Laser transceiver assembly and lidar

Abstract

The application provides a laser transceiver assembly and a laser radar, and the laser transceiver assembly comprises a support part, a transmitting unit, a receiving unit and an optical assembly; the transmitting unit and the receiving unit are located on the support part, the transmitting unit is used for transmitting a probe light beam, and the receiving unit is used for receiving a return light beam; the side surface of the support part has an opening, the direction of the opening is different from the transmission path of the probe light beam and the return light beam; and the optical assembly is located in the opening and is used for transmitting the probe light beam and the return light beam. In the application, the support part, the transmitting unit and the receiving unit are modularly arranged, which is beneficial to the reasonable arrangement of the space structure of the laser transceiver assembly, and the laser transceiver assembly can be independently assembled and debugged, which is beneficial to the batch production of the laser transceiver assembly. The laser transceiver assembly also serves as an independent module, which is convenient for integrating the laser transceiver assembly into the laser radar, is beneficial to the assembly, debugging and batch production of the laser radar, and reduces the cost of the laser radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of environmental perception, and in particular to a laser transceiver assembly and a laser radar. BACKGROUND

[0002] Laser radar (LIDAR) is a radar system that detects the position, speed and other characteristic quantities of a target by emitting a laser beam. In autonomous driving, laser radar undertakes important tasks such as road detection, obstacle identification, real-time positioning and mapping (SLAM). Laser radar is applied in the field of autonomous driving technology because of its high resolution, good concealment, strong anti-active interference capability, good detection performance, small size and light weight. As a core sensor for distance perception in the field of autonomous driving, laser radar is indispensable.

[0003] Laser radar is an important sensor for perceiving information around a vehicle, and field of view and scanning accuracy are important parameters thereof. For the horizontal field of view, the prior art usually splices the field of view collected by a scanning module, or sets multiple laser radars to splice the fields of view collected thereby.

[0004] To ensure the safety and intelligence of an autonomous vehicle, laser radar needs to meet high reliability, high imaging frame frequency, high resolution, long range and other performances. Therefore, more optical devices are arranged in the laser radar, which leads to a complex structure of the laser radar, and large assembly and debugging difficulty and high cost. SUMMARY

[0005] The present application provides a laser transceiver assembly and a laser radar, which modularize various functional components, facilitating assembly, debugging and mass production, and reducing cost.

[0006] To solve the above problems, the present application provides a laser transceiver assembly for a laser radar, comprising: a support part, a transmitting unit, a receiving unit and an optical assembly; the transmitting unit and the receiving unit are located on the support part, the transmitting unit is used for transmitting a probe light beam, and the receiving unit is used for receiving a return light beam; a side surface of the support part has an opening, an orientation of the opening is different from transmission paths of the probe light beam and the return light beam; the optical assembly is located in the opening and is used for transmitting the probe light beam and the return light beam.

[0007] Optionally, the support part comprises: a base; a first partition wall located on the base and extending along a first direction; a second partition wall located on the base and extending along a second direction, the second partition wall being connected with the first partition wall; and a fixing part located on the base and used for fixing the optical assembly.

[0008] Optionally, the first partition wall comprises: a transmitting light through hole, which is lower than the top of the second partition wall, for passing the probe light beam; and a receiving light through hole, which is higher than the top of the second partition wall, for passing the echo light beam.

[0009] Optionally, the transmitting unit is arranged on the second partition wall, so that the probe light beam provided by the transmitting unit passes through the transmitting light through hole.

[0010] Optionally, the receiving unit is arranged on the first partition wall, so that the receiving unit receives the echo light beam through the receiving light through hole.

[0011] Optionally, the fixing part is connected with the first partition wall, and the fixing part and the second partition wall are respectively located on two sides of the first partition wall.

[0012] Optionally, the opening is located on a side wall adjacent to the fixing part and the first partition wall.

[0013] Optionally, the fixing part further comprises a light-transmitting part, which is in communication with the opening and is used for passing the probe light beam and the echo light beam.

[0014] Optionally, in the second direction, the bottom of the first partition wall is farther away from the light-transmitting part than the top of the first partition wall.

[0015] Optionally, the optical assembly comprises a reflecting unit, a light-splitting unit and a lens unit arranged in the extension direction of the fixing part.

[0016] Optionally, the receiving unit comprises a receiving support part arranged on the side of the first partition wall away from the fixing part and located at the top of the second partition wall, and a receiving plate comprising a plurality of light-receiving units arranged on the receiving support part.

[0017] Optionally, the transmitting unit comprises a transmitting support part arranged on the second partition wall and close to the transmitting light through hole, and a transmitting plate comprising a plurality of light-transmitting units arranged on the transmitting support part.

[0018] Optionally, the laser transceiver assembly further comprises a wave plate unit for changing the polarization state of the probe light beam.

[0019] Optionally, the laser transceiver assembly further comprises a beam shaping unit located between the transmitting unit and the wave plate unit.

[0020] Optionally, the laser transceiver assembly further comprises a light-shielding unit arranged on the fixing part and used for shielding the opening.

[0021] The application further provides a laser radar, comprising: the laser transceiver assembly, the laser transceiver assembly is used for emitting a probe light beam and receiving a return light beam; a scanning module, for spatial scanning with the probe light beam and the return light beam; an optical machine module, for transmitting the probe light beam to the scanning module, and transmitting the return light beam to the laser transceiver assembly.

[0022] Optionally, the optical machine module comprises: an optical machine support part, for transmitting the probe light beam and the return light beam, and supporting the scanning module; a reflection part, for reflecting the probe light beam to the scanning module, and reflecting the return light beam to the optical machine support part.

[0023] Optionally, a plurality of the laser transceiver assemblies are arranged side by side and spaced apart on a side of the optical machine support part away from the reflection part.

[0024] Optionally, the optical machine support part comprises: a plurality of optical channels arranged along the transmission path of the probe light beam and the return light beam; a plurality of optical units correspondingly arranged in each of the optical channels.

[0025] Optionally, the optical machine module further comprises: an optical machine mounting part located on the side of the optical machine support part; the reflection part has a reflection part mounting part located between the optical machine mounting parts.

[0026] Optionally, the scanning module comprises: a fixed support part fixed to the top of the optical machine support part; a galvanometer unit located on the fixed support part.

[0027] Optionally, the galvanometer unit is obliquely arranged on the top of the fixed support part, for reflecting the probe light beam and the return light beam by the galvanometer unit.

