LiDAR receiving component and LiDAR system

Abstract

The lidar receiving component and lidar system provided by the present invention are configured by arranging a receiving lens group, a field stop, a field lens, and a photodetector in the lidar receiving component; wherein, the receiving lens group includes a plurality of lenses; the principal optical axes of different lenses form a preset angle; different lenses are used to receive laser echo beams in different field-of-view directions, so that each of the received laser echo beams sequentially passes through the field stop and the field lens and is imaged on the photodetector. By adopting the method of arranging a plurality of lenses, different lenses can receive laser echo beams from different field-of-view directions, and are imaged on the photodetector through the field stop and the field lens, thereby effectively increasing the detectable field of view of the photodetector, and further improving the detection performance of the lidar receiving component and the lidar system.

Description

Technical Field

[0001] The present invention relates to laser application technology, and particularly to a lidar receiving component and a lidar system. Background Art

[0002] A lidar system is one of the key sensors of a driverless device. It is equivalent to the eyes of a car and can accurately identify information such as the position and size of obstacles. Generally, the lidar system emits a laser beam to a target area through a lidar transmitting component, and then receives the laser echo signal reflected from the target area through a lidar receiving component, so as to obtain three-dimensional information of the space to be measured by analyzing the flight time of the laser.

[0003] In the prior art, the lidar receiving component includes a lens and a receiving detector. Among them, limited by the semiconductor process level, the size of the receiving detector is limited. And the size of the receiving detector also greatly restricts the field of view of the lidar receiving component, thereby affecting the detection performance of the lidar system.

[0004] Therefore, without changing the size of the existing receiving detector, how to increase the field of view of the lidar receiving component to improve the performance of the lidar receiving component and the lidar system has become a difficult point. Summary of the Invention

[0005] In order to solve the problem of the limited field of view of the lidar receiving component in the prior art, the present invention provides a lidar receiving component and a lidar system.

[0006] The present invention provides a lidar receiving component, including: a receiving lens group, a field stop, a field lens, and a photodetector;

[0007] Wherein, the receiving lens group includes a plurality of lenses; the principal axes of different lenses form a preset angle; different lenses are used to receive laser echo beams in different field of view directions, so that the received laser echo beams sequentially pass through the field stop and the field lens and are imaged on the photodetector.

[0008] In an optional implementation manner, the foci of the lenses in the receiving lens group are set to coincide.

[0009] Wherein, the receiving lens group includes a plurality of lenses; the principal axes of different lenses form a preset angle; different lenses are used to receive laser echo beams in different field of view directions, so that the received laser echo beams sequentially pass through the field stop and the field lens and are imaged on the photodetector.

[0010] In an optional implementation manner, the foci of the lenses in the receiving lens group are set to coincide.

[0011] In one alternative embodiment, the focal points of the lenses are located on the plane where the aperture of the field stop is located.

[0012] In one alternative embodiment, each lens in the receiving lens group is a converging lens for converging each laser echo beam within the field stop.

[0013] In one alternative embodiment, the field lens is used to compress and converge each laser echo beam passing through the field stop so that the compressed and converged echo beam is imaged within the detection area of the photodetector.

[0014] In one alternative embodiment, the preset angle between the principal optical axes of two adjacent lenses is less than or equal to one half of the sum of the field angles of the two lenses.

[0015] In one alternative embodiment, the aperture size of the field stop is equal to the sum of the tangent values of the upper field angle and the lower field angle of any one lens, multiplied by the focal length of the any one lens;

[0016] Wherein, the upper field angle is the angle between the propagation direction of the upper field laser echo beam received by the lens and the principal optical axis of the lens; the lower field angle is the angle between the propagation direction of the lower field laser echo beam received by the lens and the principal optical axis of the lens.

[0017] In one alternative embodiment, the upper and lower field angles of the two adjacent lenses satisfy the following formula 1:

[0018]

[0019] Wherein, f1 is the focal length of one of the two adjacent lenses, is the clear aperture of the lens, ω 11 and ω 12 are the upper and lower field angles of the lens respectively; f2 is the focal length of the other of the two adjacent lenses, is the clear aperture of the other lens, ω 21 and ω 22 are the upper and lower field angles of the other lens respectively.

