurement capability.

[0352] It should also be noted that in some embodiments, in the step of forming the optical signal group, only the remaining original light is modulated, and the outgoing light is not modulated; each detection light signal group formed by the outgoing light has one detection light signal.

[0353] In summary, the optical modulation unit performs optical modulation on the original light to form a detection light signal group emitted to the external space and a local oscillator light signal group transmitted to the detection device; the coherent unit receives and couples the local oscillator light signal group and the echo light signal group formed by the reflection of the detection light signal group to form a coherent light signal group, and the coherent light signal group includes: a plurality of time-sharing coherent light signals. Since the coherent light signal group includes: a plurality of time-sharing coherent light signals, and there is a preset delay between different coherent light signals in the coherent light signal group, the preset delay can be used to further eliminate interference signals in the process of processing the coherent light signal group, thereby achieving the purpose of improving the anti-interference capability of the laser radar formed by it, especially the anti-interference capability in the microwave frequency band, which is conducive to achieving full-spectrum anti-interference of frequency-modulated continuous-wave laser radar and further promoting the popularization of frequency-modulated continuous-wave laser radar.

[0354] Furthermore, the modulation component in the optical splitter modulation unit includes a delay structure that delays each of the multiple transmitted synchronization signals to form the optical signal group; the delay structure can include multiple optical paths with different optical lengths. Delaying each of the multiple synchronization signals using multiple optical paths with different optical lengths does not increase the complexity of the optical path structure and can be achieved without making significant changes to other LiDAR structures, effectively reducing the difficulty of structural design and cost control.

[0355] Furthermore, the transmission element used to transmit the optical signal can be a planar optical waveguide. Using a planar optical waveguide to transmit optical signals, combined with on-chip optical components, enables on-chip integration of the transceiver, effectively improving the integration level of the resulting LiDAR, enhancing the stability of the optical path structure, and facilitating the miniaturization and integration of LiDAR.

[0356] In addition, the amplifying element is located in the optical path between the first spectroscopic element and the modulation component. After the original light is divided into the outgoing light and the remaining original light, the optical signal intensity is amplified before different detection synchronization signals are delayed differently, thereby avoiding the gain fluctuation of the amplifying element from affecting the coherent optical signal group and avoiding the gain of the amplifying element from affecting the signal-to-noise ratio.

[0357] Furthermore, the spectral intervals corresponding to the time intervals between different coherent optical signals in the coherent optical signal group are integer multiples of the spectral resolution of the lidar. Precisely controlling the time intervals between different coherent optical signals to keep the corresponding spectral intervals within integer multiples of the spectral resolution facilitates the identification of coherent optical signal groups, thereby improving detection accuracy.

[0358] Although the present disclosure is disclosed as above, the present disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope defined by the claims.

Claims

1. A transceiver device for a lidar, characterized in that, Comprising: A spectral modulation unit, which is configured to receive the original light generated by a light source device, perform spectral modulation on the original light to form a detection optical signal group and a local oscillator optical signal group, wherein the local oscillator optical signal group is used to be transmitted to a detection device, and the detection optical signal group is used to be emitted into the external space of the lidar; the emitted detection optical signal group forms a reflected optical signal group after reflection; A coherence unit, which is configured to receive and couple the reflected optical signal group and the local oscillator optical signal group to form a coherent optical signal group, and the coherent optical signal group includes: a plurality of coherent optical signals in a time-division manner.

2. The transceiver device according to claim 1, wherein In the coherent optical signal group, the spectral interval corresponding to the time interval between different coherent optical signals is an integer multiple of the spectral resolution of the lidar.

3. The transceiver device according to claim 1, wherein, The spectral modulation unit includes: A first spectral element, which is configured to receive the original light and divide the original light into emitted light and remaining original light, the emitted light is used to form the detection optical signal group, and the remaining original light is used to form the local oscillator optical signal group; A modulation component, which is located in the optical path of at least one of the emitted light and the remaining original light, and the modulation component is configured to modulate at least one of the emitted light and the remaining original light to form an optical signal group, and the optical signal group includes a plurality of optical signals in a time-division manner.