[0028] Optionally, the laser radar further comprises: a mainboard module, the mainboard module comprises: a lower mainboard module located on a side of the laser transceiver assembly away from the optical machine module, the lower mainboard module comprises a plurality of mainboard mounting parts, and a plurality of the mainboard mounting parts are staggered with a plurality of the laser transceiver assemblies; an upper mainboard module located on the top of the laser transceiver assembly and the scanning module.

[0029] Optionally, the laser radar further comprises: a housing, the optical machine module, the scanning module, a plurality of the laser transceiver assemblies and the mainboard module are located in the housing, the upper mainboard module is connected with the top of the housing, and the lower mainboard module is connected with the side wall of the housing.

[0030] Compared with the prior art, the technical scheme of the application has the following advantages:

[0031] The emitting unit of the laser transceiving assembly provided by the application is used for emitting a probe light beam, the receiving unit is used for receiving a return light beam, the opening of the support part is used for assembling an optical assembly used for transmitting the probe light beam and the return light beam, and the direction of the opening is different from the transmission path of the probe light beam and the return light beam, so that the mounting direction of the optical assembly is different from the transmission path of the probe light beam and the return light beam, the mounting difficulty of the optical assembly is reduced, and the performance of the laser transceiving assembly is improved. In the embodiment of the application, the emitting unit, the receiving unit and the support part with the optical assembly are modularly arranged, which is beneficial to the reasonable arrangement of the space structure of the laser transceiving assembly, so that the laser transceiving assembly is compact and has high integration. In addition, the support part, the emitting unit and the receiving unit can be independently assembled and debugged, which is beneficial to the batch production of the laser transceiving assembly, reduces the cost of the laser transceiving assembly, and when the laser transceiving assembly fails, the faulty unit can be easily detached from the support part for replacement, thereby reducing the maintenance difficulty and improving the maintenance efficiency.

[0032] The laser transceiving assembly, the optical machine module and the scanning module in the laser radar provided by the application are also modularly arranged, which is beneficial to the assembly, debugging and batch production of the laser radar, reduces the cost of the laser radar, and because the different components of the laser radar are modularly arranged, the space structure of the laser radar is reasonable, which is beneficial to improving the integration of the laser radar. In addition, when the laser radar fails, the faulty module can be replaced, thereby reducing the maintenance difficulty and improving the maintenance efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only belong to the embodiments of the present application, and those skilled in the art can also obtain other drawings according to the provided drawings without any creative effort.

[0034] Figure 1 is a structural schematic diagram of the laser transceiving assembly of the embodiment of the application;

[0035] Figure 2 is an exploded view of the laser transceiving assembly of the embodiment of the application;

[0036] Figure 3 is a first perspective structural schematic diagram of the support part of the embodiment of the application;

[0037] Figure 4 is a structural schematic diagram of the light beam shaping unit and the wave plate of the embodiment of the application;

[0038] Figure 5 is a second perspective structural schematic diagram of the support part of the embodiment of the application;

[0039] Figure 6 is a structural schematic diagram of a laser radar of an embodiment of the present application;

[0040] Figure 7 is a top view of a laser radar hiding an upper main board module of an embodiment of the present application;

[0041] Figure 8 is an exploded view of a laser radar of an embodiment of the present application. DETAILED DESCRIPTION

[0042] As known from the background, the existing laser radar has the problems of complex structure, high difficulty and cost in assembly and debugging.

[0043] In order to facilitate the assembly, debugging and mass production of the laser radar and reduce the cost, an embodiment of the present application provides a laser transceiver assembly, comprising: a support part, a transmitting unit, a receiving unit and an optical assembly; the transmitting unit and the receiving unit are located on the support part, the transmitting unit is used for transmitting a probe light beam, and the receiving unit is used for receiving a return light beam; a side surface of the support part has an opening, an orientation of the opening is different from transmission paths of the probe light beam and the return light beam; the optical assembly is located in the opening and is used for transmitting the probe light beam and the return light beam.

[0044] The transmitting unit of the laser transceiver assembly provided by the present application is used for transmitting a probe light beam, the receiving unit is used for receiving a return light beam, the opening of the support part is used for assembling the optical assembly, and the optical assembly is used for transmitting the probe light beam and the return light beam, the orientation of the opening is different from the transmission paths of the probe light beam and the return light beam, so that the installation direction of the optical assembly is different from the transmission paths of the probe light beam and the return light beam, the installation difficulty of the optical assembly is reduced, and the performance of the laser transceiver assembly is improved. In the embodiment of the present application, the transmitting unit, the receiving unit and the support part with the optical assembly are modularly arranged, which is beneficial to the reasonable arrangement of the spatial structure of the laser transceiver assembly, so that the laser transceiver assembly has a compact structure and a high integration degree. In addition, the support part, the transmitting unit and the receiving unit can be independently assembled and debugged, which is beneficial to the mass production of the laser transceiver assembly and reduces the cost of the laser transceiver assembly. When the laser transceiver assembly fails, the faulty unit can be easily detached from the support part for replacement, which reduces the maintenance difficulty and improves the maintenance efficiency.

[0045] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0046] It should be noted that the indicated orientation or position relationship involved in the present specification is based on the orientation or position relationship shown in the drawings, which is only for the convenience of description and simplification of description, and does not indicate or imply that the device must have a specific orientation or be constructed in a specific orientation, so it cannot be understood as a limitation on the present application.

[0047] The embodiment of the present application provides a laser transceiver assembly, referring to Figure 1 , a structural schematic diagram of the laser transceiver assembly in the embodiment of the present application is shown, Figure 2 an explosion diagram of the laser transceiver assembly in the embodiment of the present application is shown.

[0048] The laser transceiver assembly 100 comprises a support part 110, a transmitting unit 120, a receiving unit 130 and an optical assembly 150; the transmitting unit 120 and the receiving unit 130 are located on the support part 110, the transmitting unit 120 is used for transmitting a probe light beam, and the receiving unit 130 is used for receiving a return light beam; the side of the support part 110 has an opening 144 (as shown in Figure 2 , the direction of the opening 144 is different from the transmission path of the probe light beam and the return light beam; the optical assembly 150 is located in the opening 144 and is used for transmitting the probe light beam and the return light beam.

[0049] The transmitting unit 120 of the laser transceiver assembly 100 provided by the present application is used for transmitting a probe light beam, the receiving unit 130 is used for receiving a return light beam, the opening of the support part 110 is used for assembling the optical assembly 150, the optical assembly 150 is used for transmitting the probe light beam and the return light beam, the direction of the opening is different from the transmission path of the probe light beam and the return light beam, so that the installation direction of the optical assembly 150 is different from the transmission path of the probe light beam and the return light beam, the installation difficulty of the optical assembly 150 is reduced, and the performance of the laser transceiver assembly 100 is improved.

