A lidar system

Abstract

This invention provides a lidar system, including at least one transceiver module for transmitting a detection light signal and receiving an echo signal reflected by a target; at least one scanning module for reflecting pulsed laser beams emitted by multiple transceiver modules into three-dimensional space and for reflecting the echo signal back to a corresponding transceiver module; the at least one scanning module is located on one side of the at least one transceiver module, and the transceiver module includes a transmitting module having multiple spaced-apart first light sources, which sequentially emit pulsed laser beams according to a preset timing sequence. Each transmitting module of this lidar system includes multiple light sources spaced apart in the vertical direction, effectively improving the scanning trajectory line density of the vertical field of view, and the time-division multiplexing of the multiple light sources effectively reduces interference in the receiving optical path.

Description

Technical Field

[0001] This invention relates to the field of environmental sensing technology, and in particular to a lidar system. Background Technology

[0002] In autonomous driving technology, the environmental perception system is a fundamental and crucial component, ensuring the safety and intelligence of autonomous vehicles. Among environmental perception sensors, LiDAR has unparalleled advantages in terms of reliability, detection range, and ranging accuracy.

[0003] As a crucial sensor for perceiving surrounding information, the field of view and scanning accuracy are critical parameters for automotive LiDAR. For the vertical field of view, a higher density of vertical scanning lines results in higher scanning resolution, richer information, and greater benefits for autonomous driving decisions. For LiDAR systems employing scanning methods such as galvanometers, the density of vertical scanning lines is limited by the vibration frequency of the scanning device. While reducing the slow-axis vibration frequency can improve scanning resolution, this frequency is related to the frame rate, and LiDAR systems have a minimum frame rate requirement; therefore, the slow-axis vibration frequency also has a lower limit. For the horizontal field of view, current technologies typically expand the field of view by placing an optical lens in front of the scanning device or by stitching together the fields of view acquired by multiple LiDAR systems. Expanding the field of view with a front-mounted lens requires a complex lens assembly, and while expanding the field of view, it proportionally reduces the effective aperture, thus decreasing the LiDAR system's range-finding capability. Furthermore, stitching together multiple LiDAR systems significantly increases the overall cost.

[0004] Furthermore, lidar needs to meet performance requirements such as small size, high reliability, high imaging frame rate, high resolution, and long ranging. Many components within a lidar system, such as the light source, detector, integrated circuit board, and leads, require rational structural design to reduce size without compromising other performance indicators. However, existing lidar systems struggle to balance small size with multiple performance parameters. How to rationally arrange the internal space of a lidar system, improving space utilization, making its structure more compact, and enhancing heat dissipation performance while meeting specific optical path design requirements remain areas that urgently need improvement. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention discloses a lidar system, comprising:

[0006] At least one transceiver module is used to transmit a pulsed laser beam and receive the echo signal of the pulsed laser beam after it is reflected by the target under test.

[0007] At least one scanning module is used to reflect the pulsed laser beam emitted by the at least one transceiver module into three-dimensional space, and to reflect the echo signal to the corresponding transceiver module;

[0008] Each of the transceiver modules includes a transmitting module, the transmitting module having a plurality of first light sources spaced apart.

[0009] Furthermore, the lidar system has m transceiver modules, where m ≥ 2 and m is a positive integer. The m transceiver modules have m corresponding transmitting modules. Each transmitting module has n first light sources, where n ≥ 2 and n is a positive integer. The n first light sources of each transmitting module emit pulsed laser beams sequentially according to a preset timing sequence.

[0010] Furthermore, the m emission modules corresponding to each other form n light source emission groups, each light source emission group containing m first light sources, and the n light source emission groups also emit pulsed laser beams according to the preset timing sequence.

[0011] Furthermore, the scanning module reflects the pulsed laser beam emitted by the first light source into three-dimensional space by oscillation, thereby achieving raster-style scanning and obtaining a two-dimensional scanning trajectory line for each of the first light sources. Furthermore, the two-dimensional scanning trajectory line is a periodic curve.

[0012] Furthermore, for any two-dimensional scanning trajectory line, the starting point interval of the two-dimensional trajectory lines corresponding to adjacent cycles has a first offset.

[0013] Furthermore, the plurality of the first light sources are distributed at equal intervals in the first direction.

[0014] For any one of the transmitting modules, the starting positions of the two-dimensional scanning trajectory lines of the adjacent first light source are spaced by a second offset.

[0015] Furthermore, the second offset is greater than zero, and the second offset is not equal to the first offset.

[0016] Furthermore, each scanning module corresponds to at least one transceiver module, and multiple transceiver modules and the scanning module correspondingly form multiple first optical paths and multiple second optical paths.

[0017] Furthermore, the transceiver module also includes an optical transmission module and a detection module. For any one of the transceiver modules, the transmitting module and the optical transmission module are arranged sequentially along the first optical path, and the optical transmission module and the detection module are arranged sequentially along the second optical path.

[0018] For any one of the first optical paths, the transmitting module, the optical transmission module, and the scanning module are arranged sequentially along the first optical path. The transmitting module is used to emit a pulsed laser beam, the optical transmission module is used to transmit the pulsed laser beam emitted by the transmitting module to the scanning module, and the scanning module is used to reflect the pulsed laser beam transmitted by the optical transmission module into three-dimensional space.

[0019] For any one of the second optical paths, the scanning module, the optical transmission module, and the detection module are arranged sequentially along the second optical path. The scanning module is used to reflect the echo signal to the optical transmission module, the optical transmission module is used to transmit the echo signal to the detection module, and the detection module is used to receive and process the echo signal transmitted by the optical transmission module.

[0020] Furthermore, the optical transmission module includes a support unit and multiple transmission sub-modules.

[0021] The supporting unit is used to support the transmission submodule, and the supporting unit has multiple optical channels.

[0022] Multiple transmission submodules are arranged sequentially along the optical channel for transmitting light beams according to a preset optical path.

[0023] Furthermore, the supporting units of the multiple transceiver modules are connected to each other to form a support body.

[0024] Furthermore, the emission module includes a laser emission plate and a fixing member. The laser emission plate is connected to the fixing member through a connector. The plurality of first light sources are disposed on the laser emission plate, and the fixing member is connected to the support body.

[0025] Furthermore, the detection module includes a receiving mounting bracket and a receiving circuit board. The receiving mounting bracket is disposed on the fixing member, and the receiving mounting bracket is provided with a mounting part for mounting and fixing the receiving circuit board. The receiving circuit board is connected to the mounting part.