4. The transceiver device according to claim 3, characterized in that, The modulation component includes: a delay structure, which is configured to respectively delay a plurality of transmitted synchronous signals to form the optical signal group.

5. The transceiver device according to claim 4, characterized in that, The delay structure includes: a plurality of optical paths; in the plurality of optical paths, different optical paths are used to transmit different synchronous signals, and the optical paths of different optical paths are not equal.

6. The transceiver device according to claim 5, characterized in that, In the delay structure, at least one of the lengths of different optical paths and the refractive indices of different optical paths is different.

7. The transceiver device according to claim 4, characterized in that The energies of the plurality of synchronous signals transmitted by the delay structure are equal.

8. The transceiver device according to claim 3, characterized in that, The modulation component is present in the optical path of the emitted light; The modulation component is configured to modulate the emitted light to form the detection optical signal group, and the detection optical signal group includes: a plurality of detection optical signals in a time-division manner; The reflected optical signal group formed by reflection of the emitted detection optical signal group includes: a plurality of reflected optical signals in a time-division manner; The coherence unit is configured to receive the plurality of reflected optical signals of the reflected optical signal group in a time-division manner.

9. The transceiver device according to claim 8, wherein The plurality of detection optical signals of the detection optical signal group are emitted into a transmission field of view in the same direction.

10. The transceiver device according to claim 9, characterized in that, The collimation device of the lidar and the scanning device of the lidar are located in the optical path where the detection optical signal group is emitted, and are used to emit different detection optical signal groups in different directions to form a transmission field of view.

11. The transceiver device according to claim 8, wherein, The modulation component further includes: A second spectral element, which is located in the optical path of the emitted light downstream of the first spectral element, and the second spectral element is configured to divide the emitted light into a plurality of detection synchronous signals; The delay structure of the modulation component is located in the optical path downstream of the second spectral element, and the delay structure of the modulation component is configured to perform different delays on different detection synchronous signals to form the detection optical signal group.

12. The transceiver device according to claim 11, characterized in that, Further comprising: An amplification element, which is located in the optical path between the first spectral element and the modulation component.

13. The transceiver device according to claim 8, wherein The optical splitting and modulation unit further includes: a third optical splitting element, which is located in the optical path downstream of the modulation assembly to form a plurality of groups of the detection optical signal from the outgoing light modulated by the modulation assembly, and different groups of the detection optical signal are emitted into emission fields in different directions; The plurality of groups of the detection optical signal emitted are reflected to form a plurality of groups of the echo optical signal; The remaining original light includes a plurality of groups of local oscillator optical signals; The coherent unit includes: a plurality of coherent elements, and each coherent element is configured to receive and couple one group of the local oscillator optical signals and one group of the echo optical signals to form one group of the coherent optical signals.

14. The transceiver device according to claim 3, characterized in that, The modulation assembly is provided in the optical path of the remaining original light; The modulation assembly modulates the remaining original light to form the groups of the local oscillator optical signals, and the groups of the local oscillator optical signals include: a plurality of local oscillator optical signals in a time-division manner; The coherent unit receives the plurality of local oscillator optical signals of the groups of the local oscillator optical signals in a time-division manner.

15. The transceiver device according to claim 14, wherein The remaining original light includes a plurality of local oscillator synchronization signals; The modulation assembly is located in the optical path between the first optical splitting element and the coherent unit, and the modulation assembly performs different delays on different local oscillator synchronization signals to form the groups of the local oscillator optical signals.

16. The transceiver device according to claim 14, wherein The remaining original light includes a plurality of groups of local oscillator synchronization signals, and the groups of the local oscillator synchronization signals include a plurality of local oscillator synchronization signals; The optical splitting and modulation unit further includes: a third optical splitting element, which is located in the optical path of the outgoing light downstream of the first optical splitting element to form a plurality of groups of the detection optical signal, and different groups of the detection optical signal are emitted into emission fields in different directions; The plurality of groups of the detection optical signal emitted are reflected to form a plurality of groups of the echo optical signal; The optical splitting and modulation unit has a plurality of the modulation assemblies, and each modulation assembly modulates one group of the local oscillator synchronization signals to form one group of the local oscillator optical signals; The coherent unit includes: a plurality of coherent elements, and the plurality of coherent elements are connected to the plurality of modulation assemblies in a one-to-one correspondence. Each coherent element receives and couples one group of the local oscillator optical signals and one group of the echo optical signals to form one group of the coherent optical signals.