[0050] In the embodiment, the support part 110 comprises a base 1101, a first partition wall 1102 located on the base 1101 and extending along a first direction x, a second partition wall 1103 located on the base 1101 and extending along a second direction y, the second partition wall 1103 is connected with the first partition wall 1102, and a fixing part 1104 located on the base 1101 and used for fixing the optical assembly 150.

[0051] The first partition wall 1102 provides a structural basis for the installation of the receiving unit 130 (as shown in Figure 2 The second partition wall 1103 provides a structural basis for the installation of the transmitting unit 120 (as shown in Figure 2

[0052] In this embodiment, the second direction y is perpendicular to the first direction x. The second partition wall 1103 is located on one side of the first partition wall 1102, and the second direction y is perpendicular to the first direction x, so that the first partition wall 1102 and the second partition wall 1103 enclose two right-angled areas. Compared with the first partition wall 1102 and the second partition wall 1103 enclosing an obtuse angle area and an acute angle area, the two right-angled areas are more conducive to the installation of the transmitting unit 120 and the receiving unit 130. In other embodiments, the first direction x and the second direction y can also be not perpendicular.

[0053] In this embodiment, the top of the second partition wall 1103 is lower than the top of the first partition wall 1102, so that the receiving unit 130 is arranged in the part of the first partition wall 1102 which is higher than the second partition wall 1103. The second partition wall 1103 provides support for the receiving unit 130.

[0054] It should be noted that the base 1101, the first partition wall 1102, the second partition wall 1103 and the fixed part 1104 are integrally formed. In other embodiments, the base 1101, the first partition wall 1102, the second partition wall 1103 and the fixed part 1104 can also be assembled and joined by welding or the like.

[0055] Figure 3 is a first perspective view of the support part of an embodiment of the present application. In this embodiment, the first partition wall 1102 includes a transmitting light through hole 11021 and a receiving light through hole 11022. The transmitting light through hole 11021 is lower than the top of the second partition wall 1103 and is used for passing the probe light beam. The receiving light through hole 11022 is higher than the top of the second partition wall 1103 and is used for passing the echo light beam.

[0056] The transmitting light through hole 11021 and the receiving light through hole 11022 are both located on the first partition wall 1102, and the transmission paths of the probe light beam and the echo light beam both intersect the first partition wall 1102. Therefore, the optical assembly 150 for transmitting the probe light beam and the echo light beam can be arranged on the side of the first partition wall 1102 which is away from the second partition wall 1103, which is conducive to improving the integration of the laser transceiver assembly 100.

[0057] ​It should be noted that the transmitting light through hole 11021 and the receiving light through hole 11022 are exposed outside the second partition wall 1103, so that the probe light beam and the echo light beam are not blocked by the second partition wall 1103.

[0058] The transmitting light through hole 11021 and the receiving light through hole 11022 are arranged in the vertical direction z on the first partition wall 1102, respectively at the bottom of the first partition wall 1102 and the top of the first partition wall 1102, and the top of the first partition wall 1102 is farther away from the second partition wall 1103 than the bottom of the first partition wall 1102, so that the top of the first partition wall 1102 and the bottom of the first partition wall 1102 form a light blocking wall 11024, and the transmitting light through hole 11021 and the receiving light through hole 11022 are arranged in the second direction y through the light blocking wall 11024, for reducing the mutual crosstalk between the probe light beam emitted by the transmitting unit 120 arranged in the vertical direction z and the echo light beam received by the receiving unit 130.

[0059] In this embodiment, the transmitting unit 120 is arranged on the side wall of the second partition wall 1103 close to the transmitting light through hole 11021, so that the probe light beam provided by the transmitting unit 120 can pass through the transmitting light through hole 11021.

[0060] Specifically, the transmitting unit 120 includes a transmitting support part 121 arranged on the second partition wall 1103 and close to the transmitting light through hole 11021, and a transmitting plate 122 including a plurality of light emitting units arranged on the transmitting support part 121.

[0061] The transmitting plate 122 is fixed on the transmitting support part 121, and correspondingly, the transmitting plate 122 is fixed on the second partition wall 1103 through the transmitting support part 121.

[0062] In this embodiment, the transmitting plate 122 has a laser 1221 (i.e. a light emitting unit), and the laser 1221 includes an edge emitting laser (EEL), and when the transmitting unit 120 works, the optical axis direction of the probe light beam is parallel to the surface of the transmitting plate 122. In other embodiments, the laser 1221 can also be a vertical cavity surface emitting laser (VCSEL), and correspondingly, when the transmitting unit works, the probe light beam is perpendicular to the surface of the transmitting plate.

[0063] As an example, the number of the lasers 1221 is multiple, so that the laser radar detection coverage is high, which helps to improve the detection performance of the laser radar, and the multiple lasers 1221 are arranged in the surface of the emission plate 122 along the extension direction (vertical direction z) of the fixed part 1104. The multiple lasers 1221 generate multiple detection beams, and when the emission unit 120 works, the multiple lasers 1221 in the emission plate 122 open the detection beams in turn in a round-robin manner, that is, the multiple lasers 1221 in the emission plate 122 emit the detection beams in time.

[0064] Specifically, the second partition wall 1103 has a second positioning hole 11031; the emission support part 121 has a back plate positioning hole (not shown in the figure), which corresponds to the second positioning hole 11031 and is fixed by a fixing part (including but not limited to a screw), so that the emission support part 121 is fixed on the second partition wall 1103.

[0065] It should be noted that the emission plate 122 is a PCB board, the emission plate 122 is single-sided, and the back surface is exposed to copper, the back surface is directly attached to the emission support part 121, and the emission support part 121 is metal, which transmits the heat of the emission plate 122 through the emission support part 121. Compared with the case where a heat conduction part is arranged between the emission plate and the emission support part, the emission plate is directly arranged on the emission support part 121 to transfer heat, which reduces the thermal resistance and is beneficial to heat dissipation, so that the laser 1221 can work in a reasonable temperature range.

[0066] In this embodiment, the emission support part 121 is in the form of a plate, and the emission support part 121 is clamped on the second partition wall 1103 by an external adjusting frame, so that the emission support part 121 can be adjusted in pitch in the plane where the surface of the second partition wall 1103 is located, and the emission plate 122 fixed on the emission support part 121 is correspondingly adjusted in pitch. Since the relative positions of the lasers are fixed, the emission support part 121 and the emission plate 122 are fixed in the horizontal direction by the second partition wall 1103, so as to ensure the flatness between the multiple lasers.