[0026] The receiving circuit board is provided with a plurality of detectors, the same number as the plurality of first light sources provided on the laser emitting board, and the plurality of detectors are distributed at equal intervals in a first direction.

[0027] By adopting the above technical solution, the lidar system of the present invention has the following beneficial effects:

[0028] 1) In this invention, multiple transceiver modules are arranged horizontally side by side, with adjacent transceiver modules spaced apart by a first preset distance. Each transceiver module has at least one first light source for emitting a pulsed laser beam. Each transceiver module is used to detect a sub-scanning field of view. Multiple sub-scanning fields of view are stitched together to form the total field of view of the lidar system. The horizontal arrangement of multiple sub-scanning fields of view enables the stitching of a large field of view, thereby increasing the scanning field of view of the entire lidar system. Furthermore, the field of view expansion method of this invention can maximize the effective use of the receiving aperture of the scanning module and ensure the long-range measurement capability of the lidar system.

[0029] 2) Each of the transmitting modules includes multiple light sources arranged at intervals in the vertical direction, which effectively improves the scanning trajectory line density of the vertical field of view. Furthermore, the multi-light source of the present invention adopts time-division interval transmission, which effectively reduces the interference of the receiving optical path.

[0030] 3) The optical transmission module of the present invention is conducive to the integration of lidar system. The reasonable arrangement of multiple optical channels in a support unit can improve the internal space utilization of the support unit and reduce the volume of lidar system.

[0031] 4) The optical path of the lidar system is partially coaxial, which can effectively reduce the size of the supporting unit and facilitate the miniaturization and integration of the lidar system.

[0032] 5) This invention measures the rotation angle of the movable part of the scanning unit through an angle measuring unit. Specifically, a PSD position sensor can be used to obtain the spatial coordinates of the movable part by measuring the displacement, thereby reducing the computational load of the chip.

[0033] 6) The lidar system of the present invention encapsulates the angle measuring unit and the scanning unit into an independent integrated scanning module, which can be pre-assembled and adjusted, making it convenient to install and use in the lidar system. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a block diagram of a lidar system according to an embodiment of the present invention;

[0036] Figure 2 This is a block diagram of a lidar system according to an embodiment of the present invention;

[0037] Figure 3 This is a system schematic diagram of one embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of a laser radar system transmitting module according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the optical path layout of a single transceiver module and scanning module according to an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the scanning trajectories of a single light source and multiple light sources according to an embodiment of the present invention;

[0041] Figure 7 This is a cross-sectional view of an optical transmission module according to an embodiment of the present invention;

[0042] Figure 8 This is a cross-sectional view of an optical transmission module according to another embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of a support unit according to an embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram of a support unit according to another embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram of a support body according to an embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of a support body according to another embodiment of the present invention;

[0047] Figure 13 This is a schematic diagram of an overall lidar system according to an embodiment of the present invention;

[0048] Figure 14 This is a perspective view of a lidar system (without housing) according to an embodiment of the present invention;

[0049] Figure 15 This is a three-dimensional schematic diagram of a transceiver module according to an embodiment of the present invention;

[0050] Figure 16 This is a cross-sectional view of a transceiver module according to an embodiment of the present invention.

[0051] Figure 17 This is a schematic diagram of a receiving and adjusting bracket according to an embodiment of the present invention;

[0052] Figure 18 This is a schematic diagram of a detection module according to an embodiment of the present invention;

[0053] Figure 19 This is a schematic diagram of a receiving and adjusting bracket according to an embodiment of the present invention;

[0054] Figure 20 This is a perspective view of a scanning module according to an embodiment of the present invention;

[0055] Figure 21 for Figure 20 The main view;

[0056] Figure 22 for Figure 21 Cross-sectional view along the AA direction;

[0057] Figure 23 This is a schematic diagram of a scanning substrate according to an embodiment of the present invention;

[0058] Figure 24 This is a schematic diagram of an angle measuring unit according to an embodiment of the present invention;

[0059] Figure 25 This is a schematic diagram of an angle measuring unit according to another embodiment of the present invention;

[0060] Figure 26 This is a schematic diagram showing the assembly relationship of a heat sink, a control circuit board, and a transceiver module according to an embodiment of the present invention.

[0061] The following is supplementary explanation of the attached figures:

[0062] 1-Transceiver module; 11-Transmitter module; 111-First light source; 112-Light source emission group; 113-Laser emitting plate; 114-Fixing component;

[0063] 12-Optical transmission module; 120-Support unit; 1201-First surface; 1202-Second surface; 120a-First sub-unit; 120b-Second sub-unit; 121-First optical channel; 122-Second optical channel; 123-Third optical channel; 124-Collimation unit; 125-Reflection unit; 126-Brightness splitting unit; 127-Deflection unit; 128-Convergence unit; 1281-Filter sub-unit; 1282-Convergence sub-unit; 1283-First extinction component; 129-Support body; 129a-First optical support; 129b-Second optical support;

[0064] 13-Detection module; 131-Receiver mounting bracket; 1311-First mounting part; 132-Receiver circuit board; 133-Detector; 134-Receiver mounting bracket; 1341-Support arm; 135-Light shield;

[0065] 2-Scanning module; 21-Scanning unit; 210-Scanning substrate; 211-Modible part; 211a-Third surface; 211b-Fourth surface; 212-Drive module; 22-Angle measuring unit; 220-Second light source; 221-Receiver assembly; 2211-Filter; 2212-Adapter plate; 2213-Position sensor; 222-Light source fixing component; 223-Receiver fixing frame; 224-Angle measuring bracket; 2241-Second mounting part; 225-Second extinction component; 23-Encapsulation shell; 24-Sealing plate;

[0066] 3-Control module; 31-Control circuit board;

[0067] 4-Optical cover plate;

[0068] 5-Housing shell; 51-First housing shell; 511-First side plate; 512-First bottom plate; 52-Second housing shell; 53-First accommodating cavity;

[0069] 6-Encapsulation bracket; 7-Front window; 8-Heat sink; 9-Adapter block; 10-Waterproof base plate. Detailed Implementation

[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0071] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. In the description of the invention, it should be understood that the terms "upper," "lower," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0072] This invention provides a lidar system, including multiple transceiver modules 1, for transmitting pulsed laser beams and receiving echo signals of the pulsed laser beams after they are reflected by a target.