17. The transceiver device according to claim 1, characterized in that, Further included is: a three-terminal transmission unit, which is configured to transmit the groups of the detection optical signal for emission. The three-terminal transmission device is further configured to receive the groups of the echo optical signal to separate the optical path of the groups of the echo optical signal from that of the groups of the detection optical signal.

18. The transceiver device according to claim 1, wherein, Further included is: a transmission element, which is configured to transmit an optical signal, and the transmission element is a planar optical waveguide.

19. A lidar, characterized in that, Included is: a light source device, which is configured to generate original light; a transceiver device, which includes: an optical splitting and modulation unit, which is configured to receive the original light generated by the light source device and divide the original light into groups of the detection optical signal and groups of the local oscillator optical signals, wherein the groups of the local oscillator optical signals are used for transmission to a detection device, and the groups of the detection optical signal emitted are reflected to form groups of the echo optical signal; a coherent unit, which is configured to receive and couple the groups of the echo optical signal and the groups of the local oscillator optical signals to form groups of the coherent optical signals, and the groups of the coherent optical signals include: a plurality of coherent optical signals in a time-division manner; The detection device is configured to receive the coherent optical signal group.

20. The lidar according to claim 19, characterized in that, Further included: A processing device configured to obtain a signal frequency based on the output signal of the detection device and calculate the distance and velocity of an object based on the signal frequency, where the signal frequency is the frequency corresponding to one of the multiple coherent signals in the frequency domain.

21. The lidar according to claim 20, wherein, The processing device is configured to process the spectrum of the output signal of the detection device through an equal-interval misalignment comparison and minimum-selection algorithm to obtain the signal frequency.

22. The lidar according to claim 20, characterized in that, The processing device includes: A transformation unit configured to transform the output signal of the detection device to obtain the spectrum of the output signal; A decoding unit configured to obtain the signal frequency based on the spectrum of the output signal in combination with the spectrum interval corresponding to the time interval between different coherent optical signals.

23. A detection method for a lidar, characterized in that, Including: Generate original light; Split and modulate the original light to form a detection optical signal group and a local oscillator optical signal group, where the local oscillator optical signal group is transmitted to the detection device, and the detection optical signal group is emitted into the external space of the lidar; The emitted detection optical signal group forms a reflected optical signal group after reflection; Receive the reflected optical signal group; Couple the reflected optical signal group and the local oscillator optical signal group to form a coherent optical signal group, where the coherent optical signal group includes multiple coherent optical signals in time division.

24. The detection method according to claim 23, wherein In the coherent optical signal group, the spectrum interval corresponding to the time interval between different coherent optical signals is an integer multiple of the spectrum resolution of the lidar.

25. The detection method according to claim 23, wherein The step of splitting and modulating the original light to form a detection optical signal group and a local oscillator optical signal group includes: Dividing the original light into emitted light and remaining original light, where the emitted light is used to form the detection optical signal group, and the remaining original light is used to form the local oscillator optical signal group; Modulate at least one of the emitted light and the remaining original light to form an optical signal group, where the optical signal group includes multiple optical signals in time division.

26. The detection method according to claim 25, wherein, In the step of modulating at least one of the emitted light and the remaining original light to form an optical signal group, delay the multiple transmitted synchronization signals respectively to form the optical signal group.

27. The detection method according to claim 26, wherein In the step of delaying the multiple transmitted synchronization signals respectively to form the optical signal group, transmit different synchronization signals through different optical paths with unequal optical paths.

28. The detection method according to claim 25, wherein, In the step of modulating at least one of the emitted light and the remaining original light to form an optical signal group, modulate the emitted light to form the detection optical signal group, where the detection optical signal group includes multiple detection optical signals in time division; The reflected optical signal group formed by reflection of the emitted detection optical signal group includes multiple reflected optical signals in time division; In the step of receiving the reflected optical signal group, receive the multiple reflected optical signals of the reflected optical signal group in time division.