[0067] In this embodiment, the receiving unit 130 is arranged on the first partition wall 1102, so that the receiving unit 130 receives the echo light beams through the receiving light through hole 11022.

[0068] Specifically, the receiving unit 130 includes a receiving support part 131 arranged on the side of the first partition wall 1102 away from the fixed part 1104 and located at the top of the second partition wall 1103, and a receiving plate 132 including multiple light receiving units arranged on the receiving support part 131.

[0069] The receiving plate 132 is fixed on the receiving support part 131, and the receiving plate 132 is fixed on the first partition wall 1102 through the receiving support part 131.

[0070] In this embodiment, the receiving plate 132 has multiple detectors (i.e., light receiving units) for receiving echo beams. The detectors include avalanche photodiodes (APDs), silicon photomultiplier tubes (SiPMs), or single-photon avalanche diodes (SPADs). The detectors and filters on their surfaces are installed in the light receiving aperture 11022, making it easy for the detectors to receive echo beams.

[0071] Specifically, the first partition wall 1102 has a first positioning hole 11023 (e.g., Figure 3 (As shown); the receiving plate 132 has a first positioning post 1321 and a receiving positioning hole 1322, the first positioning post 1321 is used to cooperate with the first positioning hole 11023 for connection; the receiving support part 131 has a receiving post 1323, the receiving post 1323 passes through the receiving positioning hole 1322 and is fixedly connected to the first positioning hole 11023 on the first partition wall 1102.

[0072] The receiving support 131 not only fixes the receiving plate 132 to the first partition wall 1102 which is higher than the second partition wall 1103, but also covers and protects the receiving plate 132.

[0073] It should be noted that the receiving board 132 is a PCB board, and the receiving board 132 is a single-sided board.

[0074] In this embodiment, the receiving support 131 is plate-shaped. The receiving support 131 is clamped on the first partition wall 1102 by an external adjustment frame, which enables the receiving support 131 to rotate in the plane on the surface of the first partition wall 1102, thereby driving the receiving plate 132 fixed on the receiving support 131 to rotate and adjust accordingly.

[0075] In this embodiment of the invention, the transmitting unit 120, the receiving unit 130, and the support portion 110 with optical components 150 are all modularly configured, which facilitates a reasonable spatial structure arrangement of the laser transceiver assembly 100, making the structure of the laser transceiver assembly 100 compact and highly integrated. In addition, the support portion 110, the transmitting unit 120, and the receiving unit 130 can be assembled and debugged independently, which is conducive to the mass production of the laser transceiver assembly 100, reducing the cost of the laser transceiver assembly 100. When the laser transceiver assembly 100 malfunctions, the faulty unit can be easily disassembled from the support portion 110 for replacement, reducing maintenance difficulty and improving maintenance efficiency.

[0076] In this embodiment, the laser transceiver assembly 100 further comprises a wave plate unit 160 (as shown in Figure 2 for changing the polarization state of the probe light beam.

[0077] In this embodiment, the emission support part 121 has a wave plate slot 1212, which is located at the region of the emission support part 121 close to the first partition wall 1102.

[0078] The wave plate unit 160 comprises a wave plate support part 161 fixedly arranged in the wave plate slot 1212, and a half wave plate 162 fixedly arranged on the wave plate support part 161.

[0079] Specifically, the half wave plate 162 is used to change the polarization direction of the probe light beam so as to be reflected on the polarization beam splitter prism.

[0080] It should be noted that the wave plate unit 160 is fixedly arranged in the wave plate slot 1212, and when the emission support part 121 is adjusted in pitch, the wave plate unit 160 also follows the pitch adjustment, so that the relative position of the emission plate 122 and the wave plate unit 160 remains unchanged, and the probe light beam provided by the emission plate 122 can still pass through the half wave plate 162.

[0081] Figure 4 is a structural schematic view of the beam shaping unit and the half wave plate of the embodiment of the present application, and the laser transceiver assembly 100 further comprises a beam shaping unit 170 (as shown in Figure 4 located between the emission unit 120 and the wave plate unit 160.

[0082] The beam shaping unit 170 is used to compress the fast axis of the probe light beam. Specifically, the beam shaping unit 170 comprises a fast axis collimation lens, i.e. a cylindrical lens, and can further comprise an optical fiber.

[0083] In this embodiment, the fixed part 1104 is connected with the first partition wall 1102, and the fixed part 1104 and the second partition wall 1103 are located on the two sides of the first partition wall 1102, respectively.

[0084] The fixed part 1104 is used to mount the optical assembly 150, and the second partition wall 1103 is mounted with the emission unit 120. The fixed part 1104 and the second partition wall 1103 are located on the two sides of the first partition wall 1102, respectively, so that the probe light beam provided by the emission unit 120 passes through the emission light through hole 11021 and is transmitted to the outside through the optical assembly 150, so that the laser transceiver assembly 100 has a compact structure and a high degree of integration.

[0085] Specifically, the fixed part 1104 further comprises a light-transmitting part 141 (as shown in Figure 1The light-transmitting part 141 is in communication with the opening 144, and the light-transmitting part 141 enables the probe light beam of the laser transceiver assembly 100 to be transmitted to an external module and enables the echo light beam provided by the external module to be transmitted to the laser transceiver assembly 100. Specifically, the probe light beam provided by the emitting unit 120 is transmitted from the light-transmitting part 141 through the optical assembly 150 through the emitting light through-hole 11021, and the echo light beam is transmitted from the light-transmitting part 141 through the optical assembly 150 through the receiving light through-hole 11022 and is received by the receiving unit 130.

[0086] The light-transmitting part 141 is in communication with the opening 144, and the light-transmitting part 141 enables the probe light beam of the laser transceiver assembly 100 to be transmitted to an external module and enables the echo light beam provided by the external module to be transmitted to the laser transceiver assembly 100. Specifically, the probe light beam provided by the emitting unit 120 is transmitted from the light-transmitting part 141 through the optical assembly 150 through the emitting light through-hole 11021, and the echo light beam is transmitted from the light-transmitting part 141 through the optical assembly 150 through the receiving light through-hole 11022 and is received by the receiving unit 130.

[0087] It should be noted that, in the second direction y, the bottom of the first partition wall 1102 is farther away from the light-transmitting part 141 than the top of the first partition wall 1102.