[0073] Multiple transceiver modules 1 are arranged horizontally side by side, with adjacent transceiver modules 1 spaced apart by a first preset distance. Each transceiver module 1 has at least one first light source 111 for emitting a pulsed laser beam. Each transceiver module 1 corresponds to detecting a sub-scanning field of view. Multiple sub-scanning fields of view are stitched together to form the total field of view of the lidar system.

[0074] In some embodiments, such as Figure 3 As shown, the transceiver module 1 includes a transmitting module 11, an optical transmission module 12, and a detection module 13. For any one of the transceiver modules 1, the transmitting module 11 and the optical transmission module 12 are arranged sequentially along a first optical path, and the optical transmission module 12 and the detection module 13 are arranged sequentially along a second optical path.

[0075] In some embodiments, each of the transmitting modules 11 has at least one first light source 111 for emitting a pulsed laser beam. The first light source 111 may be a laser, and different types of lasers are suitable for generating laser beams of different wavelengths.

[0076] In some embodiments, the lidar system has m transceiver modules 1, where m ≥ 2 and m is a positive integer, the m transceiver modules 1 have m corresponding transmitting modules 11, each transmitting module 11 has n first light sources 111, where n ≥ 2 and n is a positive integer, and the n first light sources 111 of each transmitting module 11 sequentially emit pulsed laser beams according to a preset timing sequence;

[0077] The m emission modules 11, corresponding to each other, form n light source emission groups 112. Each light source emission group 112 contains m first light sources 111. The n light source emission groups 112 emit pulsed laser beams sequentially according to the preset timing sequence. For example, when n is 3 and m is 4, such as... Figure 4 As shown, the lidar system has four transceiver modules 1, and the four transceiver modules 1 have four corresponding transmitting modules 11. Each transmitting module 11 has three first light sources 111, and the three first light sources 111 of each transmitting module 11 emit pulsed laser beams at intervals according to a preset timing sequence.

[0078] The first light sources 111 of the four emission modules 11 correspond to form three light source emission groups 112. Each light source emission group 112 has four first light sources 111. The three light source emission groups 112 also satisfy the requirement of emitting pulsed laser beams at intervals according to the preset timing sequence.

[0079] More specifically, each transmitting module 11 has n first light sources 111 that emit pulsed laser beams sequentially according to a preset timing sequence. This can mean that each first light source 111 (1, 2, ..., n) emits pulsed laser beams sequentially, i.e., only one first light source 111 emits light at a time. Alternatively, the n first light sources 111 can be divided into two groups at intervals, such as the 1st, 3rd, 5th, ... first light sources 111 forming the first group, and the 2nd, 4th, 6th, ... first light sources 111 forming the second group, with each group of first light sources 111 emitting pulsed laser beams sequentially according to a preset timing sequence. And so on, the n first light sources 111 can be divided into even more groups at intervals.

[0080] The n first light sources 111 of each transmitting module 11 emit pulsed laser beams sequentially according to a preset timing sequence, which can prevent mutual interference between the echo signals of different first light sources 111. However, the present invention is not limited to the above-mentioned emission form; the n first light sources 111 of each transmitting module 11 can also emit pulsed laser beams simultaneously.

[0081] In some embodiments, combined with Figure 1 , Figure 2 As shown in the figure, the lidar system further includes at least one scanning module 2, which is used to reflect the pulsed laser beams emitted by the plurality of transceiver modules 1 into three-dimensional space, and to reflect the echo signal to the corresponding transceiver module 1;

[0082] The scanning module 2 is located on one side of the plurality of transceiver modules 1, and the emission surfaces of the plurality of transceiver modules 1 are all facing the at least one scanning module 2. One scanning module 2 corresponds to at least one transceiver module 1, and the plurality of transceiver modules 1 and the scanning module 2 form a plurality of first optical paths and a plurality of second optical paths respectively.

[0083] In possible implementations, such as Figure 1 and Figure 14As shown, the lidar system may include four transceiver modules 1 and one scanning module 2. The scanning module 2 is located above the four transceiver modules 1, and the emission surfaces of the four transceiver modules 1 all face the same scanning module 2. Each transceiver module 1 corresponds to detecting a sub-scanning field of view. The four sub-scanning fields of view are arranged in parallel horizontally. By stitching the fields of view, the horizontal field of view is expanded while achieving a relatively compact optical structure. For example, if each transceiver module 1 ensures a horizontal scanning angle of 30 degrees, the total horizontal field of view of the lidar system after stitching can reach 120 degrees. Similarly, if each transceiver module 1 ensures a horizontal scanning angle of 15 degrees, the total horizontal field of view of the lidar system after stitching can reach 60 degrees.

[0084] In possible implementations, such as Figure 2 As shown, the lidar system may also include eight transceiver modules 1 and two scanning modules 2. The scanning modules 2 are located in the upper space of the transceiver modules 1, wherein the emission surfaces of four adjacent transceiver modules 1 all face the same scanning module 2, and the emission surfaces of the other four adjacent transceiver modules 1 all face the other scanning module 2. Each transceiver module 1 corresponds to detecting a sub-scanning field of view. The eight sub-scanning fields of view are arranged in parallel laterally, which can achieve a larger total field of view of the lidar system. It should be noted that in other embodiments, the number of transceiver modules 1 is not limited to four or eight, but may also be two, three, five, or six, etc., and the number of scanning modules 2 is not limited to one or two, but may also be more.

[0085] In some embodiments, the first optical path can be a transmitting optical path, and the second optical path can be a receiving optical path, combined with Figure 3 and Figure 5 As shown, in the first optical path, for any one of the first optical paths, the transmitting module 11, the optical transmission module 12, and the scanning module 2 are arranged sequentially along the first optical path. The transmitting module 11 is used to emit a pulsed laser beam, the optical transmission module 12 is used to transmit the pulsed laser beam emitted by the transmitting module 11 to the scanning module 2, and the scanning module 2 is used to reflect the pulsed laser beam transmitted by the optical transmission module 12 into three-dimensional space.

[0086] For any one of the second optical paths, the scanning module 2, the optical transmission module 12, and the detection module 13 are arranged sequentially along the second optical path. The scanning module 2 is used to reflect the echo signal to the optical transmission module 12, the optical transmission module 12 is used to transmit the echo signal to the detection module 13, and the detection module 13 is used to receive and process the echo signal transmitted by the optical transmission module 12.