[0020] On the other hand, the present invention provides a lidar system, including the lidar receiving assembly and the lidar transmitting assembly described in any one of the foregoing.

[0021] In one alternative embodiment, the lidar transmitting assembly includes a laser emitter;

[0022] The laser emitter is used to emit a laser emission beam to the target to be measured, and a laser echo beam that enters the lidar receiving component is formed after being reflected by the target to be measured.

[0023] The focal points of the respective lenses are located on the plane where the aperture of the field stop is located.

[0024] The lidar receiving component and the lidar system provided by the present invention are provided with a receiving lens group, a field stop, a field lens, and a photodetector in the lidar receiving component; wherein, the receiving lens group includes a plurality of lenses; preset angles are formed between the principal optical axes of different lenses; different lenses are used to receive laser echo beams in different field-of-view directions, so that each of the received laser echo beams sequentially passes through the field stop and the field lens and is imaged on the photodetector. By adopting the method of providing a plurality of lenses, different lenses can receive laser echo beams from different field-of-view directions, and are imaged on the photodetector through the field stop and the field lens, thereby effectively increasing the detectable field of view of the photodetector, and further improving the detection performance of the lidar receiving component and the lidar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0026] Figure 1 It is a schematic structural diagram of a lidar receiving component provided in Embodiment 1 of the present invention;

[0027] Figure 2 It is a schematic diagram of the path of the main lens in the lidar receiving component provided in Embodiment 1 of the present invention;

[0028] Figure 3 It is a schematic diagram of the working principle of the main lens in the lidar receiving component provided in Embodiment 1 of the present invention;

[0029] Figure 4 It is a schematic structural diagram of a lidar receiving component provided in Embodiment 2 of the present invention;

[0030] Figure 5 It is a schematic diagram of the working principle of the main lens of a lidar receiving component provided in Embodiment 2 of the present invention;

[0031] Figure 6 It is a schematic structural diagram of a lidar system provided in Embodiment 3 of the present invention.

[0032] Through the above-mentioned drawings, specific embodiments of the present disclosure have been shown, and will be described in more detail hereinafter. These drawings and the written description are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] In the prior art, a lidar receiving component includes a lens and a receiving detector. Among them, limited by the semiconductor process level, the size of the receiving detector is limited. Moreover, the size of the receiving detector greatly restricts the field of view of the lidar receiving component, thereby affecting the detection performance of the lidar system.

[0035] Therefore, without changing the size of the existing receiving detector, how to increase the field of view of the lidar receiving component to improve the performance of the lidar receiving component and the lidar system has become a difficult point.

[0036] It should be noted that specific embodiments will be described in detail herein, and examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0037] The technical solutions of the present invention and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0038] To solve the above problems, the present invention provides a lidar receiving component, which can be adapted to a lidar system and provide the functions of detecting and receiving laser echo beams for the lidar system.

[0039] Among them, in order to increase the field of view provided by the lidar receiving component without changing the size of the photodetector, a receiving lens group, a field stop, a field lens, and a photodetector are provided in the lidar receiving component provided by the present invention. Among them, the receiving lens group includes a plurality of lenses; the principal axes of different lenses form a preset angle; different lenses are used to receive laser echo beams in different field of view directions, so that the received laser echo beams pass through the field stop and the field lens in sequence and are imaged on the photodetector.

[0040] Figure 1 FIG. 4 is a schematic structural diagram of a lidar receiving component provided in Embodiment 1 of the present invention.

[0041] As Figure 1 shown, the lidar receiving component includes: a receiving lens group, a field stop 141, a field lens 142, and a photodetector 143;

[0042] Among them, the receiving lens group includes a plurality of lenses. For the convenience of description, as Figure 1 shown, in this embodiment, the number of lenses is 3 for illustration, that is, the receiving lens group includes a first lens 111, a second lens 121, and a third lens 131.

[0043] The optical axis of the first lens 111 is 112, the optical axis of the second lens 121 is 122, the optical axis of the third lens 131 is 132, and the principal axes of different lenses form a preset angle. Different lenses are used to receive laser echo beams in different field of view directions, so that the received laser echo beams pass through the field stop 141 and the field lens 142 in sequence and are imaged on the photodetector 143.