[0088] The fixed part 1104 is used to mount the optical assembly 150, and in the second direction y, the size of the bottom of the fixed part 1104 is greater than the size of the top of the fixed part 1104. The bottom of the first partition wall 1102 is farther away from the light-transmitting part 141 than the top of the first partition wall 1102, which is a space avoiding measure, facilitating accommodation of the bottom of the fixed part 1104, enabling the fixed part 1104 and the first partition wall 1102 to be attached together, and enabling the front end surface of the fixed part 1104 in the second direction y to be planarized, which is conducive to assembly and debugging of multiple laser transceiver assemblies 100 in a laser radar.

[0089] It should also be noted that the opening 144 is located on the side wall where the fixed part 1104 and the first partition wall 1102 abut.

[0090] When the laser transceiver assembly 100 is working, the probe light beam and the echo light beam are transmitted in the opening, and the light-transmitting part enables the probe light beam and the echo light beam to pass through. The opening 144 is located on the side wall where the fixed part 1104 and the first partition wall 1102 abut, that is, the opening 144 and the light-transmitting part 141 are located on different side walls of the fixed part 1104, avoiding damage to the light-transmitting part during assembly and debugging of the optical assembly in the opening, and affecting emission of the probe light beam and reception of the echo light beam.

[0091] The opening 144 is used to install the optical assembly 150, so that the optical assembly 150 can be fixed in the support part 110, because the emission unit 120 is located on the support part 110, and the receiving unit 130 is located on the support part 110, so that the relative positions of the optical assembly 150, the emission unit 120 and the receiving unit 130 are unchanged, so that the probe light beam emitted by the emission unit 120 can be transmitted through the optical assembly 150, and the echo light beam transmitted through the optical assembly 150 can be received by the receiving unit 130.

[0092] In the embodiment, the optical assembly 150 includes a reflection unit, a light splitting unit 152 and a lens unit 153 arranged in the extension direction (vertical direction z) of the fixed part 1104.

[0093] Specifically, the reflection unit includes a first mirror 151 and a second mirror 154, and the first mirror 151, the light splitting unit 152, the lens unit 153 and the second mirror 154 are arranged in sequence in the extension direction of the fixed part 1104.

[0094] The first mirror 151 is used to reflect the probe light beam and the echo light beam, and change the transmission path of the light beam.

[0095] In the embodiment, the light splitting unit 152 can be a polarizing beam splitter (PBS). In other embodiments, the light splitting unit can also be a polarizing beam splitter.

[0096] In the embodiment, the light splitting unit 152 corresponds to the emission light through hole 11021, so that the probe light beam passing through the emission light through hole 11021 is transmitted to the first mirror 151 along the extension direction of the fixed part 1104 after being reflected by the light splitting unit 152; and the echo light beam passing through the light-transmitting part 141 can pass through the light splitting unit 152 after being reflected by the first mirror 151.

[0097] In the embodiment, the lens unit 153 includes a negative lens, which further narrows the echo light beam and prolongs the focal length of the optical system, which is beneficial to improve the signal-to-noise ratio of the received signal.

[0098] In the embodiment, the second mirror 154 corresponds to the receiving light through hole 11022, and the second mirror 154 is used to reflect the echo light beam narrowed by the negative lens and received by the receiving unit 130 through the receiving light through hole 11022.

[0099] It should be noted that the opening 144 is located on one side wall of the fixing part. The fixing part 1104 is a single-sided slot structure. Compared with the non-single-sided slot structure, this structure can ensure that the positioning surfaces of the first reflector 151, the beam splitting unit 152, the lens unit 153, and the second reflector 154 are all processed in one go, which optimizes the processing, improves the processing accuracy, and reduces the production cost. At the same time, this structure only requires a single clamping in the assembly process of optical devices, which optimizes the assembly positioning accuracy and assembly operation.

[0100] Figure 5 This is a first-view structural schematic diagram of the support portion according to an embodiment of the present invention. Accordingly, the opening 144 includes: a bottom mirror mounting portion 1441 for mounting the first reflector 151; a beam splitting unit mounting portion 1442 located above the bottom mirror mounting portion 1441 for mounting the beam splitting unit 152; a lens mounting portion 1443 located above the beam splitting unit mounting portion 1442 for mounting the lens unit 153; and a top mirror mounting portion 1444 located above the lens mounting portion 1443 for mounting the second reflector 154. The bottom mirror mounting portion 1441, the beam splitting unit mounting portion 1442, the lens mounting portion 1443, and the top mirror mounting portion 1444 are connected along the extending direction of the fixing portion 1104.

[0101] Specifically, the bottom mirror mounting part 1441 includes: an inclined gradient stage 14411 and a blocking part 14412 located at the bottom of the gradient stage 14411; the side wall of the bottom mirror mounting part 1441 is in contact with the first partition wall 1102; the first reflector 151 is located on the gradient stage 14411.

[0102] In this embodiment, positioning grooves (not shown in the figure) are provided in the bottom mirror mounting part 1441, the beam splitting unit mounting part 1442, the lens mounting part 1443, and the top mirror mounting part 1444. The positioning grooves are used to apply adhesive to fix the optical assembly 150 (including the first reflector 151, the beam splitting unit 152, the lens unit 153, and the second reflector 154). The positioning grooves are rounded to avoid damage to the optical assembly 150 during installation or removal, making the optical assembly easier to install.

[0103] It should be noted that the fixing part 1104 further includes a fixing part emission hole 142, which penetrates the sidewall of the opening 144 along the second direction y, connecting the opening 144 with the emission light passage hole 11021. Specifically, the fixing emission hole aligns the emission light passage hole 11021 with the polarizing beam splitter, so that the detection beam provided by the emission unit 120 can be reflected by the polarizing beam splitter after passing through the emission light passage hole 11021 and the fixing part emission hole 142.

[0104] The fixed part 1104 further comprises a fixed part receiving hole 143 penetrating the sidewall of the opening 144 along the second direction y, and the opening 144 is in communication with the receiving light through hole 11022. Specifically, the fixed part receiving hole 143 corresponds to the second reflecting mirror 154, so that the echo light beam is reflected by the second reflecting mirror 154, passes through the fixed part receiving hole 143 and the receiving light through hole 11022, and is received by the receiving unit 130.

[0105] The laser transceiver assembly 100 further comprises a light shielding unit 180 (as shown) arranged on the fixed part 1104, and used for shielding the opening 144. Figure 2 The light shielding unit 180 is used for better closing the opening 144, so as to avoid the interference of external stray light on the probe light beam and the echo light beam in the opening 144. In addition, usually the number of laser transceiver assemblies in the laser radar is multiple, and the light shielding unit 180 is also used for avoiding the light interference between the multiple laser transceiver assemblies 100.

[0106] In the embodiment, the light shielding unit 180 comprises a light shielding block, and the light shielding block is fixed on the fixed part 1104 by a screw.