[0087] In some embodiments, the scanning module 2 can be an electrostatic galvanometer, an electromagnetic galvanometer, a piezoelectric galvanometer, or an electrothermal galvanometer, etc. The scanning module 2 can also change the direction of its pulsed laser beam reflected into three-dimensional space by rotating or oscillating, thereby scanning a target in three-dimensional space. Specifically, the scanning module 2 may include a movable part 211 and a driving module 212, the driving module 212 being used to drive the movable part 211 to rotate or oscillate periodically. The movable part 211 achieves grating scanning through the superposition of fast-axis and slow-axis vibrations. For a single first light source 111, such as... Figure 6 As shown in (a), when the movable part 211 vibrates in the fast axis direction, it can achieve scanning of the light spot in the x-direction. When the movable part 211 vibrates in the slow axis direction, it can achieve scanning of the light spot in the y-direction. The superposition of the periodic movements of the fast and slow axes results in a two-dimensional scanning trajectory line of the light spot. That is, the two-dimensional scanning trajectory line is a periodic curve. After the movable part 211 completes one fast axis scanning cycle in the x-direction, the starting point of the next fast axis scanning cycle will be offset relative to the starting point of the previous fast axis scanning cycle on the y-axis, denoted as the first offset y. N For any given two-dimensional scanning trajectory line, the starting point interval of the two-dimensional trajectory lines corresponding to adjacent cycles is the first offset.

[0088] In some embodiments, a plurality of first light sources 111 are distributed at intervals along the vertical field of view of the lidar system. For any one of the transmitting modules 11, the starting positions of the two-dimensional scanning trajectory lines of adjacent first light sources 111 are spaced by a second offset. Preferably, the second offset is greater than zero and is not equal to the first offset. It should be noted that when the number of first light sources 111 of the transmitting module 11 is ≥3, the multiple second offsets formed by adjacent first light sources may be equal or unequal.

[0089] In possible implementations, such as Figure 5 and Figure 6 As shown, each of the transmitting modules 11 includes two first light sources 111 arranged vertically at intervals, namely first light source A and first light source B. Figure 6 As shown in (b), since the first light source A and the first light source B are spaced apart in the vertical direction, their scanning starting positions in the y-direction also correspond to the second offset amount, denoted as h. The scanning trajectories of the first light source A and the first light source B are respectively denoted as T. A and T B The first offsets of the first light source A and the first light source B are respectively y A and y B As a preferred embodiment, y A =y B h = yA / 2. It should be noted that in other embodiments, the number of first light sources 111 of the transmitting module 11 is not limited to one or two, and the number of first light sources 111 of the transmitting module 11 can be more. By reasonably setting the spacing between the first light sources 111, the number of scan lines in the y-direction can be increased, the scanning angle interval can be reduced, and the scanning resolution can be improved.

[0090] In a possible implementation, the lidar system has multiple transmitting modules 11 (1, 2, 3…N), and the multiple transmitting modules 11 have two corresponding light source emitting groups 112, denoted as light source emitting groups A (A1, A2, A3…A…N). N ) and light source emission group B (B1, B2, B3…B N After the first light source 111 of the light source emitting group A simultaneously emits laser light, the first light source 111 of the light source emitting group B then simultaneously emits laser light again after a preset time interval. For example:

[0091] At the first moment, the light source emitting group A simultaneously emits laser pulses. The laser beam is transmitted to the scanning module 2 via the optical transmission module 12 and reflected by the movable part 211 to the target object (or obstacle). The echo signal of the pulsed laser beam reflected by the target object (or obstacle) is incident by the movable part 211, passes through the optical transmission module 12, and is incident to the corresponding detection module 13.

[0092] At the second moment, light source emitting group B simultaneously emits laser pulses, with its beam emission and reception paths being the same as those of light source emitting group A. Light source emitting group B and light source emitting group A emit at preset intervals to avoid mutual interference between the light emitted by multiple first light sources during reflection and reception. The detection module 13 calculates the laser's flight time by recording the time difference between laser emission and the received echo signal, thereby obtaining the distance information of the object to be measured at that point.

[0093] In the next moment, the movable part 211 reflects the laser to the next point in space, and the detection module 13 obtains the distance information of this point. By coordinating the rotation of the movable part 211, this measurement process is repeated, thereby completing the scanning of space and obtaining point cloud information within the entire detection range.

[0094] It should be noted that, Figure 3 and Figure 5 The directions of the first and second optical paths are only for illustrative purposes to show the relative positions of each module in the optical path and the functions implemented by each module. They cannot be used to limit the actual positions of each module in the specific implementation process. The directions of the first and second optical paths can be appropriately changed according to specific embodiments.

[0095] In some embodiments, the optical transmission module 12 includes a support unit 120 and a plurality of transmission sub-modules. The support unit 120 is used to support the transmission sub-modules. The support unit 120 is provided with a plurality of optical channels suitable for light to pass through. The plurality of transmission sub-modules are arranged sequentially along the optical channels for transmitting light beams according to a preset optical path.

[0096] In some embodiments, such as Figure 7 and Figure 8 As shown, the optical channel includes a first optical channel 121, a second optical channel 122, and a third optical channel 123. The first optical channel 121 and the second optical channel 122 are spaced apart and arranged parallel to each other. The first optical channel 121 and the second optical channel 122 are respectively connected to the third optical channel 123, and the first optical channel 121 and the second optical channel 122 form a first preset angle with the third optical channel 123. The end of the first optical channel 121 and the third optical channel 123 that are connected corresponds to the end of the second optical channel 122 and the third optical channel 123 that are connected. In this embodiment, the first optical channel 121 and the second optical channel 122 are respectively connected to the third optical channel 123, which is beneficial to improving the internal space utilization of the support unit 120.

[0097] In some embodiments, such as Figure 7 As shown, the support unit 120 has a first surface 1201 and a second surface 1202. The first optical channel 121 and the second optical channel 122 respectively penetrate the first surface 1201 and the second surface 1202 of the support unit 120. A groove is formed on the second surface 1202 to form the third optical channel 123, and one end of the third optical channel 123 extends to the first surface 1201.

[0098] In possible implementations, such as Figure 8 As shown, the supporting unit 120 has a first surface 1201, and the first light channel 121, the second light channel 122 and the third light channel 123 are all open at one end. The open ends of the first light channel 121, the second light channel 122 and the third light channel 123 are all located on the first surface 1201.