29. The detection method according to claim 28, wherein In the step of modulating the emitted light to form the detection optical signal group, the multiple detection optical signals of the detection optical signal group are emitted into the emission field of view in the same direction.

30. The detection method according to claim 28, characterized in that, The step of modulating the emitted light to form the detection optical signal group includes: Dividing the emitted light into multiple detection synchronization signals; Different delays are applied to different detection synchronization signals to form the group of detection optical signals.

31. The detection method according to claim 30, characterized in that, In the step of dividing the outgoing light into multiple detection synchronization signals, the energies of the multiple divided detection synchronization signals are equal.

32. The detection method according to claim 30, wherein Further included: After dividing the original light into the outgoing light and the remaining original light and before applying different delays to different detection synchronization signals, the intensity of the optical signal is amplified.

33. The detection method according to claim 28, wherein Further included: After modulating the outgoing light, the modulated outgoing light is formed into multiple groups of detection optical signals, and different groups of detection optical signals are emitted into emission fields in different directions. The multiple emitted groups of detection optical signals form multiple groups of echo optical signals after reflection. In the step of dividing the original light into the outgoing light and the remaining original light, the remaining original light includes multiple local oscillator synchronization signal groups. In the step of coupling the group of echo optical signals and the group of local oscillator optical signals, 1 group of local oscillator optical signals and 1 group of echo optical signals are received and coupled to form 1 group of coherent optical signals.

34. The detection method according to claim 25, wherein, In the step of modulating at least one of the outgoing light and the remaining original light to form a group of optical signals, the remaining original light is modulated to form the group of local oscillator optical signals, and the group of local oscillator optical signals includes: multiple local oscillator optical signals in a time-sharing manner. The detection method further includes: before coupling the group of echo optical signals and the group of local oscillator optical signals, receiving the multiple local oscillator optical signals of the group of local oscillator optical signals in a time-sharing manner.

35. The detection method according to claim 34, wherein, In the step of dividing the original light into the outgoing light and the remaining original light, the remaining original light includes multiple local oscillator synchronization signals. In the step of modulating the remaining original light to form the group of local oscillator optical signals, different delays are applied to different local oscillator synchronization signals to form the group of local oscillator optical signals.

36. The detection method according to claim 34, wherein In the step of dividing the original light into the outgoing light and the remaining original light, the remaining original light includes multiple local oscillator synchronization signal groups, and each local oscillator synchronization signal group includes multiple local oscillator synchronization signals. The detection method further includes: after dividing the original light into the outgoing light and the remaining original light, multiple groups of detection optical signals are formed according to the outgoing light, and different groups of detection optical signals are emitted into emission fields in different directions. The multiple emitted groups of detection optical signals form multiple groups of echo optical signals after reflection. In the step of modulating the remaining original light to form the group of local oscillator optical signals, different delays are applied to different local oscillator synchronization signals in each local oscillator synchronization signal group to form 1 group of local oscillator optical signals. In the step of coupling the group of echo optical signals and the group of local oscillator optical signals, 1 group of local oscillator optical signals and 1 group of echo optical signals are received and coupled to form 1 group of coherent optical signals.

37. The detection method according to claim 23, characterized in that, Further included: Receiving the group of coherent optical signals and generating an output signal. According to the output signal, the signal frequency is obtained and according to the signal frequency, the distance and speed of the object are calculated, where the signal frequency is the frequency corresponding to 1 of the multiple coherent signals in the frequency domain.

38. The detection method according to claim 37, wherein The obtaining of the signal frequency includes: processing the spectrum of the output signal through an equal-interval misalignment comparison and taking the smaller algorithm to obtain the signal frequency.

39. The detection method according to claim 37, wherein, The step of obtaining the signal frequency includes: Transform the output signal to obtain the spectrum of the output signal; Based on the spectrum of the output signal and in combination with the spectral intervals corresponding to the time intervals of different coherent optical signals, obtain the signal frequency.

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