[0044] Specifically, the focal lengths of the first lens 111, the second lens 121, and the third lens 131 are f1, f2, and f3 respectively. The size of the field stop 141 is D. The first lens 111 is used to receive the laser echo beam from the middle field of view direction, and the field of view of the first lens 111 is ω1; the second lens 121 can be used to receive the laser echo beam from the upper field of view direction, and the field of view of the second lens 121 is ω2; the third lens 131 is used to receive the laser echo beam from the lower field of view direction, and the field of view of the third lens 131 is ω3.

[0045] The included angle between the optical axis 112 of the first lens and the optical axis 122 of the second lens is denoted as α1, and the included angle between the optical axis 112 of the first lens and the optical axis 132 of the third lens is denoted as α2. Preferably, the preset included angle between the principal axes of two adjacent lenses is less than or equal to one-half of the sum of the field of view angles of the two lenses.

[0046] Specifically, the relationship between each included angle and the field of view size of each lens needs to satisfy the following formula a and formula b:

[0047] a1 ≤ (ω1 + ω2) / 2 Formula a

[0048] a3 ≤ (ω1 + ω3) / 2 Formula b.

[0049] After each lens receives the laser echo beam in its corresponding field of view direction, each lens will respectively guide the laser echo beam through the aperture of the field stop 141, and after the converging effect of the field lens 142, it will finally be imaged on the photodetector 143.

[0050] At this time, the overall field of view ω of the entire lidar receiving assembly will satisfy Formula c:

[0051] ω ≤ α1 + α2 + (ω4 + ω3) / 2 Formula c

[0052] Based on the above embodiments, preferably, the focal points of the lenses in the receiving lens group are set to coincide. By adopting this lens setting method with coincident focal points, it is possible to further reduce the aperture size of the field stop and reduce the size of the entire assembly.

[0053] More preferably, the focal points of the lenses are located on the plane where the aperture of the field stop is located. That is to say, the image-side focal points of the first lens 111, the second lens 121, and the third lens 131 coincide, and the image-side focal point is located at the center of the field stop 141. As mentioned above, when the focal points of the lenses are all located on the plane where the aperture of the field stop 141 is located, the aperture size of the field stop 141 will reach the minimum value at this time.

[0054] In addition, based on the above embodiments, the lenses in the receiving lens group are converging lenses, which are used to converge each laser echo beam within the field stop 141. Due to the separate converging method, the field stop 141 is 1 / 3 of that of the photodetector in the traditional receiving system, effectively reducing the size of the detector.

[0055] In addition, optionally, the field lens 142 is used to compress and converge each laser echo beam passing through the field stop 141, so that the compressed and converged echo beam is imaged within the detection area of the photodetector 143. By setting the field lens 142 for further reducing the imaging size, the echo beams within the fields of view corresponding to the first lens 111, the second lens 121, and the third lens 131 are all converged into the field stop 141, and the converged light is further compressed by the field lens 142 and converged onto the photodetector 143 to achieve the final imaging.

[0056] Figure 2 This is a schematic diagram of the path of the main lens in the lidar receiving component provided in the first embodiment of the present invention. The field of view that the first lens 111 can receive is -ω 11 ~ω 12 ,ω 11 +ω 12 =ω1. For the first lens 111, the light outside its receiving field of view will be blocked by the field stop 141 and cannot enter the field lens 142 and the detector 143 behind. The angle between the laser echo beam 113 in the lower field of view and the optical axis 112 of the first lens is -ω 11 ,and after passing through the first lens 111, it converges to the upper part of the field stop 141. The field lens 142 is located near the rear of the field stop 141. After the converged light passes through the field lens 142, the height of the light is compressed and finally imaged on the detector 143. The angle between the laser echo beam 114 in the upper field of view and the optical axis 112 of the first lens is ω 12 ,and after passing through the first lens 111, it converges to the lower part of the field stop 141. After the converged light passes through the field lens 142, the height of the light is compressed and finally imaged on the detector 143. By using the field lens 141, the height of the incident light is compressed and the image plane size is further reduced, which can effectively reduce the size of the detector 143 and lower the cost.