[0099] In some embodiments, such as Figure 7 and Figure 8As shown, the transmission submodule includes a collimation unit 124, a reflection unit 125, and a beam splitting unit 126. The collimation unit 124 is disposed within the first optical channel 121 and is used to adjust the light beam into a parallel light beam. The reflection unit 125 is disposed at the connection between the first optical channel 121 and the third optical channel 123 and is used to reflect the parallel light beam adjusted by the collimation unit 124. The beam splitting unit 126 is disposed at the connection between the second optical channel 122 and the third optical channel 123 and is used to transmit the parallel light beam reflected by the reflection unit 125 and to reflect the echo signal.

[0100] In some embodiments, such as Figure 7 and Figure 8 As shown, the transmission submodule further includes a deflection unit 127 and a convergence unit 128. The reflection unit 125, the beam splitting unit 126, and the deflection unit 127 are located on the same axis. The deflection unit 127 is disposed in the third optical channel 123 at one end away from the reflection unit 125, and is used to deflect the parallel beam transmitted through the beam splitting unit 126, and to receive and deflect the echo signal of the parallel beam. The convergence unit 128 is disposed in the second optical channel 122, and is used to converge the echo signal reflected by the beam splitting unit 126 for the detection module 13 to receive.

[0101] Based on whether the optical axes of the transmitting and receiving optical paths are parallel or coincident, lidar systems can generally be divided into non-coaxial systems and coaxial systems. In some embodiments, combined with Figure 3 , Figure 5 , Figure 7 and Figure 8 As shown, a portion of the first optical path is parallel or coaxial with a portion of the second optical path. Specifically, the portion of the first optical path between the collimating unit 124 and the reflecting unit 125 is parallel to the portion of the second optical path between the converging unit 128 and the beam splitting unit 126, and the portion of the first optical path between the reflecting unit 125 and the target under test is coaxial with the portion of the second optical path between the target under test and the beam splitting unit 126.

[0102] In some embodiments, such as Figure 7 and Figure 8As shown, the collimation unit 124, the reflection unit 125, the beam splitting unit 126, the convergence unit 128, and the deflection unit 127 are respectively arranged at a predetermined angle relative to their corresponding optical channels. In a possible embodiment, the collimation unit 124 is arranged perpendicular to the first optical channel 121, the reflection unit 125 is arranged at a 60-degree angle to the first optical channel 121; the beam splitting unit 126 is arranged at a 60-degree angle to the second optical channel 122, the convergence unit 128 is arranged perpendicular to the second optical channel 122; and the deflection unit 127 is arranged perpendicular to the third optical channel 123.

[0103] In some embodiments, the collimating unit 124 may be a collimating lens, which may consist of one or a group (i.e., multiple) of lenses. The reflecting unit 125 may be a reflector with a high reflectivity, for example, the reflector surface may be coated with a reflective film to improve its reflectivity.

[0104] In some embodiments, the beam splitting unit 126 can be an aperture mirror, a semi-transparent mirror, a polarizing beam splitter, or a beam splitter with a coating. Specifically, the beam splitting unit 126 is an aperture mirror. In the first optical path, the parallel beam is transmitted through the aperture of the aperture mirror to the deflection unit 127. In the second optical path, the echo signal is transmitted through the deflection unit 127 to the reflective surface next to the aperture of the aperture mirror, and then reflected by the reflective surface around the aperture to the detection module 13.

[0105] In possible implementations, the deflection unit 127 can be a prism or a mirror with high reflectivity. Specifically, the deflection unit 127 is a wedge prism. The wedge prism has an incident side, an exit side, and a bottom surface. The angle between the incident side and the exit side is defined as the wedge angle, and the plane opposite the wedge angle is the bottom surface. The laser beam enters from the incident side of the wedge prism and exits from the exit side. The exit beam is deflected towards the bottom surface, and the magnitude of the deflection angle is related to the refractive index of the wedge prism, the apex angle of the prism, and the incident angle. The principal section of the wedge prism is a right triangle or a right trapezoid, and the incident side, exit side, and bottom surface are perpendicular to the principal section of the wedge prism. The wedge angle is related to the material of the wedge prism; different materials will result in different angles. Preferably, the wedge angle is between 20 and 60 degrees.

[0106] In some embodiments, the support unit 120 may also be provided with a plurality of mounting holes for fixing a plurality of optical transmission submodules to the support unit 120 by means of other devices.

[0107] In some embodiments, the support unit 120 can be a one-piece molded structure, such as... Figure 9 As shown, or, the supporting unit 120 may further include a first sub-unit 120a and a second sub-unit 120b, the first sub-unit 120a and the second sub-unit 120b being sequentially arranged along the first optical path, and the first sub-unit 120a and the second sub-unit 120b being connected, as shown. Figure 10 As shown. The adjacent support units 120 of the transceiver module 1 can be connected to each other to form a support body 129, as shown. Figure 12 As shown. In other embodiments, combined with Figure 10 and Figure 11 As shown, the supporting unit 120 may further include a first sub-unit 120a and a second sub-unit 120b. The first sub-unit 120a and the second sub-unit 120b are arranged sequentially along the first optical path. Adjacent first sub-units 120a are connected to each other to form a first optical bracket 129a. Similarly, adjacent second sub-units 120b are connected to each other to form a second optical bracket 129b. The first optical bracket 129a and the second optical bracket 129b are connected to each other to form a support body 129.

[0108] In some embodiments, such as Figure 14 As shown, the lidar system also includes an optical cover plate 4, which is mounted on the second surface 1202 of the plurality of support units 120. The sidewall of the third optical channel 123 has an open structure for mounting the optical transmission submodule, and the optical cover plate 4 partially or completely covers the open structure of the third optical channel. The optical cover plate 4 is made of an opaque material. The open structure of the sidewall of the third optical channel 123 corresponds to the groove formed by the third optical channel.

[0109] In some embodiments, such as Figure 15 and 16 As shown, the converging unit 128 includes a filtering subunit 1281 and a converging subunit 1282. The filtering subunit 1281 is disposed before the converging subunit 1282 along the second optical path. The filtering subunit 1281 is used to transmit the echo signal of the pulsed laser beam reflected by the beam splitting unit 126 and to filter out optical signals outside the preset wavelength range. The converging subunit 1282 is used to converge the echo signal of the pulsed laser beam transmitted by the filtering subunit.