[0107] It should be further noted that, in the second direction y, the bottom of the first partition wall 1102 is farther away from the light-transmitting part 141 than the top of the first partition wall 1102. Correspondingly, in the second direction y, the size of the top of the light shielding block is smaller than the size of the bottom of the light shielding block, so that the top of the light shielding block can be attached to the top of the first partition wall 1102, and the bottom of the light shielding block is attached to the bottom of the first partition wall 1102.

[0108] The embodiment of the present application provides a laser radar, referring to , a structural schematic diagram of the laser radar is shown.

[0109] Figures 6 to 8 The laser radar comprises the laser transceiver assembly 100, the laser transceiver assembly 100 is used for emitting a probe light beam and receiving an echo light beam; a scanning module 300 is used for spatial scanning by using the probe light beam and the echo light beam; and an optical mechanical module 200 is used for transmitting the probe light beam to the scanning module 300 and transmitting the echo light beam to the laser transceiver assembly 100.

[0110] The laser radar comprises the laser transceiver assembly 100, the laser transceiver assembly 100 is used for emitting a probe light beam and receiving an echo light beam; a scanning module 300 is used for spatial scanning by using the probe light beam and the echo light beam; and an optical mechanical module 200 is used for transmitting the probe light beam to the scanning module 300 and transmitting the echo light beam to the laser transceiver assembly 100.

[0111] The laser transceiver assembly 100, the optical-mechanical module 200 and the scanning module 300 provided by the embodiment of the present application are used to realize different functions, the components with different functions are modularly arranged in the embodiment of the present application, which is beneficial to the assembly, debugging and mass production of the laser radar, reduces the cost of the laser radar, and because the different components of the laser radar are modularly arranged, the spatial structure of the laser radar is reasonable, the modules are more compact and have higher integration, which is beneficial to miniaturization of the laser radar; in addition, when the laser radar fails, the failed module can be replaced, which can reduce the maintenance difficulty and improve the maintenance efficiency.

[0112] When the laser radar works, the detection beam provided by the laser transceiver assembly 100 is transmitted to the scanning module 300 through the optical-mechanical module 200 for irradiation, the scanning module 300 changes the direction of the detection beam, and the detection beam is irradiated to the three-dimensional space for scanning; the detection beam forms a return beam after being reflected by the object in the three-dimensional space, and the return beam is irradiated to the scanning module 300, and the scanning module 300 transmits the return beam to the laser transceiver assembly, and then the laser transceiver assembly receives the return beam.

[0113] In the embodiment, the laser transceiver assembly 100 includes a support part and a transmitting unit and a receiving unit located on the support part, and the support part is installed with an optical assembly. The transmitting unit provides a detection beam, the receiving unit provides a return beam, and the optical assembly is used to transmit the detection beam and the return beam.

[0114] It should be noted that the number of the laser transceiver assembly 100 is multiple, and multiple laser transceiver assemblies can expand the scanning range of the laser radar, thereby expanding the field of view range of the laser radar. As an example, three laser transceiver assemblies 100 are shown in the figure. In other embodiments, the number of the laser transceiver assemblies can also be two or more than three.

[0115] In the embodiment, the bases of the multiple laser transceiver assemblies are located in the same plane, so that the detection beams provided by the transmitting units of the multiple laser transceiver assemblies 100 and the return beams received by the receiving units are located in the same plane.

[0116] In the embodiment, the optical-mechanical module 200 includes an optical-mechanical support part 201 for transmitting the detection beam and the return beam and supporting the scanning module 300, and a reflecting part 202 for reflecting the detection beam to the scanning module 300 and reflecting the return beam to the optical-mechanical support part 201.

[0117] When the laser radar is working, the optical-mechanical module 200 is configured to optically shape the probe light beam so that the probe light beam is irradiated to the scanning module 300; and the optical-mechanical module 200 can also be configured to optically shape the echo light beam so that the echo light beam can pass through the light-transmitting part of the laser transceiver assembly 100.

[0118] The optical-mechanical support part 201 is configured to collimate the probe light beam and irradiate the probe light beam to the reflecting part 202; and the optical-mechanical support part 201 is configured to converge the echo light beam reflected by the reflecting part 202 and return the echo light beam to the laser transceiver assembly 100.

[0119] Specifically, the optical-mechanical support part 201 comprises: a plurality of optical channels (not shown in the figure) arranged along the transmission paths of the probe light beam and the echo light beam; and a plurality of optical units (not shown in the figure) arranged in the optical channels correspondingly.

[0120] The optical channels provide mounting spaces for the optical units, and the plurality of optical channels are separated and isolated from each other, so that, when the laser radar is working, the probe light beam or the echo light beam in one optical channel can not affect the probe light beam or the echo light beam in another optical channel, which is conducive to improving the performance of the laser radar.

[0121] It should be noted that the optical-mechanical support part 201 comprises a frame, the frame comprises a bottom plate (not shown in the figure) and a top plate 2011 spaced apart in the vertical direction z, and a side plate 2012 located between the bottom plate and the top plate, so that the front end and the rear end of the frame are communicated.

[0122] The optical-mechanical support part 201 further comprises a plurality of partition plates (not shown in the figure) spaced apart between the side plates 2012, and the bottom plate (not shown in the figure), the top plate 2011, the side plates 2012 and the partition plates enclose the optical channels, or the bottom plate, the top plate 2011 and the partition plates enclose the optical channels, and the extension direction of the optical channels passes through the front end and the rear end of the frame.

[0123] The optical units are configured to optically shape the probe light beam and the echo light beam to improve the energy density of the transmission light beam, thereby improving the strength of the signal acquired by the receiving unit 130.

[0124] The reflecting part 202 is configured to reflect the probe light beam collimated by the optical-mechanical support part 201 to the scanning module 300, and the reflecting part 202 is configured to reflect the echo light beam scanned by the scanning module 300 to the optical-mechanical support part 201.

[0125] In this embodiment, the reflecting part 202 is configured to reflect the probe light beam passing through the optical-mechanical support part 201, or to reflect the echo light beam passing through the scanning module 300.

[0126] In the embodiment, the optical engine module 200 further comprises optical engine mounting portions 2015 located at the side of the optical engine support portion 201. The reflecting portion 202 has reflecting portion mounting portions 2022 located between the optical engine mounting portions 2015.

[0127] The reflecting portion mounting portions 2022 are located between the optical engine mounting portions 2015, which is beneficial to optimize the spatial structure of the optical engine module 200 and improve the structural compactness of the optical engine module 200.

