A planar-integrated optical system (PIOS) represents powerful optical imaging and information processing techniques and is a potential candidate for the realization of a three-dimensional (3D) integrated optoelectronic intelligent system. Coupling the optical wave carrying information into a planar transparent substrate (typically fused silica) is an essential prerequisite for the realization of such a PIOS. Unlike conventional grating couplers for nano-waveguides on the silicon-on-insulator platform, the grating couplers for PIOS enable to obtain a higher design freedom and to achieve much higher coupling efficiency. By combining the rigorous coupled wave algorithm and simulated annealing optimization algorithm, a high-efficiency asymmetric double-groove grating coupler is designed for PIOS. It is indicated that, under the condition of the normal incidence of TE polarization, the diffraction efficiency of the $-1$st order is over 95%, and its average value is 97.3% and 92.8% in the C and C+L bands. The simulation results indicate that this type of grating coupler has good tolerance and is expected to be applied in optical interconnections, waveguide-based augmented reality glasses, and planar-integrated 3D interconnection optical computing systems.