[0057] Preferably, in this embodiment, the aperture size of the field stop 141 is equal to the sum of the tangent values of the upper field of view angle and the lower field of view angle of any lens, multiplied by the focal length of that any lens; wherein, the upper field of view angle is the angle between the propagation direction of the laser echo beam in the upper field of view received by the lens and the principal optical axis of the lens; the lower field of view angle is the angle between the propagation direction of the laser echo beam in the lower field of view received by the lens and the principal optical axis of the lens.

[0058] Correspondingly, the upper and lower field of view angles of the adjacent two lenses satisfy the following formula 1:

[0059]

[0060] wherein, f1 is the focal length of one of the adjacent two lenses, is the clear aperture of this lens, ω 11 and ω 12 are the upper and lower field of view angles of this lens respectively; f2 is the focal length of the other lens among the adjacent two lenses, is the clear aperture of this other lens, ω 21 and ω 22 are the upper and lower field of view angles of this other lens respectively.

[0061] Specifically, Figure 3 This is a schematic diagram of the working principle of the main lens in the lidar receiving component provided in the first embodiment of the present invention.

[0062] The first receiving lens 111 is responsible for the forward field of view. Therefore, the Gaussian image plane of the first lens 111 coincides with the field stop 141. The height D of the convergence point of the lower field of view laser echo beam 113 of the first lens after passing through the first lens 111 11 = f1 × tanω 11 . The height D of the convergence point of the upper field of view laser echo beam 114 of the first lens after passing through the first lens 111 12 = f1 × tanω 12 . The overall height D of the field stop 141 = D 11 + D 12 .

[0063] The angle between the lower field of view laser echo beam 123 of the second lens and the optical axis 112 of the second lens is ω 21 , and after passing through the second lens 121, it converges to the height D of the Gaussian image plane 145 of the second lens 122 21 = f2 × tanω 21 . In order to ensure that all the light rays of the lower field of view laser echo beam 123 of the second lens can pass through the field stop 141, it is necessary to ensure that the uppermost end of the converging beam passes through the field stop 141. The aperture of the second receiving lens 121 is It can be calculated that the height D21 of the lower field of view laser echo beam 123 of the second lens converging to the Gaussian image plane 145 of the second lens 122 after passing through the second lens 121 should satisfy formula c:

[0064]

[0065] Therefore, the lower field of view angle of the second lens 122 should satisfy formula d:

[0066]

[0067] The angle between the second upper field of view laser echo signal 124 and the optical axis 112 of the second lens is ω 22 , and after passing through the second lens 121, it converges to the height D of the Gaussian image plane 145 of the second lens 121 22 = f2 × tanω 22 . Where ω2 = ω 21 + ω 22To ensure that all the light rays of the upper field of view laser echo beam 123 of the second lens can pass through the field stop 141, it is necessary to ensure that the lowermost end of the converging beam passes through the field stop 141. Through calculation, it can be known that the height of the upper field of view laser echo beam 123 of the second lens after passing through the second lens

[0068] 121 converging to the Gaussian image plane 145 of the second lens 122 should satisfy the formula e

[0069]

[0070] Therefore, the upper field of view angle of the second lens should satisfy the formula f:

[0071]

[0072] In the lidar receiving component of the present invention, by arranging multiple lenses in the receiving lens group that can be used to receive laser echo beams in different field of view directions, and using the field stop and the field lens to converge and image the laser echo beams on the photodetector, the overall field of view of the lidar receiving component can be effectively expanded without changing the size of the photodetector, and the size of the detector can also be effectively reduced, breaking through the limitations of the existing semiconductor manufacturing process level and reducing the cost of the lidar. In addition, in this embodiment, since multiple lenses share one field stop, field lens, and photodetector, it also avoids the problem of increased cost caused by field of view stitching using multiple field stops, field lenses, and photodetectors.

[0073] To further improve the device performance of the lidar receiving component, the multiple lenses in the receiving lens group can adopt different arrangement methods to receive laser echo beams in different field of view directions.