[0110] In some embodiments, such as Figure 15 and 16As shown, the converging unit 128 further includes a first extinction component 1283, which is disposed between the converging subunit 1282 and the detection module 13. Specifically, the first extinction component 1283 can be a first extinction tube. The first extinction tube has a tapered structure, that is, the cross-sectional area of ​​the first extinction tube near the converging subunit 1282 is larger than the cross-sectional area of ​​the first extinction tube away from the converging subunit 1282. Specifically, the tapered structure can be a funnel-shaped structure, a cone-shaped structure, or a dipper-shaped structure, etc.

[0111] In some embodiments, the converging subunit 1282 may be a converging lens, which may consist of one or a group (i.e., multiple) of lenses. For example... Figure 16 As shown, a converging lens consists of two lenses.

[0112] In some embodiments, the emitting module includes a laser emitting plate 113 and a fixing member 114. The laser emitting plate 113 is connected to the fixing member 114 via a connector. A plurality of first light sources 111 are equally spaced on the laser emitting plate 113 in a first direction. The fixing member 114 is connected to the support body 129. The first direction can be the vertical direction or the direction perpendicular to the field of view of the lidar. More specifically, being equally spaced in the first direction can mean being equally spaced in a straight line in the first direction. It can also mean being staggered in a second direction perpendicular to the first direction, i.e., the horizontal direction, but the projected distance between them is equal in the first direction. Furthermore, the plurality of first light sources 111 can be arranged in a straight line parallel to the first direction, or in a straight line not parallel to the first direction, or in a two-dimensional array. In possible embodiments, the fixing member 114 can be integrally formed with the support body 129, or the fixing member 114 can be directly fixed to the inner bottom surface of the lidar system housing. Specifically, as shown... Figure 15 As shown, the fastener 114 has a cuboid structure.

[0113] In some embodiments, such as Figure 15 , Figure 17 and Figure 18 As shown, the detection module 13 includes a receiver mounting bracket 131 and a receiver circuit board 132. The receiver mounting bracket 131 is disposed on the fixing member 114. The receiver mounting bracket 131 is provided with a first mounting part 1311 for mounting and fixing the receiver circuit board 132. The receiver circuit board 132 is connected to the first mounting part 1311.

[0114] The receiving circuit board 132 is provided with at least one detector 133, which is disposed on the side of the receiving circuit board 132 facing the convergence unit 128 of the lidar system. Preferably, each receiving circuit board 132 is provided with a plurality of detectors 133, the number of which is equal to the number of first light sources disposed on the laser emitting board, and the plurality of detectors are equally spaced in a first direction, corresponding to the arrangement of the plurality of first light sources. Specifically, the detector 133 can be a PIN photoelectric sensor, an avalanche photodiode, or a Geiger-mode avalanche photodiode. In possible implementations, such as Figure 19 As shown, the multiple receiver mounting brackets 131 of the multiple detection modules 13 can also be connected to each other to form a receiver mounting bracket 134.

[0115] In some embodiments, the detection module 13 further includes a light shield 135, which is installed on the side of the receiving and adjusting bracket 134 away from the support body 129 via a connector, to prevent stray light from interfering with the echo signal of the pulsed laser beam received by the detector 133.

[0116] In some embodiments, the lidar system further includes a control module 3, such as Figure 3 As shown, the control module 3 is connected to the transmitting module 11, the scanning module 2 and the detection module 13 respectively, and is used to control the transmitting module 11 to generate and emit pulsed laser beams, control the scanning module 2 to rotate or swing, and control the detection module 13 to receive and process the echo signal of the pulsed laser beams.

[0117] In some embodiments, such as Figure 13 As shown, the lidar system also includes a housing 5 for accommodating the scanning module 2, the transceiver module 1, and the control module 3.

[0118] In some embodiments, combined with Figure 13 and Figure 14 As shown, the housing 5 includes a first housing 51 and a second housing 52, which are sealed together to form a first accommodating cavity 53. The scanning module 2 is located in the upper part of the first accommodating cavity 53, and the transceiver module 1 is located in the lower part of the first accommodating cavity 53.

[0119] In some embodiments, such as Figure 14 As shown, the lidar system also includes a packaging bracket 6, which is mounted on the upper part of the first housing 51 and located within the first accommodating cavity 53. The scanning module 2 is mounted on the packaging bracket 6.

[0120] In some embodiments, combined with Figures 20-25As shown, the scanning module 2 includes a scanning unit 21 and an angle measuring unit 22, the scanning unit 21 and the angle measuring unit 22 are spaced apart by a second preset distance, the scanning unit 21 includes a scanning substrate 210, the angle measuring unit 22 is located on one side of the scanning substrate 210, the scanning substrate 210 includes a movable part 211, the movable part 211 has a third surface 211a for reflecting the angle measuring beam;

[0121] The angle measuring unit 22 includes a second light source 220 and a receiving component 221. The second light source 220 and the receiving component 221 are spaced apart by a third preset distance. The light emission direction of the second light source 220 is towards the third surface 211a, and the receiving side of the receiving component 221 is towards the third surface 211a. The third surface 211a is used to reflect the light beam emitted by the second light source 220 to the receiving component 221.

[0122] In some embodiments, such as Figure 23 and Figure 24 As shown, the movable part 211 also has a fourth surface 211b for reflecting the scanning beam, the fourth surface 211b being located on the side of the movable part 211 away from the angle measuring unit 22.

[0123] In some embodiments, such as Figure 24 As shown, the angle measuring unit 22 further includes a light source fixing member 222. The second light source 220 is a laser, which is fixed to the light source fixing member 222. The laser's emission surface forms a second preset angle with the plane where the scanning substrate 210 is located. The angle measuring unit 22 also includes a receiving fixing frame 223. The receiving fixing frame 223 has a first mounting surface, and the receiving component 221 is mounted on the first mounting surface. The first mounting surface forms a third preset angle with the plane where the scanning substrate 210 is located. In other embodiments, the angle measuring unit 22 may not include the light source fixing member and the receiving fixing frame; the angle measuring unit 22 may only include an angle measuring bracket 224, such as... Figure 25 As shown, the angle measuring bracket 224 has a second mounting part 2241 and a third mounting part. The light source is a laser. The laser is fixed to the second mounting part 2241. The laser's emission surface forms a second preset angle with the plane where the scanning substrate 210 is located. The third mounting part has a second mounting surface. The receiving component 221 is mounted on the second mounting surface. The second mounting surface forms a third preset angle with the plane where the scanning substrate 210 is located.