[0128] It should be further noted that a plurality of the laser transceiver assemblies 100 are arranged side by side and spaced apart on the side of the optical engine support portion 201 away from the reflecting portion 202.

[0129] The probe light beam and the echo light beam can pass through the optical shaping of the optical unit in the optical engine support portion 201.

[0130] The scanning module 300 comprises a fixed support portion 301 fixedly arranged on the top of the optical engine support portion 201, and a galvanometer unit 302 located on the fixed support portion 301.

[0131] The scanning module 300 changes the direction of the light beam, irradiates to the three-dimensional space, scans the three-dimensional space, and obtains a received light beam after the emission light beam is reflected by the object in the three-dimensional space, irradiates to the scanning module 300, and the scanning module 300 transmits the received light beam to the optical engine module 200.

[0132] In the embodiment, the fixed support portion 301 is fixedly arranged on the top of the optical engine support portion 201, so that the optical engine support portion 201 and the scanning module 300 are located on the same side of the reflecting portion 202, which is beneficial to reflect the probe light beam and the echo light beam by the reflecting portion 202 and transmit the probe light beam and the echo light beam between the optical engine support portion 201 and the scanning module 300.

[0133] Specifically, the fixed support portion 301 is located on the top of the top plate 2011 of the optical engine support portion 201, the fixed support portion 301 has a through hole, and the top plate 2011 has a corresponding threaded hole, and a screw is fixedly connected by penetrating the through hole of the fixed support portion 301 and the threaded hole on the top plate 2011.

[0134] The galvanometer unit 302 is used for reflecting the probe light beam transmitted by the optical engine module 200 to scan the three-dimensional space, and is also used for receiving the echo light beam provided by the three-dimensional space.

[0135] In the embodiment, the galvanometer unit 302 comprises a galvanometer 3021 and a galvanometer bracket 3022 located at the edge of the galvanometer, the galvanometer bracket 3022 is fixedly connected with the fixed support portion 301, and the galvanometer 3021 is used for reflecting the probe light beam and the echo light beam.

[0136] When the laser radar works, a plurality of probe beams emitted by the plurality of laser transceiver assemblies 100 pass through the corresponding optical channels, and after the probe beams are optically shaped by the optical units in the optical channels, the probe beams are reflected by the reflecting part 202 and are collectively irradiated on the center position of the galvanometer 3021;And the echo beams corresponding to the plurality of probe beams are also irradiated on the center position of the galvanometer 3021, and after the plurality of echo beams are reflected by the galvanometer 3021 and the reflecting part 202, the echo beams pass through each corresponding optical channel respectively, are optically shaped by the optical units in the optical channels, and are transmitted to the laser transceiver assemblies 100.

[0137] The galvanometer unit 302 further comprises a driving structure (not shown in the figure), an output end of the driving structure being connected with the galvanometer 3021, for driving the galvanometer 3021 to periodically rotate in the horizontal and vertical directions, so as to realize scanning. Specifically, the driving structure drives the galvanometer 3021 to periodically rotate and scan under the action of Lorentz magnetic force.

[0138] In the embodiment, the galvanometer unit 302 is obliquely arranged on the top of the fixed support part 301, for reflecting the probe beams and the echo beams by the galvanometer unit 302.

[0139] Specifically, the top of the fixed support part 301 has a connecting wall 3011, and the galvanometer unit 302 is obliquely arranged on the top of the fixed support part 301 through the connecting wall 3011, so that the galvanometer unit 302 faces the reflecting part 202, for transmitting the probe beams and the echo beams between the galvanometer unit 302 and the reflecting part 202.

[0140] Specifically, the connecting wall 3011 has a through hole, and the galvanometer support 3022 has a threaded hole, and a screw is fixedly connected with the threaded hole of the galvanometer support 3022 through the through hole of the connecting wall 3011.

[0141] The laser radar further comprises a mainboard module 400.

[0142] The mainboard module 400 is electrically connected with the laser transceiver assembly 100, and specifically, the mainboard module 400 is electrically connected with the transmitting unit 120 and the receiving unit 130, so that the mainboard module 400 can receive the electrical signal optoelectronically converted by the receiving unit and process the signal.

[0143] In this embodiment, the mainboard module 400 includes: a lower mainboard module 401 located on the side of the laser transceiver assembly 100 away from the optical mechanical module, the bottom of the lower mainboard module 401 includes a plurality of mainboard mounting portions 402, and the plurality of mainboard mounting portions 402 are staggered with the plurality of laser transceiver assemblies 100.

[0144] The staggered arrangement of the plurality of mainboard mounting portions 402 and the plurality of laser transceiver assemblies 100 is conducive to making full use of the space structure inside the laser radar and improving the compactness of the laser radar.

[0145] The mainboard module 400 further includes: an upper mainboard module 403 located on the top of the laser transceiver assembly 100 and the scanning module 300.

[0146] The upper mainboard module 403 and the lower mainboard module 401 are respectively located on the top and the back of the laser transceiver assembly 100 and the scanning module 300, which is conducive to heat dissipation of the mainboard module 400 and improves the working performance of the laser radar compared with the case of stacking the upper mainboard module 403 and the lower mainboard module 401.

[0147] The laser radar further includes: a shell 500 (as shown in Figure 7 The optical mechanical module 200, the scanning module 300, the plurality of laser transceiver assemblies 100, and the mainboard module 400 are located in the shell 500, the upper mainboard module 403 is connected to the top of the shell 500, and the lower mainboard module 401 is connected to the side wall of the shell 500.

[0148] Specifically, the laser transceiver assembly 100 is positioned by a pin with the bottom of the shell 500, the base 1101 in the laser transceiver assembly 100 has a base through hole, the bottom of the shell 500 has a threaded hole corresponding to the base through hole, and a screw penetrates through the base through hole to fixedly connect the laser transceiver assembly 100 and the shell 500.

[0149] As an example, the base through holes are dispersed on the base 1101 surrounded by the fixing portion and the first partition wall, and on the base 1101 exposed by the first partition wall and the second partition wall. The dispersed arrangement of the base through holes can improve the firmness of the combination of the laser transceiver assembly and the shell.

[0150] Specifically, the optical mechanical support portion 201 is positioned by a pin with the bottom of the shell 500, the mounting portion 2015 has a mounting portion through hole, the bottom of the shell 500 has a threaded hole corresponding to the mounting portion through hole, and a screw penetrates through the mounting portion through hole to fixedly connect the optical mechanical support portion 201 and the shell 500.