[0074] Specifically, Figure 4 This is a schematic structural diagram of a lidar receiving component provided in the second embodiment of the present invention.

[0075] In the present invention, the arrangement of the lenses in the receiving lens group can be as Figure 1 shown, where multiple lenses are arranged in sequence along the same bending direction, and it can also adopt the arrangement method as Figure 4 shown, that is, multiple lenses are arranged in sequence along different bending directions.

[0076] In Figure 4 the shown structure, the lidar receiving component includes a first lens 211, a second lens 221, a third lens 231, a fourth lens 241, a field stop 251, a field lens 252, and a photodetector 253.

[0077] Wherein, the optical axis of the first lens 211 is 212, the optical axis of the second lens 221 is 222, the optical axis of the third lens 231 is 232, and the optical axis of the fourth lens 211 is 212. Among them, the horizontal reference plane is 201, which is in the same direction as D of the field stop 251, and the vertical reference plane is 202, which is in the same direction as D of the field stop 251 x direction, and the vertical reference plane is 202, which is in the same direction as D of the field stop 251 y direction

[0078] The focal lengths of the first lens 211, the second lens 221, the third lens 231, and the fourth lens 241 are f1, f2, f3, and f4 respectively. The size of the field stop 251 is D x ×D y . The field of view of the first lens 211: ω 1x , ω 1y ; the field of view of the second lens 221 is ω 2x , ω 2y ; the field of view of the third lens 231 is ω 3x , ω 3y ; the field of view of the fourth lens 241 is ω 4x , ω 4y .

[0079] Among them, the image-side foci of the first lens 111, the second lens 121, the third lens 131, and the fourth lens 141 coincide, and the image-side focus is located at the center of the field stop 251. The angle between the optical axis 212 of the first lens and the vertical reference 202 is α1, and the angle between the optical axis 212 of the first lens and the horizontal reference 201 is β1, and

[0080] The angle between the optical axis 222 of the second lens and the vertical reference 202 is α2, and the angle between the optical axis 222 of the second lens and the horizontal reference 201 is β2, and

[0081] The angle between the optical axis 232 of the third lens and the vertical reference 202 is α3, and the angle between the optical axis 232 of the third lens and the horizontal reference 201 is β3, and

[0082] The angle between the optical axis 242 of the fourth lens and the vertical reference 202 is α4, and the angle between the optical axis 242 of the fourth lens and the horizontal reference 201 is β4, and

[0083] Furthermore, Figure 5Schematic diagram of the working principle of the main lens of a lidar receiving assembly provided in the second embodiment of the present invention. Figure 5 Are the projections of two adjacent receiving lenses on the horizontal reference plane 201. The angle between the lower field of view laser echo beam 113 of the first lens and the optical axis 112 of the first lens is ω 1x1 After passing through the first lens 211, it converges to the height D of the Gaussian image plane 245 of the first lens 211 11 = f1 × tanω 1x1 . In order to ensure that all the light rays of the lower field of view laser echo beam 213 of the first lens can pass through the field stop 241, it is necessary to ensure that the uppermost end of the converging beam passes through the field stop 241. The aperture of the first receiving lens 211 is It can be calculated that the height at which the lower field of view laser echo beam 213 of the first lens converges to the Gaussian image plane 245 of the first lens 211 after passing through the first lens 211 is

[0084] Therefore, the lower field of view angle of the first lens is

[0085] The angle between the upper field of view laser echo beam 214 of the first lens and the optical axis 211 of the first lens is ω 1x2 After passing through the first lens 121, it converges to the height D of the Gaussian image plane 145 of the first lens 211 12 = f2 × tanω 1x2 . In order to ensure that all the light rays of the upper field of view laser echo beam 214 of the first lens can pass through the field stop 241, it is necessary to ensure that the lowermost end of the converging beam passes through the field stop 241. It can be calculated that the height at which the lower field of view laser echo beam 213 of the first lens converges to the Gaussian image plane 145 of the first lens 211 after passing through the first lens 211 is

[0086]

[0087] Therefore, the upper field of view angle of the second lens is

[0088]

[0089] Similarly, the upper and lower field of view angles ω 21 、ω 22 corresponding to the second lens satisfy formula g:

[0090]

[0091] Where ω 2x= ω 2x1 + ω 2x2 。

[0092] Similarly, on the vertical plane 202, the adjacent two fields of view ω 1y1 , ω 1y2 , ω 2y2 , ω 2y2 need to satisfy formula h:

[0093]

[0094] The lidar component provided in the second embodiment of the present invention can adopt different arrangement methods through multiple lenses to receive laser echo beams in different field-of-view directions, so as to further improve the performance of the lidar receiving component.