[0124] In some embodiments, the receiving component 221 includes a filter 2211, an adapter plate 2212, and a position sensor 2213. The adapter plate 2212, the position sensor 2213, and the filter 2211 are arranged sequentially along a direction away from the first mounting surface, and the adapter plate 2212 is connected to the first mounting surface. The filter 2211 is used to filter out light signals outside a preset wavelength range. The position sensor 2213 is a PSD position sensor 2213, used to determine the position coordinates of the movable part 211. Similarly, in a possible embodiment, the adapter plate 2212, the position sensor 2213, and the filter 2211 are arranged sequentially along a direction away from the second mounting surface, and the adapter plate 2212 is connected to the second mounting surface. Using a PSD position sensor 2213 allows the spatial coordinates of the movable part 211 to be obtained by measuring displacement, thereby reducing the computational load of the chip.

[0125] In some embodiments, such as Figure 22 and Figure 25 As shown, the receiving component 221 further includes a second matting component 225, which is located on the side of the position sensor 2213 facing the scanning substrate 210. Specifically, the second matting component 225 can be a second matting cylinder, which can be a straight cylinder with parallel walls. Preferably, the second matting cylinder can also have a tapered structure, meaning the cylinder walls gradually narrow from bottom to top, i.e., the cross-sectional area of ​​the second matting cylinder near the scanning substrate 210 is smaller than the cross-sectional area of ​​the second matting cylinder away from the scanning substrate 210. Specifically, the tapered structure can be a funnel-shaped structure, a cone-shaped structure, or a diagonal structure, etc.

[0126] In some embodiments, such as Figure 20 As shown, the scanning module 2 further includes a packaging shell 23, which is a box-shaped structure with one open end. The packaging shell 23 has a second accommodating cavity, in which the scanning unit 21 is disposed, and the angle measuring unit 22 is partially located. In a possible embodiment, the entire angle measuring unit 22 is located within the second accommodating cavity.

[0127] In some embodiments, such as Figure 20 As shown, the scanning module 2 also includes a sealing plate 24, which is installed at one end of the opening of the encapsulation shell 23. The scanning unit 21 is installed on the side of the sealing plate 24 facing the second accommodating cavity via a connector. Through the cooperation of the encapsulation shell 23 and the sealing plate 24, the angle measuring unit 22 and the scanning unit 21 can be packaged into a highly integrated scanning module 2, which can be pre-assembled and adjusted for easy installation and use.

[0128] In some embodiments, such as Figure 13 As shown, the lidar system also includes a front window 7 for transmitting the pulsed laser beam reflected by the scanning module 2 and the echo signal.

[0129] The first housing 51 includes a first side plate 511 and a first bottom plate 512. The first side plate 511 and the first bottom plate 512 form a fourth preset angle. The front window 7 is mounted on the first side plate 511, which has a hollowed-out area. The front window 7 covers the hollowed-out area. The front window 7 also forms a fourth preset angle with the first bottom plate 512 to prevent stray light reflected by the front window 7 from returning to the housing 5 along the original path, thereby improving the signal-to-noise ratio of the lidar system. In some embodiments, the front window 7 can be a laser window mirror. Setting a laser window mirror can protect the scanning module 2 from splashes and other hazards in the workplace. Laser window mirrors are usually made of materials with high transmittance for specific wavelengths of laser light and are coated with an anti-reflection film to reduce losses caused by reflection.

[0130] In some embodiments, such as Figure 26 As shown, the control module 3 includes a control circuit board 3131, which is connected to the support body 129 via a connector. The control circuit board 31 is located on the side of the receiving and adjusting bracket 134 away from the support body 129, and can also be connected to the receiving and adjusting bracket 134 via a connector. Specifically, the lidar system includes an adapter block 9. The upper part of the control circuit board 31 is connected to the support body 129 via a connector passing through the adapter block 9. The bottom of the receiving and adjusting bracket 134 is provided with at least one support arm 1341, which extends on the side away from the support body. The lower part of the control circuit board 31 is connected to the support arm 1341 via a connector.

[0131] In some embodiments, such as Figure 26 As shown, the lidar system further includes a heat sink 8, which is located between the second housing 52 and the control circuit board 31. The heat sink 8 contacts both the inner surface of the second housing 52 and the control circuit board 31. Specifically, the heat sink 8 is mounted to the inner surface of the second housing 52 via a connector. In possible embodiments, the heat sink 8 can be any one or a combination of several of the following shapes: L-shaped, N-shaped, U-shaped, H-shaped, Z-shaped, U-shaped, serpentine, or Z-shaped.

[0132] In some embodiments, combined with Figure 13 and Figure 14As shown, the lidar system may also include a waterproof base plate 10, which is disposed on the outer bottom of the housing 5 to prevent moisture from entering the lidar system from the bottom of the housing 5 during use, thereby affecting the operation of the lidar system and reducing its service life.

[0133] In summary, the lidar system of this invention comprises multiple transceiver modules and at least one scanning module. The transceiver modules are arranged horizontally side-by-side, with adjacent modules spaced at a predetermined distance. The scanning module is located on one side of the transceiver modules, and the emission surfaces of all transceiver modules face the scanning module. Each transceiver module detects a sub-scanning field of view. The multiple sub-scanning fields of view are stitched together to form the total field of view of the lidar system. The horizontal arrangement of the multiple sub-scanning fields of view achieves a large field of view stitching, thus increasing the scanning field of view of the entire lidar system. Furthermore, the field-of-view expansion method of this invention can maximize the effective use of the receiving aperture of the scanning module, ensuring the range-finding capability of the lidar system.

[0134] Furthermore, each of the transmitting modules has multiple light sources for emitting pulsed laser beams, and the multiple transceiver modules have multiple corresponding transmitting modules. Each transmitting module includes multiple light sources arranged at intervals in the vertical direction. The multiple light sources emit pulsed laser beams sequentially according to a time sequence, which effectively improves the scanning trajectory line density of the vertical field of view. In addition, the multi-light source of the present invention adopts time-division interval emission, which effectively reduces the interference of the receiving optical path.