[0151] Specifically, the reflection part 202 is positioned by a pin with the bottom of the shell 500, the reflection part mounting part 2022 of the reflection part 202 has a reflection part through hole, the bottom of the shell 500 has a threaded hole corresponding to the reflection part through hole, and a screw is fixedly connected with the reflection part 202 and the shell 500 by penetrating the reflection part through hole.

[0152] Correspondingly, in the embodiment, the lower mainboard module 401 is fixed on the side wall of the shell 500 by a screw, and the upper mainboard module 403 is fixedly connected with the top of the shell 500 by a screw.

[0153] The laser transceiver assembly 100, the optical machine module 200 and the mainboard module 400 in the laser radar provided by the application are fixed in the shell 500, the scanning module 300 is fixedly connected with the optical machine support part 201 of the optical machine module 200, so that the scanning module 300 is relatively fixed with the shell 500, thereby the relative positions among the laser transceiver assembly 100, the optical machine module 200, the scanning module 300 and the mainboard module 400 are fixed, and in addition, the laser transceiver assembly 100, the optical machine module 200, the scanning module 300 and the mainboard module 400 are modularly installed in the shell 500, so that the spatial structure of the laser radar is reasonable, and the integration of the laser radar is improved.

[0154] Although the embodiments of the application are disclosed as above, the application is not limited to this. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the application, therefore the protection scope of the application should be subject to the scope defined by the claims.

Claims

1. A laser transceiver assembly for use in lidar, characterized in that, include: Support unit, transmitting unit, receiving unit, and optical components; The transmitting unit and the receiving unit are located on the support. The transmitting unit is used to transmit a detection beam, and the receiving unit is used to receive an echo beam. The side of the support has an opening, the orientation of which is different from the transmission paths of the probe beam and the echo beam; The optical component, located in the opening, is used to transmit the detection beam and the echo beam; The support includes: a base; a first partition wall located on the base and extending along a first direction; and a second partition wall located on the base and extending along a second direction, the second partition wall being connected to the first partition wall. The first partition wall includes: a light-emitting aperture lower than the top of the second partition wall for allowing the detection beam to pass through; and a light-receiving aperture higher than the top of the second partition wall for allowing the echo beam to pass through. The transmitting unit is disposed on the second partition wall, and the receiving unit is disposed on the first partition wall, so that the receiving unit receives the echo beam through the receiving optical aperture.

2. The laser transceiver assembly as described in claim 1, characterized in that, The support portion also includes: A fixing part, located on the base, is used to fix the optical component.

3. The laser transceiver assembly as described in claim 1, characterized in that, The detection beam provided by the transmitting unit passes through the transmitting light aperture.

4. The laser transceiver assembly as described in claim 2, characterized in that, The fixing part is connected to the first partition wall, and the fixing part and the second partition wall are located on both sides of the first partition wall.

5. The laser transceiver assembly as described in claim 2, characterized in that, The opening is located on the side wall adjacent to the fixing part and the first partition wall.

6. The laser transceiver assembly as described in claim 2, characterized in that, The fixing part also includes: The light-transmitting part is connected to the opening and is used to allow the detection beam and the echo beam to pass through.

7. The laser transceiver assembly as described in claim 6, characterized in that, In the second direction, the bottom of the first partition wall is farther away from the light-transmitting portion than the top of the first partition wall.

8. The laser transceiver assembly as described in claim 2, characterized in that, The optical components include a reflection unit, a beam splitting unit, and a lens unit disposed in the extending direction of the fixed part.

9. The laser transceiver assembly as described in claim 2, characterized in that, The receiving unit includes: A receiving support is disposed on the side of the first partition wall away from the fixing part and located at the top of the second partition wall; The receiving board includes multiple optical receiving units and is disposed on the receiving support.

10. The laser transceiver assembly as described in claim 1, characterized in that, The transmitting unit includes: The transmitting support is disposed on the second partition wall and close to the transmitting light aperture; The emitting plate, including multiple light emitting units, is disposed on the emitting support.

11. The laser transceiver assembly as described in claim 10, characterized in that, The laser transceiver assembly further includes a waveplate unit for changing the polarization state of the probe beam.

12. The laser transceiver assembly as described in claim 11, characterized in that, The laser transceiver assembly further includes a beam shaping unit located between the transmitting unit and the waveplate unit.

13. The laser transceiver assembly as described in claim 2, characterized in that, The laser transceiver assembly also includes: A light-shielding unit is disposed on the fixing part and is used to block the opening.

14. A lidar, characterized in that, include: The plurality of laser transceivers as claimed in any one of claims 1 to 13, wherein the laser transceivers are configured to transmit a probe beam and receive an echo beam; The scanning module is used to perform spatial scanning using the probe beam and the echo beam; An optomechanical module is used to transmit the probe beam to the scanning module and the echo beam to the laser transceiver assembly.

15. The lidar as described in claim 14, characterized in that, The optomechanical module includes: An optomechanical support unit is used to transmit the probe beam and the echo beam, and to support the scanning module; The reflector is used to reflect the probe beam to the scanning module and the echo beam to the optomechanical support.

16. The lidar as described in claim 15, characterized in that, Multiple laser transceiver components are arranged side by side and spaced apart on the side of the optomechanical support that is away from the reflector.

17. The lidar as described in claim 15, characterized in that, The optomechanical support unit includes: Multiple optical channels are arranged along the transmission paths of the probe beam and the echo beam; Multiple optical units are respectively arranged in each of the optical channels.

18. The lidar as described in claim 15, characterized in that, The optomechanical module also includes: The optical engine mounting section is located on the side of the optical engine support section; The reflective part has a reflective part mounting part, which is located between the optomechanical mounting parts.

19. The lidar as described in claim 15, characterized in that, The scanning module includes: A fixed support is fixed to the top of the optomechanical support; The galvanometer unit is located on the fixed support.

20. The lidar as described in claim 19, characterized in that, The galvanometer unit is tilted and disposed on the top of the fixed support, so that the probe beam and the echo beam are reflected by the galvanometer unit.

21. The lidar as described in claim 14, characterized in that, The lidar also includes: The motherboard module includes: a lower motherboard module located on the side of the laser transceiver assembly away from the optical engine module, the lower motherboard module including multiple motherboard mounting parts, the multiple motherboard mounting parts being staggered with the multiple laser transceiver assemblies; and an upper motherboard module located on top of the laser transceiver assembly and the scanning module.

22. The lidar as described in claim 21, characterized in that, The lidar also includes a housing, in which the optomechanical module, scanning module, multiple laser transceiver components and mainboard module are located, the upper mainboard module is connected to the top of the housing, and the lower mainboard module is connected to the side wall of the housing.

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