[0095] Based on the above embodiments, Figure 6 is a schematic structural diagram of a lidar system provided in the third embodiment of the present invention.

[0096] As Figure 6 shown, the lidar system includes the lidar receiving component 1 described in any one of the above and a lidar transmitting component 2.

[0097] Among them, the lidar transmitting component 2 includes a laser transmitter 21; the laser transmitter 21 is used to emit a laser emission beam to the target to be measured 3, and the laser echo beam that enters the lidar receiving component 1 is formed after being reflected by the target to be measured.

[0098] The lidar system provided in the third embodiment of the present invention includes a receiving lens group, a field stop, a field lens, and a photodetector in the lidar receiving component; among them, the receiving lens group includes multiple lenses; the principal optical axes of different lenses form a preset angle; different lenses are used to receive laser echo beams in different field-of-view directions, so that each of the received laser echo beams passes through the field stop and the field lens in sequence and is imaged on the photodetector. By adopting the method of setting multiple lenses, different lenses can receive laser echo beams from different field-of-view directions, and are imaged on the photodetector through the field stop and the field lens, thereby effectively increasing the detectable field of view of the photodetector, and further improving the detection performance of the lidar receiving component and the lidar system.

[0099] The above specific embodiments further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lidar receiving component, characterized in that, Comprising: a receiving lens group, a field stop, a field lens, and a photodetector; wherein, the receiving lens group includes a plurality of lenses; the principal optical axes of different lenses form a preset angle; different lenses are used to receive laser echo beams in different field-of-view directions, so that each of the received laser echo beams passes through the aperture of the field stop and the field lens in sequence under the guidance of the different lenses and is imaged on the photodetector; the aperture size of the field stop is equal to the sum of the tangent values of the upper field-of-view angle and the lower field-of-view angle of any one lens multiplied by the focal length of the any one lens; wherein, the upper field-of-view angle is the angle between the propagation direction of the upper field-of-view laser echo beam received by the lens and the principal optical axis of the lens; the lower field-of-view angle is the angle between the propagation direction of the lower field-of-view laser echo beam received by the lens and the principal optical axis of the lens.

2. The lidar receiving component according to claim 1, wherein The foci of the lenses in the receiving lens group are set to coincide.

3. The lidar receiving component according to claim 2, wherein The foci of the respective lenses are located on the plane where the aperture of the field stop is located.

4. The lidar receiving component according to claim 1, characterized in that, Each lens in the receiving lens group is a converging lens for converging each laser echo beam within the field stop.

5. The lidar receiving component according to claim 1, wherein The field lens is used to compress and converge each laser echo beam passing through the field stop, so that the compressed and converged echo beam is imaged within the detection area of the photodetector.

6. The lidar receiving component according to claim 1, wherein The preset angle between the principal optical axes of two adjacent lenses is less than or equal to one-half of the sum of the field-of-view angles of the two lenses.

7. The lidar receiving component according to claim 1, wherein The upper and lower field-of-view angles of two adjacent lenses satisfy the following formula 1: Formula 1; Among them, the is the focal length of one of the two adjacent lenses, and are the upper and lower field angles of view of this lens respectively; the is the focal length of the other lens among the two adjacent lenses, is the clear aperture of this other lens, and are the upper and lower field angles of view of this other lens respectively.

8. A lidar system, characterized in that, Comprising the lidar receiving component according to any one of claims 1-7 and a lidar transmitting component.

9. The lidar system according to claim 8, wherein The lidar transmitting component includes a laser transmitter; The laser transmitter is used to emit a laser emission beam to the target to be measured, and the laser emission beam is reflected by the target to be measured to form a laser echo beam incident on the lidar receiving component.

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