[0135] Furthermore, the scanning module may include a two-dimensional galvanometer and a driving module, wherein the driving module is used to drive the two-dimensional galvanometer to rotate or oscillate.

[0136] Furthermore, the transceiver module includes a transmitting module, an optical transmission module, and a detection module. For any one of the transceiver modules, the transmitting module, the optical transmission module, and the scanning module are arranged sequentially along a first optical path, and the scanning module, the optical transmission module, and the detection module are arranged sequentially along a second optical path. The optical transmission module includes a support unit and multiple transmission sub-modules. The support unit supports the transmission sub-modules and has multiple optical channels within it. The multiple transmission sub-modules are arranged sequentially along the optical channels to transmit light beams according to a preset optical path. The optical transmission module of this invention facilitates the integration of the lidar system. The reasonable arrangement of multiple optical channels within a single support unit helps improve the internal space utilization of the support unit and reduce the size of the lidar system.

[0137] Furthermore, the portion of the first optical path between the collimating unit and the reflecting unit is parallel to the portion of the second optical path between the converging unit and the beam splitting unit, and the portion of the first optical path between the reflecting unit and the target under test is coaxial with the portion of the second optical path between the target under test and the beam splitting unit. Utilizing coaxial transmission and reception of a portion of the optical path in the lidar system effectively reduces the volume of the supporting unit, facilitating the miniaturization and integration of the lidar system.

[0138] Furthermore, the present invention measures the rotation angle of the movable part of the scanning unit through an angle measuring unit. Specifically, a PSD position sensor is used to obtain the spatial coordinates of the movable part by measuring the displacement, thereby reducing the computational load of the chip.

[0139] Furthermore, through the cooperation of the housing and the sealing plate, the angle measuring unit and the scanning unit of the present invention can be packaged into a single, highly integrated scanning module, which can be pre-assembled and adjusted, making it convenient for installation and use in the lidar system.

[0140] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lidar system, comprising: The application relates to a laser radar system. The laser radar system comprises: a plurality of transceiver modules for transmitting pulsed laser beams and receiving echo signals of the pulsed laser beams reflected by a target to be detected, the plurality of transceiver modules being arranged horizontally side by side; at least one scanning module for reflecting the pulsed laser beams transmitted by the plurality of transceiver modules to a three-dimensional space and for reflecting the echo signals to the corresponding transceiver modules, the scanning module comprising a galvanometer mirror; the transceiver module comprises a transmitting module, the transmitting module having at least one first light source for transmitting a pulsed laser beam, the plurality of transceiver modules each transmitting a pulsed laser beam towards the scanning module; the scanning module is located on one side of the plurality of transceiver modules, each of the transceiver modules corresponding to a sub-scanning field of view, and the sub-scanning fields of view being spliced to form a total forward scanning field of view by horizontal arrangement. The laser radar system has m transceiver modules, wherein m is greater than or equal to 2 and is a positive integer, the m transceiver modules have m corresponding transmitting modules, each of the transmitting modules has n first light sources, wherein n is greater than or equal to 2 and is a positive integer, and the n first light sources of each of the transmitting modules transmit pulsed laser beams in a preset time sequence.

3. The laser radar system according to claim 2, wherein the scanning module reflects the pulsed laser beams transmitted by the first light sources to the three-dimensional space by swinging, so as to realize raster scanning and obtain a two-dimensional scanning trajectory line of each of the first light sources. The two-dimensional scanning trajectory line is a periodic curve.

2. The lidar system of claim 1, wherein, For any one of the two-dimensional scanning trajectory lines, the starting points of the two-dimensional scanning trajectory lines corresponding to adjacent periods are spaced apart by a first offset. The plurality of first light sources are distributed at equal intervals in a first direction. For any one of the transmitting modules, the starting positions of the two-dimensional scanning trajectory lines of adjacent first light sources are spaced apart by a second offset.

4. The lidar system of claim 3, wherein, The second offset is greater than zero and is not equal to the first offset.

5. The lidar system of claim 4, wherein, One scanning module corresponds to at least one transceiver module, and a plurality of first light paths and a plurality of second light paths are formed between the plurality of transceiver modules and the scanning module.

6. The lidar system of claim 5, wherein, The transceiver module further comprises a light transmission module and a detection module, for any one of the transceiver modules, the transmitting module and the light transmission module are sequentially arranged along the first light path, and the light transmission module and the detection module are sequentially arranged along the second light path. For any one of the first light paths, the transmitting module, the light transmission module and the scanning module are sequentially arranged along the first light path, the transmitting module is used for transmitting a pulsed laser beam, the light transmission module is used for transmitting the pulsed laser beam transmitted by the transmitting module to the scanning module, and the scanning module is used for reflecting the pulsed laser beam transmitted by the light transmission module to a three-dimensional space.

7. The lidar system of claim 6, wherein, ​ 8. The lidar system of any one of claims 2-7, wherein, ​ 9. The lidar system of claim 8, wherein, ​ ​ For any one of the second light paths, the scanning module, the light transmission module and the detection module are sequentially arranged along the second light paths, the scanning module is configured to reflect the echo signal to the light transmission module, the light transmission module is configured to transmit the echo signal to the detection module, and the detection module is configured to receive and process the echo signal transmitted by the light transmission module.

10. The lidar system of any one of claim 9, wherein, The light transmission module comprises a support unit and a plurality of transmission sub-modules, The support unit is configured to support the transmission sub-modules, and a plurality of light channels are arranged in the support unit; The plurality of transmission sub-modules are sequentially arranged along the light channels and are configured to transmit light beams according to preset light paths.

11. The lidar system of claim 10, wherein, The support units of the plurality of transceiver modules are connected to each other to form a support body.

12. The lidar system of claim 11, wherein, The emission module comprises a laser emission plate and a fixing member, the laser emission plate is connected to the fixing member through a connecting member, the plurality of first light sources are arranged on the laser emission plate, and the fixing member is connected to the support body.

13. The lidar system of claim 12, wherein: The detection module comprises a receiving adjustment bracket and a receiving circuit board, the receiving adjustment bracket is arranged on the fixing member, the receiving adjustment bracket is provided with a mounting portion for adjusting and fixing the receiving circuit board, and the receiving circuit board is connected to the mounting portion. A plurality of detectors equal in number to the plurality of first light sources arranged on the laser emission plate are arranged on the receiving circuit board, and the plurality of detectors are equally spaced in a first direction.

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